#include <odometry_3wheel.h>

Inheritance diagram for Odometry3Wheel:

Classes
struct	odometry3wheel_cfg_t

Public Member Functions
	Odometry3Wheel (CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async=true)

pose_t	update () override

void	tune (vex::controller &con, TankDrive &drive)

Public Member Functions inherited from OdometryBase
	OdometryBase (bool is_async)

pose_t	get_position (void)

virtual void	set_position (const pose_t &newpos=zero_pos)

void	end_async ()

double	get_speed ()

double	get_accel ()

double	get_angular_speed_deg ()

double	get_angular_accel_deg ()

Additional Inherited Members
Static Public Member Functions inherited from OdometryBase
static int	background_task (void *ptr)

static double	pos_diff (pose_t start_pos, pose_t end_pos)

static double	rot_diff (pose_t pos1, pose_t pos2)

static double	smallest_angle (double start_deg, double end_deg)

Public Attributes inherited from OdometryBase
bool	end_task = false
	end_task is true if we instruct the odometry thread to shut down

Static Public Attributes inherited from OdometryBase
static constexpr pose_t	zero_pos = {.x = 0.0L, .y = 0.0L, .rot = 90.0L}

Protected Attributes inherited from OdometryBase
vex::task *	handle

vex::mutex	mut

pose_t	current_pos

double	speed

double	accel

double	ang_speed_deg

double	ang_accel_deg

Detailed Description

Odometry3Wheel

This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven (dead) wheels connected to encoders in the following configuration:

+Y ------------— ^ | | | | | | | || O || | | | | | | === | | ------------— | +-------------------> + X

Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate the robot's X, Y and rotation on the field.

This is a "set and forget" class, meaning once the object is created, the robot will immediately begin tracking it's movement in the background.

Author: Ryan McGee

Date: Oct 31 2022

Constructor & Destructor Documentation

◆ Odometry3Wheel()

Odometry3Wheel::Odometry3Wheel	(	CustomEncoder &	lside_fwd,
		CustomEncoder &	rside_fwd,
		CustomEncoder &	off_axis,
		odometry3wheel_cfg_t &	cfg,
		bool	is_async = true )

Construct a new Odometry 3 Wheel object

Parameters

lside_fwd	left-side encoder reference
rside_fwd	right-side encoder reference
off_axis	off-axis (perpendicular) encoder reference
cfg	robot odometry configuration
is_async	true to constantly run in the background

Member Function Documentation

◆ tune()

void Odometry3Wheel::tune	(	vex::controller &	con,
		TankDrive &	drive )

A guided tuning process to automatically find tuning parameters. This method is blocking, and returns when tuning has finished. Follow the instructions on the controller to complete the tuning process

Parameters

con	Controller reference, for screen and button control
drive	Drivetrain reference for robot control

A guided tuning process to automatically find tuning parameters. This method is blocking, and returns when tuning has finished. Follow the instructions on the controller to complete the tuning process

It is assumed the gear ratio and encoder PPR have been set correctly

◆ update()

pose_t Odometry3Wheel::update ( )

overridevirtual

Update the current position of the robot once, using the current state of the encoders and the previous known location

Returns: the robot's updated position

Implements OdometryBase.

The documentation for this class was generated from the following files:

odometry_3wheel.h
odometry_3wheel.cpp

Classes