PedroPathing/com.pedropathing.localization.localizers/OTOSLocalizer

OTOSLocalizer

public class OTOSLocalizer extends Localizer

This is the OTOSLocalizer class. This class extends the Localizer superclass and is a localizer that uses the SparkFun OTOS. The diagram below, which is modified from Road Runner, shows a typical set up. The view is from the top of the robot looking downwards. left on robot is the y positive direction forward on robot is the x positive direction forward (x positive) △ | | /--------------\ | | | | | || || | left (y positive) <--- | || || | | ____ | | ---- | \--------------/

Author

Anyi Lin - 10158 Scott's Bots

Constructors

public void OTOSLocalizer(HardwareMap map)

This creates a new OTOSLocalizer from a HardwareMap, with a starting Pose at (0,0) facing 0 heading.

public void OTOSLocalizer(HardwareMap map, Pose setStartPose)

This creates a new OTOSLocalizer from a HardwareMap and a Pose, with the Pose specifying the starting pose of the localizer.

Properties

public double totalHeading

Functions

getForwardMultiplier

public double getForwardMultiplier()

This returns the multiplier applied to forward movement measurement to convert from OTOS ticks to inches.

public IMU getIMU()

This is overridden to return the IMU, if there is one.

getLateralMultiplier

public double getLateralMultiplier()

This returns the multiplier applied to lateral/strafe movement measurement to convert from OTOS ticks to inches.

public Pose getPose()

This returns the current pose estimate.

getTotalHeading

public double getTotalHeading()

This returns how far the robot has turned in radians, in a number not clamped between 0 and 2 * pi radians.

getTurningMultiplier

public double getTurningMultiplier()

This returns the multiplier applied to turning movement measurement to convert from OTOS ticks to radians.

public Pose getVelocity()

This returns the current velocity estimate.

getVelocityVector

public Vector getVelocityVector()

This returns the current velocity estimate.

public boolean isNAN()

This returns whether if any component of robot's position is NaN.

public void resetIMU()

This does nothing since this localizer does not use the IMU.

public void resetOTOS()

This resets the OTOS.

public void setPose(Pose setPose)

This sets the current pose estimate.

public void setStartPose(Pose setStart)

This sets the start pose.

public void update()

This updates the total heading of the robot.