java.lang.Object
- ca.team3161.lib.robot.subsystem.AbstractSubsystem
- - ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem
  - - ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem
    - - ca.team3161.lib.robot.motion.tracking.AbstractPositionEstimator

All Implemented Interfaces:

Subsystem

Direct Known Subclasses:

MecanumPositionEstimator, SkidSteerPositionEstimator
```
public abstract class AbstractPositionEstimator
extends RepeatingPooledSubsystem
```
Abstract parent for drivetrain-specific classes which integrate accelerometer, gyroscope, and encoder data in order to estimate total x, y distance travelled and degrees rotated by a robot.

Nested Class Summary
- Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
  AbstractSubsystem.RunTask

Field Summary

Fields
Modifier and Type	Field	Description
`protected edu.wpi.first.wpilibj.interfaces.Accelerometer`	`accelerometer`
`protected edu.wpi.first.wpilibj.Encoder`	`backLeftEncoder`
`protected edu.wpi.first.wpilibj.Encoder`	`backRightEncoder`
`protected ChassisParameters`	`chassisParameters`
`protected long`	`dt`
`protected double`	`dtheta`
`protected double`	`dw`
`protected double`	`dx`
`protected double`	`dy`
`protected double`	`e1`
`protected double`	`e2`
`protected double`	`e3`
`protected edu.wpi.first.wpilibj.Encoder`	`frontLeftEncoder`
`protected edu.wpi.first.wpilibj.Encoder`	`frontRightEncoder`
`static double`	`GRAVITATIONAL_ACCELERATION`	Acceleration due to gravity, in meters per second.
`protected edu.wpi.first.wpilibj.interfaces.Gyro`	`gyro`
`protected double`	`mudtheta`
`protected double`	`mudx`
`protected double`	`mudy`
`protected double`	`pAx`
`protected double`	`pAy`
`protected long`	`pt`
`protected double`	`ptheta`
`protected double`	`px`
`protected double`	`py`
`protected double`	`theta`
`protected double`	`theta0`
`protected long`	`time`
`protected double`	`vx`
`protected double`	`vy`
`protected double`	`w1`
`protected double`	`w2`
`protected double`	`w3`
`protected double`	`w4`
`protected double`	`x`
`protected double`	`y`

Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
job, resourceLocks, THREAD_PRIORITY

Constructor Summary

Constructors
Constructor	Description
`AbstractPositionEstimator(ChassisParameters chassisParameters, edu.wpi.first.wpilibj.interfaces.Accelerometer accelerometer, edu.wpi.first.wpilibj.interfaces.Gyro gyro, edu.wpi.first.wpilibj.Encoder frontLeftEncoder, edu.wpi.first.wpilibj.Encoder frontRightEncoder, edu.wpi.first.wpilibj.Encoder backLeftEncoder, edu.wpi.first.wpilibj.Encoder backRightEncoder)`	Construct a new PositionEstimator.

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`defineResources()`	Define the set of resourceLocks required for this Subsystem's task.
`Position`	`getEstimate()`	Get the current estimate of the robot's on-field position.
`void`	`reset()`
`void`	`setInitialTheta(double theta0)`	Set the initial rotation of the robot.
`void`	`task()`	The background task to run.
`protected void`	`updateEstimate()`
`protected abstract void`	`updateSteerSpecificParameters()`
`protected void`	`updateTime()`

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem
isDone, start

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem
getExecutorService

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
acquireResources, cancel, getJob, isCancelled, isScheduled, isStarted, releaseResources, require

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

GRAVITATIONAL_ACCELERATION
```
public static final double GRAVITATIONAL_ACCELERATION
```
Acceleration due to gravity, in meters per second.

