Package me.wobblyyyy.pathfinder.tracking.swerve

Class GyroSwerveTracker

java.lang.Object

me.wobblyyyy.pathfinder.tracking.swerve.SwerveChassisTracker

me.wobblyyyy.pathfinder.tracking.swerve.GyroSwerveTracker

All Implemented Interfaces:

Odometry, Tracker

public class GyroSwerveTracker
extends SwerveChassisTracker

A combination of a gyroscopic tracker and a swerve chassis tracker!

In order to actually use the gyroscope, you need to pass it as a parameter to one of the two constructors for this class. It doesn't matter how the gyroscope is initialized - so long as it gets a (fairly accurate) heading for the robot, it should be all good.

Since:

0.1.0

Author:

Colin Robertson

Field Summary

Fields

Modifier and Type	Field	Description
private Gyroscope	gyroscope

Fields inherited from class me.wobblyyyy.pathfinder.tracking.swerve.SwerveChassisTracker

gapX, gapY, wheelDiameter

Constructor Summary

Constructors

Constructor	Description
GyroSwerveTracker(Encoder frTurn, Encoder frDrive, Encoder flTurn, Encoder flDrive, Encoder brTurn, Encoder brDrive, Encoder blTurn, Encoder blDrive, double wheelDiameter, double gapX, double gapY, Gyroscope gyroscope)	Create a new gyroscope-enabled swerve chassis tracker.
GyroSwerveTracker(SwerveModuleTracker fr, SwerveModuleTracker fl, SwerveModuleTracker br, SwerveModuleTracker bl, Gyroscope gyroscope)	Create a new gyroscope-enabled swerve chassis tracker.

Method Summary

Modifier and Type	Method	Description
HeadingPoint	getPos()	Get the position of the chassis.

Methods inherited from class me.wobblyyyy.pathfinder.tracking.swerve.SwerveChassisTracker

getBlPos, getBrPos, getFlPos, getFrPos, update

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

gyroscope

private final Gyroscope gyroscope

Constructor Details

GyroSwerveTracker

public GyroSwerveTracker(Encoder frTurn,
Encoder frDrive,
Encoder flTurn,
Encoder flDrive,
Encoder brTurn,
Encoder brDrive,
Encoder blTurn,
Encoder blDrive,
double wheelDiameter,
double gapX,
double gapY,
Gyroscope gyroscope)

Create a new gyroscope-enabled swerve chassis tracker.

Parameters:

frTurn - FR turn encoder

frDrive - FR drive encoder

flTurn - FL turn encoder

flDrive - FL drive encoder

brTurn - BR turn encoder

brDrive - BR drive encoder

blTurn - BL turn encoder

blDrive - BL drive encoder

wheelDiameter - see: SwerveChassisTracker.wheelDiameter

gapX - see: SwerveChassisTracker.gapX

gapY - see: SwerveChassisTracker.gapY

gyroscope - the gyroscope interface used for updating the angle/heading of the swerve tracker.

GyroSwerveTracker

public GyroSwerveTracker(SwerveModuleTracker fr,
SwerveModuleTracker fl,
SwerveModuleTracker br,
SwerveModuleTracker bl,
Gyroscope gyroscope)

Create a new gyroscope-enabled swerve chassis tracker.

Parameters:

fr - front-right tracker.

fl - front-left tracker.

br - back-right tracker.

bl - back-left tracker.

gyroscope - the gyroscope interface used for updating the angle/heading of the swerve tracker.

Method Details

getPos

public HeadingPoint getPos()

Get the position of the chassis.

The heading component of this HeadingPoint is determined exclusively based on the gyroscope's reported angle. If this angle is at all off, so will this heading.

Specified by:

getPos in interface Odometry

Overrides:

getPos in class SwerveChassisTracker

Returns:

the chassis's position and heading.

See Also:

SwerveChassisTracker.getHeadlessPoint()