update
This updates the elapsed time timer that keeps track of time between updates, as well as the change position of the Encoders and the IMU readings. Then, the robot's global change in position is calculated using the pose exponential method.
This updates the elapsed time timer that keeps track of time between updates, as well as the change position of the Encoders and the IMU readings. Then, the robot's global change in position is calculated using the pose exponential method.