Class DifferentialDriveOdometry

java.lang.Object
edu.wpi.first.math.kinematics.Odometry<DifferentialDriveWheelPositions>
edu.wpi.first.math.kinematics.DifferentialDriveOdometry

public class DifferentialDriveOdometry
extends Odometry<DifferentialDriveWheelPositions>
Class for differential drive odometry. Odometry allows you to track the robot's position on the field over the course of a match using readings from 2 encoders and a gyroscope.

Teams can use odometry during the autonomous period for complex tasks like path following. Furthermore, odometry can be used for latency compensation when using computer-vision systems.

It is important that you reset your encoders to zero before using this class. Any subsequent pose resets also require the encoders to be reset to zero.

  • Constructor Details

    • DifferentialDriveOdometry

      public DifferentialDriveOdometry​(Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters, Pose2d initialPoseMeters)
      Constructs a DifferentialDriveOdometry object.
      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistanceMeters - The distance traveled by the left encoder.
      rightDistanceMeters - The distance traveled by the right encoder.
      initialPoseMeters - The starting position of the robot on the field.
    • DifferentialDriveOdometry

      public DifferentialDriveOdometry​(Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance, Pose2d initialPoseMeters)
      Constructs a DifferentialDriveOdometry object.
      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistance - The distance traveled by the left encoder.
      rightDistance - The distance traveled by the right encoder.
      initialPoseMeters - The starting position of the robot on the field.
    • DifferentialDriveOdometry

      public DifferentialDriveOdometry​(Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters)
      Constructs a DifferentialDriveOdometry object.
      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistanceMeters - The distance traveled by the left encoder.
      rightDistanceMeters - The distance traveled by the right encoder.
    • DifferentialDriveOdometry

      public DifferentialDriveOdometry​(Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance)
      Constructs a DifferentialDriveOdometry object.
      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistance - The distance traveled by the left encoder.
      rightDistance - The distance traveled by the right encoder.
  • Method Details

    • resetPosition

      public void resetPosition​(Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters, Pose2d poseMeters)
      Resets the robot's position on the field.

      The gyroscope angle does not need to be reset here on the user's robot code. The library automatically takes care of offsetting the gyro angle.

      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistanceMeters - The distance traveled by the left encoder.
      rightDistanceMeters - The distance traveled by the right encoder.
      poseMeters - The position on the field that your robot is at.
    • resetPosition

      public void resetPosition​(Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance, Pose2d poseMeters)
      Resets the robot's position on the field.

      The gyroscope angle does not need to be reset here on the user's robot code. The library automatically takes care of offsetting the gyro angle.

      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistance - The distance traveled by the left encoder.
      rightDistance - The distance traveled by the right encoder.
      poseMeters - The position on the field that your robot is at.
    • update

      public Pose2d update​(Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters)
      Updates the robot position on the field using distance measurements from encoders. This method is more numerically accurate than using velocities to integrate the pose and is also advantageous for teams that are using lower CPR encoders.
      Parameters:
      gyroAngle - The angle reported by the gyroscope.
      leftDistanceMeters - The distance traveled by the left encoder.
      rightDistanceMeters - The distance traveled by the right encoder.
      Returns:
      The new pose of the robot.