core/com.asiankoala.koawalib.subsystem.odometry/KThreeWheelOdometry

KThreeWheelOdometry

class KThreeWheelOdometry( leftEnc: KEncoder, rightEnc: KEncoder, perpEnc: KEncoder, LEFT_OFFSET: Double, RIGHT_OFFSET: Double, PERP_OFFSET: Double, startPose: Pose) : Odometry

Standard three wheel localizer Offets are assuming the robot is placed at (0,0) facing 0 degrees.

Parameters

leftEnc

Left encoder

rightEnc

Right encoder

perpEnc

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)

Constructors

KThreeWheelOdometry

fun KThreeWheelOdometry( leftEnc: KEncoder, rightEnc: KEncoder, perpEnc: KEncoder, TRACK_WIDTH: Double, PERP_OFFSET: Double, startPose: Pose)

Secondary constructor. Uses TRACK_WIDTH to calculate LEFT_OFFSET and RIGHT_OFFSET. Assumes that the parallel pods are dispersed evenly.

KThreeWheelOdometry

fun KThreeWheelOdometry( leftEnc: KEncoder, rightEnc: KEncoder, perpEnc: KEncoder, LEFT_OFFSET: Double, RIGHT_OFFSET: Double, PERP_OFFSET: Double, startPose: Pose)

Inherited properties

defaultCommand

var defaultCommand: Cmd? = null

Set the default command of a subsystem. Default commands run when no other command requires the specified subsystem Must only require this and only this subsystem

name

val name: String

pose

val pose: Pose

velocity

val velocity: Pose