Cuttlefish/com.roboctopi.cuttlefish.localizer/ThreeEncoderLocalizer

ThreeEncoderLocalizer

class ThreeEncoderLocalizer(left: RotaryEncoder, side: RotaryEncoder, right: RotaryEncoder, wheelRad: Double, wheelDist: Double, rotaryCalibrationConstant: Double) : Localizer

System to localize the robot using 3 - wheel odometry.

Parameters

left

Left encoder

side

Side encoder

right

Right encoder

wheelRad

Radius of the encoder wheels

wheelDist

Distance between the two forward wheels

Constructors

ThreeEncoderLocalizer

constructor(left: RotaryEncoder, side: RotaryEncoder, right: RotaryEncoder, wheelRad: Double, wheelDist: Double, rotaryCalibrationConstant: Double)

Properties

calibConst

val calibConst: Double

dist

var dist: Double

val l: RotaryEncoder

localVelocity

open override var localVelocity: Pose

Velocity in robot space

pos

open override var pos: Pose

val r: RotaryEncoder

rad

var rad: Double

val s: RotaryEncoder

side_rotation_coeffiecient

var side_rotation_coeffiecient: Double

Distance that the side encoder moves when the robot turns one radian

sidesum

var sidesum: Double

speed

open override var speed: Double

velocity

open override var velocity: Pose

Velocity in absolute space

Functions

reset

open override fun reset()

Reset the position of the localizer to (0,0,0)

update

open override fun update()

Update robot position based on encoder data