Package org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive

Class StandardTrackingWheelLocalizer

java.lang.Object

com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer

org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.StandardTrackingWheelLocalizer

All Implemented Interfaces:

com.acmerobotics.roadrunner.localization.Localizer

public class StandardTrackingWheelLocalizer
extends com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer

Field Summary

Fields

Modifier and Type	Field	Description
static double	FORWARD_OFFSET
static double	GEAR_RATIO
static double	LATERAL_DISTANCE
static double	TICKS_PER_REV
static double	WHEEL_RADIUS
static double	X_MULTIPLIER
static double	Y_MULTIPLIER

Constructor Summary

Constructors

Constructor	Description
StandardTrackingWheelLocalizer(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels)

Method Summary

Modifier and Type	Method	Description
static double	encoderTicksToInches(double ticks)
List<Double>	getWheelPositions()
List<Double>	getWheelVelocities()

Methods inherited from class com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer

getPoseEstimate, getPoseVelocity, setPoseEstimate, setPoseVelocity, update

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

TICKS_PER_REV

public static double TICKS_PER_REV

WHEEL_RADIUS

public static double WHEEL_RADIUS

GEAR_RATIO

public static double GEAR_RATIO

LATERAL_DISTANCE

public static double LATERAL_DISTANCE

FORWARD_OFFSET

public static double FORWARD_OFFSET

X_MULTIPLIER

public static double X_MULTIPLIER

Y_MULTIPLIER

public static double Y_MULTIPLIER

Constructor Details

StandardTrackingWheelLocalizer

public StandardTrackingWheelLocalizer(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 List<Integer> lastTrackingEncPositions,
 List<Integer> lastTrackingEncVels)

Method Details

encoderTicksToInches

public static double encoderTicksToInches(double ticks)

getWheelPositions

@NonNull
public List<Double> getWheelPositions()

Specified by:

getWheelPositions in class com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer

getWheelVelocities

@NonNull
public List<Double> getWheelVelocities()

Overrides:

getWheelVelocities in class com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer