TrackingWheel
A wrapper for all the data for one individual tracking wheel. These tracking wheels are sent over to the Positioner class after being made. The Positioner class then uses the data from these tracking wheels to calculate the position of the robot.
Inner Workings
There isn’t much going on here as it is just a simple wrapper for data. However, since it uses the Encoder wrapper, any type of encoder can be put in, even a motor. This allows the user to not have tracking wheels on their robot, but still use all the functionality of lib46f.
Usage
All the user has to do is make an array of these and pass them into the positioner constructor. After that, the odometry system takes care of it all.
Table of contents
- TrackingWheel(Encoder&, bool, double)
- TrackingWheel(int32_t, bool, double)
- TrackingWheel(motor&, bool, double, double)
- TrackingWheel(triport::port&, bool, double)