Package trclib.sensor

Interface TrcOdometrySensor

All Known Implementing Classes:

FtcAnalogGyro, FtcAndroidGyro, FtcCRServo, FtcDcMotor, FtcImu, FtcMRGyro, FtcOctoQuad, TrcGyro, TrcMotor

public interface TrcOdometrySensor

This interface provides the definitions and methods for a sensor to be an odometry sensor. An odometry sensor will report odometry data which contains both timestamp, position, velocity and acceleration information.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	TrcOdometrySensor.Odometry	This class implements the generic sensor odometry.

Method Summary

Modifier and Type	Method	Description
String	getName()	This method returns the instance name of the odometry sensor.
default TrcOdometrySensor.Odometry[]	getOdometries()	This method returns a copy of the odometry data of all axes.
default TrcOdometrySensor.Odometry	getOdometry()	This method returns a copy of the odometry data.
TrcOdometrySensor.Odometry	getOdometry(int axisIndex)	This method returns a copy of the odometry data of the specified axis.
void	resetOdometry(boolean resetHardware)	This method resets the odometry data and sensor.

Method Details

getName

String getName()

This method returns the instance name of the odometry sensor.

Returns:

instance name.

resetOdometry

void resetOdometry(boolean resetHardware)

This method resets the odometry data and sensor.

Parameters:

resetHardware - specifies true to do a hardware reset, false to do a software reset. Hardware reset may require some time to complete and will block this method from returning until finish.

getOdometry

TrcOdometrySensor.Odometry getOdometry(int axisIndex)

This method returns a copy of the odometry data of the specified axis. It must be a copy so it won't change while the caller is accessing the data fields.

Parameters:

axisIndex - specifies the axis index if it is a multi-axes sensor, 0 if it is a single axis sensor.

Returns:

a copy of the odometry data of the specified axis.

getOdometry

default TrcOdometrySensor.Odometry getOdometry()

This method returns a copy of the odometry data. It must be a copy so it won't change while the caller is accessing the data fields. This assumes the odometry sensor has only one axis.

Returns:

a copy of the odometry data.

getOdometries

default TrcOdometrySensor.Odometry[] getOdometries()

This method returns a copy of the odometry data of all axes. It must be a copy so it won't change while the caller is accessing the data fields.

Returns:

a copy of the odometry data of all axes.