Package trclib.sensor

Interface TrcDriveBaseOdometry

All Known Implementing Classes:
FtcPinpointOdometry, FtcSparkFunOtos
public interface TrcDriveBaseOdometry
This interface specifies a common implementation of a DriveBase Odometry device that keeps track of the localization of the robot.

  • 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.
    void
    updateCache()
    This method is called once at the beginning of the INPUT_TASK loop.

  • Method Details

    • updateCache

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

    • reset

      void reset()
      This method resets the DriveBase position.

    • getPosition

      TrcPose2D getPosition()
      This method returns the DriveBase position.
      Returns:
      DriveBase position.

    • setPosition

      void setPosition(TrcPose2D pose)
      This method sets the DriveBase position.
      Parameters:
      pose - specifies the DriveBase position.

    • getVelocity

      TrcPose2D getVelocity()
      This method returns the DriveBase velocity.
      Returns:
      DriveBase velocity.