Distance sensor mount for LightCast. More...

#include <odometry.hpp>

Public Attributes
pros::Distance *	sensor
	Backing PROS distance sensor (not owned).

float	offsetX
	Mount X in robot frame, inches.

float	offsetY
	Mount Y in robot frame, inches.

float	angleRad
	Ray direction in robot frame, radians.

float(*	raycastFn )(float, float, float, float) = nullptr
	leave null for the generic perimiter raycast (works for any angle).

Detailed Description

Distance sensor mount for LightCast.

offsetX/Y in inches, robot frame; angleRad = ray direction (0 = +Y, CCW+). In light (not light::lightcast) to keep odometry.hpp independent of lightcast.hpp.

Definition at line 99 of file odometry.hpp.

Member Data Documentation

◆ angleRad

float DistanceSensorSpec::angleRad

Ray direction in robot frame, radians.

Definition at line 103 of file odometry.hpp.

◆ offsetX

float DistanceSensorSpec::offsetX

Mount X in robot frame, inches.

Definition at line 101 of file odometry.hpp.

◆ offsetY

float DistanceSensorSpec::offsetY

Mount Y in robot frame, inches.

Definition at line 102 of file odometry.hpp.

◆ raycastFn

float(* DistanceSensorSpec::raycastFn) (float, float, float, float) = nullptr

leave null for the generic perimiter raycast (works for any angle).

assign a face function from src/maps/ if you want the axis-aligned fast path

Definition at line 106 of file odometry.hpp.

◆ sensor

pros::Distance* DistanceSensorSpec::sensor

Backing PROS distance sensor (not owned).

Definition at line 100 of file odometry.hpp.

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

include/LightLib/drive/odometry.hpp