Go Bilda Pinpoint Driver
@I2cDeviceType
@DeviceProperties(name = "goBILDA® Pinpoint Odometry Computer", xmlTag = "goBILDAPinpoint", description = "goBILDA® Pinpoint Odometry Computer (IMU Sensor Fusion for 2 Wheel Odometry)" )
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
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
Properties
Functions
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Checks the deviceID of the Odometry Computer.
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Device Status stores any faults the Odometry Computer may be experiencing.
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Checks the Odometry Computer's most recent loop frequency.
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This uses its own I2C read, avoid calling this every loop.
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This uses its own I2C read, avoid calling this every loop.
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Recalibrates the Odometry Computer's internal IMU.
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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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If you're using goBILDA odometry pods, the ticks-per-mm values are stored here for easy access.
Sets the encoder resolution in ticks per mm of the odometry pods.
Sets the encoder resolution based on the counts-per-revolution and circumference, calculated with wheel radius.
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Sets the odometry pod positions relative to the point that the odometry computer tracks around.
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Send a position that the Pinpoint should use to track your robot relative to.
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Tuning this value should be unnecessary.
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Call this once per loop to read new data from the Odometry Computer.
Inherited functions
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open fun onModuleStateChange(module: RobotArmingStateNotifier, state: RobotArmingStateNotifier.ARMINGSTATE)
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