See Also:

Constant Field Values

x
```
protected double x
```

y
```
protected double y
```

theta
```
protected double theta
```

theta0
```
protected double theta0
```

dx
```
protected double dx
```

dy
```
protected double dy
```

dtheta
```
protected double dtheta
```

px
```
protected double px
```

py
```
protected double py
```

ptheta
```
protected double ptheta
```

pAx
```
protected double pAx
```

pAy
```
protected double pAy
```

mudx
```
protected double mudx
```

mudy
```
protected double mudy
```

mudtheta
```
protected double mudtheta
```

time
```
protected long time
```

pt
```
protected long pt
```

dt
```
protected long dt
```

vx
```
protected double vx
```

vy
```
protected double vy
```

dw
```
protected double dw
```

e1
```
protected double e1
```

e2
```
protected double e2
```

e3
```
protected double e3
```

chassisParameters

protected final ChassisParameters chassisParameters

accelerometer

protected final edu.wpi.first.wpilibj.interfaces.Accelerometer accelerometer

gyro

protected final edu.wpi.first.wpilibj.interfaces.Gyro gyro

frontLeftEncoder

protected final edu.wpi.first.wpilibj.Encoder frontLeftEncoder

frontRightEncoder

protected final edu.wpi.first.wpilibj.Encoder frontRightEncoder

backLeftEncoder

protected final edu.wpi.first.wpilibj.Encoder backLeftEncoder

backRightEncoder

protected final edu.wpi.first.wpilibj.Encoder backRightEncoder

w1
```
protected double w1
```

w2
```
protected double w2
```

w3
```
protected double w3
```

w4
```
protected double w4
```

Constructor Detail
- AbstractPositionEstimator
```
public AbstractPositionEstimator(ChassisParameters chassisParameters,
                                 edu.wpi.first.wpilibj.interfaces.Accelerometer accelerometer,
                                 edu.wpi.first.wpilibj.interfaces.Gyro gyro,
                                 edu.wpi.first.wpilibj.Encoder frontLeftEncoder,
                                 edu.wpi.first.wpilibj.Encoder frontRightEncoder,
                                 edu.wpi.first.wpilibj.Encoder backLeftEncoder,
                                 edu.wpi.first.wpilibj.Encoder backRightEncoder)
```
  Construct a new PositionEstimator. Requires physical parameters of the robot and a collection of sensors from which to pull various data.
  
  Parameters:
  
  chassisParameters - physical parameters of the robot
  
  accelerometer - an accelerometer to measure acceleration
  
  gyro - a gyroscope to measure rotation
  
  frontLeftEncoder - an encoder to measure movement of the front left wheel
  
  frontRightEncoder - an encoder to measure movement of the front right wheel
  
  backLeftEncoder - an encoder to measure movement of the back left wheel
  
  backRightEncoder - an encoder to measure movement of the back right wheel

Method Detail
- setInitialTheta
```
public void setInitialTheta(double theta0)
```
  Set the initial rotation of the robot. If the robot's initial heading is not to be interpreted as an angle of 0, use this method to set the correct offset (for example, if your robot begins matches rotated).
  
  Parameters:
  
  theta0 - the initial angle
- defineResources
```
public void defineResources()
```
  Define the set of resourceLocks required for this Subsystem's task.
  
  See Also:
  
  AbstractSubsystem.require(Object)
- task
```
public void task()
          throws java.lang.Exception
```
  The background task to run.
  
  Throws:
  
  java.lang.Exception - in case the defined task throws any Exceptions
- updateSteerSpecificParameters
```
protected abstract void updateSteerSpecificParameters()
```
- updateTime
```
protected void updateTime()
```
- updateEstimate
```
protected void updateEstimate()
```
- reset
```
public void reset()
```
- getEstimate
```
public Position getEstimate()
```
  Get the current estimate of the robot's on-field position.
  
  Returns:
  
  the position estimate

Class AbstractPositionEstimator

Nested Class Summary

Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

Field Summary

Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

Constructor Summary

Method Summary

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

Methods inherited from class java.lang.Object

Field Detail

GRAVITATIONAL_ACCELERATION

x

y

theta

theta0

dx

dy

dtheta

px

py

ptheta

pAx

pAy

mudx

mudy

mudtheta

time

pt

dt

vx

vy

dw

e1

e2

e3

chassisParameters

accelerometer

gyro

frontLeftEncoder

frontRightEncoder

backLeftEncoder

backRightEncoder

w1

w2

w3

w4

Constructor Detail

AbstractPositionEstimator

Method Detail

setInitialTheta

defineResources

task

updateSteerSpecificParameters

updateTime

updateEstimate

reset

getEstimate