Package com.pocolifo.robobase.novel

Class Odometry

java.lang.Object

com.pocolifo.robobase.novel.Odometry

public class Odometry
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final com.qualcomm.robotcore.hardware.DcMotor	leftWheel
final com.qualcomm.robotcore.hardware.DcMotor	perpendicularWheel
final com.qualcomm.robotcore.hardware.DcMotor	rightWheel

Constructor Summary

Constructors

Constructor	Description
Odometry(com.acmerobotics.roadrunner.geometry.Pose2d robotPosition, com.qualcomm.robotcore.hardware.DcMotor rightWheel, com.qualcomm.robotcore.hardware.DcMotor leftWheel, com.qualcomm.robotcore.hardware.DcMotor perpendicularWheel)
Odometry(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, com.acmerobotics.roadrunner.geometry.Pose2d robotPosition, String rightWheel, String leftWheel, String perpendicularWheel)

Method Summary

Modifier and Type	Method	Description
double	getLeftWheelPosIn()
double	getPerpendicularWheelPosIn()
double	getRightWheelPosIn()
double	getRotation()
double	getX()
double	getY()
void	update()
void	updateWheelPositions()

Methods inherited from class java.lang.Object

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

Field Details

rightWheel

public final com.qualcomm.robotcore.hardware.DcMotor rightWheel

leftWheel

public final com.qualcomm.robotcore.hardware.DcMotor leftWheel

perpendicularWheel

public final com.qualcomm.robotcore.hardware.DcMotor perpendicularWheel

Constructor Details

Odometry

public Odometry(com.acmerobotics.roadrunner.geometry.Pose2d robotPosition,
 com.qualcomm.robotcore.hardware.DcMotor rightWheel,
 com.qualcomm.robotcore.hardware.DcMotor leftWheel,
 com.qualcomm.robotcore.hardware.DcMotor perpendicularWheel)

Odometry

public Odometry(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 com.acmerobotics.roadrunner.geometry.Pose2d robotPosition,
 String rightWheel,
 String leftWheel,
 String perpendicularWheel)

Method Details

update

public void update()

getX

public double getX()

getY

public double getY()

getRotation

public double getRotation()

updateWheelPositions

public void updateWheelPositions()

getLeftWheelPosIn

public double getLeftWheelPosIn()

getRightWheelPosIn

public double getRightWheelPosIn()

getPerpendicularWheelPosIn

public double getPerpendicularWheelPosIn()