KThree
fun KThreeWheelOdometry( leftEnc: KEncoder, rightEnc: KEncoder, perpEnc: KEncoder, TRACK_WIDTH: Double, PERP_OFFSET: Double, startPose: Pose)
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Secondary constructor. Uses TRACK_WIDTH to calculate LEFT_OFFSET and RIGHT_OFFSET. Assumes that the parallel pods are dispersed evenly.
Parameters
TRACK_WIDTH
Distance betwee the parallel odo pods.
fun KThreeWheelOdometry( leftEnc: KEncoder, rightEnc: KEncoder, perpEnc: KEncoder, LEFT_OFFSET: Double, RIGHT_OFFSET: Double, PERP_OFFSET: Double, startPose: Pose)
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Parameters
left
Left encoder
right
Right encoder
perp
Perp encoder
LEFT_OFFSET
Y offset of the left odo pod from (0,0)
RIGHT_OFFSET
Y offset of the right odo pod from (0,0)
PERP_OFFSET
X offset of the perp odo pod from (0,0)