TrackingWheel Class Reference

Single tracking wheel — works with either a Rotation sensor (preferred) or a powered MotorGroup. More...

#include <odometry.hpp>

Public Member Functions
	TrackingWheel (pros::Rotation *sensor, float wheelDiam, float offset, float tpr=36000.0f)
	Construct from an unpowered Rotation sensor.
	TrackingWheel (pros::MotorGroup *motors, float wheelDiam, float offset, float tpr=360.0f)
	Construct from a powered MotorGroup (blue-cart default).
float	getDistanceTraveled () const
float	getOffset () const
bool	isPowered () const
void	reset ()
	Zero the encoder.

Detailed Description

Single tracking wheel — works with either a Rotation sensor (preferred) or a powered MotorGroup.

Definition at line 38 of file odometry.hpp.

Constructor & Destructor Documentation

TrackingWheel() [1/2]

TrackingWheel::TrackingWheel ( pros::Rotation *  sensor, float  wheelDiam, float  offset, float  tpr = 36000.0f  )

inline

Construct from an unpowered Rotation sensor.

Parameters

sensor	rotation sensor (pointer, not owned)
wheelDiam	wheel diameter, inches
offset	signed perpendicular distance from robot center, inches
tpr	ticks per revolution (default 36000 for Rotation sensor)

Definition at line 52 of file odometry.hpp.

TrackingWheel() [2/2]

TrackingWheel::TrackingWheel ( pros::MotorGroup *  motors, float  wheelDiam, float  offset, float  tpr = 360.0f  )

inline

Construct from a powered MotorGroup (blue-cart default).

Parameters

motors	motor group (pointer, not owned)
wheelDiam	wheel diameter, inches
offset	signed perpendicular distance from robot center, inches
tpr	ticks per revolution (default 360 for blue cart)

Definition at line 67 of file odometry.hpp.

Member Function Documentation

getDistanceTraveled()

float TrackingWheel::getDistanceTraveled ( ) const

inline

Returns

Distance traveled since last reset, inches.

Definition at line 71 of file odometry.hpp.

getOffset()

float TrackingWheel::getOffset ( ) const

inline

Returns

Signed perpendicular offset from robot center, inches.

Definition at line 78 of file odometry.hpp.

isPowered()

bool TrackingWheel::isPowered ( ) const

inline

Returns

true if backed by a powered motor group.

Definition at line 81 of file odometry.hpp.

reset()

void TrackingWheel::reset ( )

inline

Zero the encoder.

Definition at line 84 of file odometry.hpp.

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

• include/LightLib/drive/odometry.hpp