Package ca.team3161.lib.robot.motion.tracking

Class SkidSteerPositionEstimator

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

ca.team3161.lib.robot.motion.tracking.SkidSteerPositionEstimator

All Implemented Interfaces:

Subsystem

public class SkidSteerPositionEstimator
extends AbstractPositionEstimator

A Position Estimator for plain Skid Steer drivetrains, eg standard tank and arcade drive.

Nested Class Summary

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

AbstractSubsystem.RunTask

Field Summary

Fields inherited from class ca.team3161.lib.robot.motion.tracking.AbstractPositionEstimator

accelerometer, backLeftEncoder, backRightEncoder, chassisParameters, dt, dtheta, dw, dx, dy, e1, e2, e3, frontLeftEncoder, frontRightEncoder, GRAVITATIONAL_ACCELERATION, gyro, mudtheta, mudx, mudy, pAx, pAy, pt, ptheta, px, py, theta, theta0, time, vx, vy, w1, w2, w3, w4, x, y

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

job, resourceLocks, THREAD_PRIORITY

Constructor Summary

Constructors

Constructor	Description
SkidSteerPositionEstimator(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 SkidSteerPositionEstimator.

Method Summary

Modifier and Type	Method	Description
protected void	updateSteerSpecificParameters()

Methods inherited from class ca.team3161.lib.robot.motion.tracking.AbstractPositionEstimator

defineResources, getEstimate, reset, setInitialTheta, task, updateEstimate, 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

Constructor Detail

SkidSteerPositionEstimator

public SkidSteerPositionEstimator(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 SkidSteerPositionEstimator.

Parameters:

chassisParameters - a physical description of the robot

accelerometer - an accelerometer

gyro - a gyroscope

frontLeftEncoder - the encoder attached to the output of the front left wheel

frontRightEncoder - the encoder attached to the output of the front right wheel

backLeftEncoder - the encoder attached to the output of the back left wheel

backRightEncoder - the encoder attached to the output of the back right wheel

Method Detail

updateSteerSpecificParameters

protected void updateSteerSpecificParameters()

Specified by:

updateSteerSpecificParameters in class AbstractPositionEstimator