TrackingWheel(triport::port& port, bool reversed, double diameter)

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

Parameters

• port - The 3-wire port of the shaft encoder.
• 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(Brain.ThreeWirePort.A, 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)