PedroPathing/com.pedropathing.localization/GoBildaPinpointDriver

GoBildaPinpointDriver

@I2cDeviceType()

@DeviceProperties(name = "goBILDA® Pinpoint Odometry Computer", xmlTag = "goBILDAPinpoint", description = "goBILDA® Pinpoint Odometry Computer (IMU Sensor Fusion for 2 Wheel Odometry)")

public class GoBildaPinpointDriver extends I2cDeviceSynchDevice<DEVICE_CLIENT>

Constructors

public void GoBildaPinpointDriver(I2cDeviceSynchSimple deviceClient, boolean deviceClientIsOwned)

Types

DeviceStatus

public enum DeviceStatus

EncoderDirection

public enum EncoderDirection

GoBildaOdometryPods

public enum GoBildaOdometryPods

readData

public enum readData

Properties

DEFAULT_ADDRESS

public final static byte DEFAULT_ADDRESS

loopTime

public int loopTime

Functions

public void close()

getConnectionInfo

public String getConnectionInfo()

getDeviceClient

public DEVICE_CLIENT getDeviceClient()

getDeviceID

public int getDeviceID()

Checks the deviceID of the Odometry Computer.

getDeviceName

public String getDeviceName()

getDeviceStatus

public GoBildaPinpointDriver.DeviceStatus getDeviceStatus()

Device Status stores any faults the Odometry Computer may be experiencing.

getDeviceVersion

public int getDeviceVersion()

getEncoderX

public int getEncoderX()

getEncoderY

public int getEncoderY()

getFrequency

public double getFrequency()

Checks the Odometry Computer's most recent loop frequency.

getHeading

public double getHeading()

getHeadingVelocity

public double getHeadingVelocity()

getLoopTime

public int getLoopTime()

Checks the Odometry Computer's most recent loop time.

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

getPosition

public Pose2D getPosition()

getPosX

public double getPosX()

getPosY

public double getPosY()

getVelocity

public Pose2D getVelocity()

getVelX

public double getVelX()

getVelY

public double getVelY()

getVersion

public int getVersion()

getXOffset

public float getXOffset()

This uses its own I2C read, avoid calling this every loop.

getYawScalar

public float getYawScalar()

getYOffset

public float getYOffset()

This uses its own I2C read, avoid calling this every loop.

initialize

public synchronized boolean initialize()

onModuleStateChange

public void onModuleStateChange(RobotArmingStateNotifier module, RobotArmingStateNotifier.ARMINGSTATE state)

recalibrateIMU

public void recalibrateIMU()

Recalibrates the Odometry Computer's internal IMU.

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

resetPosAndIMU

public void resetPosAndIMU()

Resets the current position to 0,0,0 and recalibrates the Odometry Computer's internal IMU.

setEncoderDirections

public void setEncoderDirections(GoBildaPinpointDriver.EncoderDirection xEncoder, GoBildaPinpointDriver.EncoderDirection yEncoder)

Can reverse the direction of each encoder.

setEncoderResolution

public void setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods pods)

If you're using goBILDA odometry pods, the ticks-per-mm values are stored here for easy access.

public void setEncoderResolution(double ticks_per_mm)

Sets the encoder resolution in ticks per mm of the odometry pods.

setOffsets

public void setOffsets(double xOffset, double yOffset)

Sets the odometry pod positions relative to the point that the odometry computer tracks around.

setPosition

public Pose2D setPosition(Pose2D pos)

Send a position that the Pinpoint should use to track your robot relative to.

setYawScalar

public void setYawScalar(double yawOffset)

Tuning this value should be unnecessary.

update

public void update()

public void update(GoBildaPinpointDriver.readData data)

Call this once per loop to read new data from the Odometry Computer.