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Chassis(MotorGroup& left, MotorGroup& right, Positioner& positioner, double trackWidth, double gearRatio, double wheelDiameter, gearSetting cartridge)

Constructs a chassis with the given parameters

Parameters

  • left - The left side motor group
  • right - The right side motor group
  • positioner - The odometry tracker to use
  • trackWidth - The distance between the center of the left wheel and the center of the right wheel
  • gearRatio - The ratio of the motor to the wheel (input/output)
  • wheelDiameter - The diameter of the wheel
  • cartridge - The gearset of the motors

Example 

motor LeftMot = motor(PORT1);
MotorGroup left = MotorGroup(LeftMot);
motor RightMot = motor(PORT2);
MotorGroup right = MotorGroup(RightMot);

Inertial imu = Inertial(PORT3, 355, 355);
vector<TrackingWheel> xWheels = {};
vector<TrackingWheel> yWheels = {TrackingWheel(PORT4, true, 2.75)};
Positioner positioner = Positioner(xWheels, yWheels, imu, {0, 0});

Chassis chassis (left, right, positioner, 11, 3.0/2.0, 3.25/2.0, ratio18_1);