Command/com.amarcolini.joos.hardware.drive/Standard2WheelLocalizer

Standard2WheelLocalizer

class Standard2WheelLocalizer(encoders: List<Motor.Encoder>, encoderPositions: List<Pose2d>, externalHeadingSensor: AngleSensor) : TwoTrackingWheelLocalizer

A utility class for creating 2-wheel tracking localizers with standard configurations.

Constructors

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constructor(parallelEncoder: Motor.Encoder, parallelOffset: Double, perpendicularEncoder: Motor.Encoder, perpendicularOffset: Double, externalHeadingSensor: AngleSensor)
constructor(encoders: List<Motor.Encoder>, encoderPositions: List<Pose2d>, externalHeadingSensor: AngleSensor)

Functions

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open override fun getHeading(): Angle
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open override fun getHeadingVelocity(): Angle?
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open override fun getWheelPositions(): List<Double>
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open override fun getWheelVelocities(): List<Double>