Package ftclib.sensor

Class FtcPinpointOdometry.Config

java.lang.Object
ftclib.sensor.FtcPinpointOdometry.Config
Enclosing class:
FtcPinpointOdometry
public static class FtcPinpointOdometry.Config extends Object

  • Field Details

    • yPodXOffset

      private double yPodXOffset

    • xPodYOffset

      private double xPodYOffset

    • encoderCountsPerMm

      private double encoderCountsPerMm

    • yPodEncoderInverted

      private boolean yPodEncoderInverted

    • xPodEncoderInverted

      private boolean xPodEncoderInverted

  • Constructor Details

    • Config

      public Config()

  • Method Details

    • toString

      @NonNull public String toString()
      This method returns the string format of the Params info.
      Overrides:
      toString in class Object
      Returns:
      string format of the params info.

    • setPodOffsets

      public FtcPinpointOdometry.Config setPodOffsets(double yPodXOffset, double xPodYOffset)
      This method sets the Odometry pod offsets from the robot center.
      Parameters:
      yPodXOffset - specifies the forward odo pod offset form robot center in mm, right positive.
      xPodYOffset - specifies the strafe pod offset from robot center in mm, forward positive.
      Returns:
      this object for chaining.

    • setEncoderResolution

      public FtcPinpointOdometry.Config setEncoderResolution(double encCountsPerMm)
      This method sets the Odometry pod encoder resolution.
      Parameters:
      encCountsPerMm - specifies encoder resolution in counts per mm.
      Returns:
      this object for chaining.

    • setEncodersInverted

      public FtcPinpointOdometry.Config setEncodersInverted(boolean yPodInverted, boolean xPodInverted)
      This method sets the Odometry pod encoder directions.
      Parameters:
      yPodInverted - specifies true to invert the forward odo pod encoder direction, false otherwise.
      xPodInverted - specifies true to invert the strafe odo pod encoder direction, false otherwise.
      Returns:
      this object for chaining.