PedroPathing/com.pedropathing.localization.localizers/ThreeWheelIMULocalizer

ThreeWheelIMULocalizer

public class ThreeWheelIMULocalizer extends Localizer

This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a localizer that uses the three wheel odometry set up with the IMU to have more accurate heading readings. 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

Logan Nash

Anyi Lin - 10158 Scott's Bots

Constructors

ThreeWheelIMULocalizer

public void ThreeWheelIMULocalizer(HardwareMap map)

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

public void ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose)

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

Properties

FORWARD_TICKS_TO_INCHES

public static double FORWARD_TICKS_TO_INCHES

public final IMU imu

STRAFE_TICKS_TO_INCHES

public static double STRAFE_TICKS_TO_INCHES

public double totalHeading

TURN_TICKS_TO_RADIANS

public static double TURN_TICKS_TO_RADIANS

public static boolean useIMU

Functions

getForwardMultiplier

public double getForwardMultiplier()

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

public IMU getIMU()

This is returns the IMU.

getLateralMultiplier

public double getLateralMultiplier()

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

public Pose getPose()

This returns the current pose estimate.

public Matrix getRobotDeltas()

This calculates the change in position from the perspective of the robot using information from the Encoders.

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 encoder 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 resetEncoders()

This resets the Encoders.

public void resetIMU()

This resets the IMU.

public void setPose(Pose setPose)

This sets the current pose estimate.

setPrevRotationMatrix

public void setPrevRotationMatrix(double heading)

This sets the Matrix that contains the previous pose's heading rotation.

public void setStartPose(Pose setStart)

This sets the start pose.

public void update()

This updates the elapsed time timer that keeps track of time between updates, as well as the change position of the Encoders.

public void updateEncoders()

This updates the Encoders.