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TrackingWheel(int32_t port, bool reversed, double diameter)

Constructs a new TrackingWheel object using a rotation sensor, a boolean for if the sensor is reversed, and a diameter for the wheel.

Parameters

  • port - The port of the rotation sensor.
  • reversed - If the sensor angles should be reversed. (i.e. if the sensor is mounted upside down)
  • diameter - The diameter of the wheel in inches.

Example 

TrackingWheel forwardWheel(PORT1, false, 2.77); // a 2.75 omni, but 2.77 is a better approximation because of some random factor or something
// you should test this yourself to get the best value (just check the odometry values and see if they are correct)