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Positioner(vector<TrackingWheel> xTrackingWheels, vector<TrackingWheel> yTrackingWheels, Inertial sensor, PVector offset)

The constructor for the Positioner class. This constructor takes in the tracking wheels, the inertial sensor, and the offset of the tracking wheel center from the center of the robot. The offset is used to calculate the position of the robot.

Parameters

  • xTrackingWheels - The tracking wheels in the x direction.
  • yTrackingWheels - The tracking wheels in the y direction.
  • sensor - The inertial sensor.
  • offset - The offset of the tracking wheel center from the center of the robot.

Example 

vector<TrackingWheel> xTrackingWheels = {TrackingWheel(PORT1, false, 2.75)};
vector<TrackingWheel> yTrackingWheels = {TrackingWheel(PORT2, false, 2.75)};
Inertial sensor = Inertial(PORT3, 355, 355);
PVector offset = PVector(0, 0);

Positioner positioner = Positioner(xTrackingWheels, yTrackingWheels, sensor, offset);