BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external/GoBildaPinpointDriver

GoBildaPinpointDriver

@I2cDeviceType
@DeviceProperties(name = "goBILDA® Pinpoint Odometry Computer", xmlTag = "goBILDAPinpoint", description = "goBILDA® Pinpoint Odometry Computer (IMU Sensor Fusion for 2 Wheel Odometry)")
open class GoBildaPinpointDriver : I2cDeviceSynchDevice<DEVICE_CLIENT>

The goBILDA® Pinpoint Odometry Computer driver, ported from goBILDA®.

To use this in BunyipsLib, use this as any other HardwareDevice (such as DcMotor).

File copy acquired 19/02/25, keeping the public API surface backwards compatible with other distributions of the driver.

Since

7.0.0

Constructors

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constructor(deviceClient: I2cDeviceSynchSimple, deviceClientIsOwned: Boolean)
Constructs a new Pinpoint Computer.

Types

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enum DeviceStatus
Captures the current fault condition of the device
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enum EncoderDirection
Captures the direction the encoders are set to
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enum GoBildaOdometryPods
Captures the kind of goBILDA odometry pods, if goBILDA pods are used
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enum readData
Captures a limited scope of read data.

Properties

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val DEFAULT_ADDRESS: Byte = 49
I2C address of the device.
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open val loopTime: Int
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Inherited properties

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protected open var deviceClient: DEVICE_CLIENT
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protected open var deviceClientIsOwned: Boolean
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protected open var isInitialized: Boolean

Functions

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protected open fun doInitialize(): Boolean
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open fun getDeviceID(): Int
Checks the deviceID of the Odometry Computer.
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open fun getDeviceName(): String
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open fun getDeviceStatus(): GoBildaPinpointDriver.DeviceStatus
Device Status stores any faults the Odometry Computer may be experiencing.
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open fun getDeviceVersion(): Int
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open fun getEncoderX(): Int
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open fun getEncoderY(): Int
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open fun getFrequency(): Double
Checks the Odometry Computer's most recent loop frequency.
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open fun getHeading(): Double
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open fun getManufacturer(): HardwareDevice.Manufacturer
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open fun getPosition(): Pose2D
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open fun getPosX(): Double
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open fun getPosY(): Double
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open fun getVelocity(): Pose2D
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open fun getVelX(): Double
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open fun getVelY(): Double
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open fun getXOffset(): Float
This uses its own I2C read, avoid calling this every loop.
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open fun getYawScalar(): Float
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open fun getYOffset(): Float
This uses its own I2C read, avoid calling this every loop.
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open fun recalibrateIMU()
Recalibrates the Odometry Computer's internal IMU.
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open fun resetPosAndIMU()
Resets the current position to 0,0,0 and recalibrates the Odometry Computer's internal IMU.
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open fun setEncoderDirections(xEncoder: GoBildaPinpointDriver.EncoderDirection, yEncoder: GoBildaPinpointDriver.EncoderDirection)
Can reverse the direction of each encoder.
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open fun setEncoderResolution(pods: GoBildaPinpointDriver.GoBildaOdometryPods)
If you're using goBILDA odometry pods, the ticks-per-mm values are stored here for easy access.
open fun setEncoderResolution(ticksPerMm: Double)
Sets the encoder resolution in ticks per mm of the odometry pods.
open fun setEncoderResolution(cpr: Double, wheelRadius: Measure<Distance>)
Sets the encoder resolution based on the counts-per-revolution and circumference, calculated with wheel radius.
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open fun setOffsets(xOffset: Double, yOffset: Double)
Sets the odometry pod positions relative to the point that the odometry computer tracks around.
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open fun setPosition(pos: Pose2D): Pose2D
Send a position that the Pinpoint should use to track your robot relative to.
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open fun setYawScalar(yawOffset: Double)
Tuning this value should be unnecessary.
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open fun update()
open fun update(data: GoBildaPinpointDriver.readData)
Call this once per loop to read new data from the Odometry Computer.

Inherited functions

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open fun close()
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protected open fun disengage()
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protected open fun engage()
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open fun getDeviceClient(): DEVICE_CLIENT
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open fun getVersion(): Int
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open fun initialize(): Boolean
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protected open fun initializeIfNecessary()
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open fun onModuleStateChange(module: RobotArmingStateNotifier, state: RobotArmingStateNotifier.ARMINGSTATE)
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protected open fun registerArmingStateCallback(doInitialCallback: Boolean)
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