SwerveLocalizer
public SwerveLocalizer SwerveLocalizer(List<SwerveModule> modules, Double trackWidth, Double wheelBase)
Default localizer for swerve drives based on the drive encoder positions and module orientations.
Parameters
modules
the individual swerve modules
trackWidth
lateral distance between pairs of modules on different sides of the robot
wheelBase
distance between pairs of modules on the same side of the robot
Parameters
modules
the individual swerve modules
modulePositions
the positions of all the modules relative to the center of rotation of the robot