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

KTwoWheelOdometry

class KTwoWheelOdometry( parEnc: KEncoder, perpEnc: KEncoder, imu: KIMU, PARALLEL_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

parEnc

Parallel encoder

perpEnc

Perp encoder

PARALLEL_OFFSET

Y offset of the parallel odo pod from (0,0)

PERP_OFFSET

X offset of the perp odo pod from (0,0)

Constructors

KTwoWheelOdometry

fun KTwoWheelOdometry( parEnc: KEncoder, perpEnc: KEncoder, imu: KIMU, PARALLEL_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

Functions

periodic

open override fun periodic()

Called periodicly by KScheduler. Contrasts with defaultCommand

reset

open override fun reset(p: Pose)

updateTelemetry

open override fun updateTelemetry()

Inherited functions

fun register()

Registers the subsystem with KScheduler Shorthand for KScheduler.registerSubsystem

unregister

fun unregister()

Unregisters the subsystem with KScheduler Shorthand for KScheduler.unregisterSubsystem