Package ftclib.sensor

Class FtcPinpointOdometry

java.lang.Object

ftclib.sensor.FtcPinpointOdometry

All Implemented Interfaces:

TrcDriveBaseOdometry

public class FtcPinpointOdometry
extends Object
implements TrcDriveBaseOdometry

This class implements a wrapper to the GoBilda Pinpoint Odometry Computer that supports two Odometry wheels and a built-in IMU.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	FtcPinpointOdometry.Config

Field Summary

Fields

Modifier and Type	Field	Description
private final String	instanceName
private final GoBildaPinpointDriver	ppOdo
final TrcDbgTrace	tracer

Constructor Summary

Constructors

Constructor	Description
FtcPinpointOdometry(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, FtcPinpointOdometry.Config config)	Constructor: Creates an instance of the object.
FtcPinpointOdometry(String instanceName, FtcPinpointOdometry.Config config)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcPose2D	getPosition()	This method returns the DriveBase position.
TrcPose2D	getVelocity()	This method returns the DriveBase velocity.
void	reset()	This method resets the DriveBase position.
void	setPosition(TrcPose2D pose)	This method sets the DriveBase position.
String	toString()	This method returns the instance name.
void	updateCache()	This method is called once at the beginning of the INPUT_TASK loop.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

tracer

public final TrcDbgTrace tracer

instanceName

private final String instanceName

ppOdo

private final GoBildaPinpointDriver ppOdo

Constructor Details

FtcPinpointOdometry

public FtcPinpointOdometry(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 FtcPinpointOdometry.Config config)

Constructor: Creates an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

config - specifies the sensor configuration.

FtcPinpointOdometry

public FtcPinpointOdometry(String instanceName,
 FtcPinpointOdometry.Config config)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

config - specifies the sensor configuration.

Method Details

toString

@NonNull
public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

updateCache

public void updateCache()

This method is called once at the beginning of the INPUT_TASK loop. Odometry device can update their cache at this time.

Specified by:

updateCache in interface TrcDriveBaseOdometry

reset

public void reset()

This method resets the DriveBase position.

Specified by:

reset in interface TrcDriveBaseOdometry

getPosition

public TrcPose2D getPosition()

This method returns the DriveBase position.

Specified by:

getPosition in interface TrcDriveBaseOdometry

Returns:

DriveBase position.

setPosition

public void setPosition(TrcPose2D pose)

This method sets the DriveBase position.

Specified by:

setPosition in interface TrcDriveBaseOdometry

Parameters:

pose - specifies the DriveBase position.

getVelocity

public TrcPose2D getVelocity()

This method returns the DriveBase velocity.

Specified by:

getVelocity in interface TrcDriveBaseOdometry

Returns:

DriveBase velocity.