setEncoderResolution
If you're using goBILDA odometry pods, the ticks-per-mm values are stored here for easy access.
Parameters
pods
goBILDA_SWINGARM_POD or goBILDA_4_BAR_POD
Sets the encoder resolution in ticks per mm of the odometry pods. You can find this number by dividing the counts-per-revolution of your encoder by the circumference of the wheel.
Parameters
ticksPerMm
should be somewhere between 10 ticks/mm and 100 ticks/mm a goBILDA Swingarm pod is ~13.26291192
Sets the encoder resolution based on the counts-per-revolution and circumference, calculated with wheel radius. This is a BunyipsLib utility which supports WPIUnits.
Parameters
cpr
counts per revolution of your encoders
wheelRadius
radius of the encoder wheels