BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.localization/IntrinsicMecanumLocalizer

IntrinsicMecanumLocalizer

open class IntrinsicMecanumLocalizer : Localizer

An estimation-based Mecanum localizer that uses no encoders and only the IMU for heading. This is the bare configuration for a Mecanum drivetrain, and should only be used in an absolute dire situation where all your encoders don't work.

Author

Lucas Bubner, 2024

Since

4.0.0

Constructors

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constructor(@NonNull params: IntrinsicMecanumLocalizer.Params, @Nullable imu: IMU, @NonNull motorPowers: Supplier<Array<Double>>)
Create a new IntrinsicMecanumLocalizer.

Types

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open class Params
Parameters used in calculating the intrinsic Mecanum pose.

Inherited properties

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val FLIGHT_RECORDER_INTERVAL_MS: RefCell<Long>
The minimum interval at which to auto-log localizer inputs to the FlightRecorder.

Functions

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@NonNull
open fun update(): Twist2dDual<Time>
Perform one iteration of localizer delta updates.