LRT14
1.0
|
Localizes the robot's location relative to its start position using changes in encoder values. Uses arcs to approximate path. More...
#include <RobotLocation.h>
Public Member Functions | |
void | Update () |
Calculates the new position of the robot. | |
double | GetX () |
Get the x position of the robot relative to the zeroed location. | |
double | GetY () |
Get the y position of the robot relative to the zeroed location. | |
double | GetTheta () |
Gets the angle of the robot relative to the zeroed angle. | |
void | Zero () |
Sets the current position and angle of the robot as zero. | |
void | Log () |
Logs values to the log file. | |
void | Send () |
Sends location data to the network. | |
Static Public Member Functions | |
static void | Periodic (void *param) |
Periodically called by notifier to update. | |
Additional Inherited Members | |
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template<typename T > | |
void | LogToFile (T *field, std::string name) |
Saves a variable to the Logger for logging. | |
template<typename T > | |
void | LogToFile (T *field, int count, std::string name) |
Saves a dynamically allocated array to the Logger for logging. | |
template<typename T > | |
void | LogToFile (T value, std::string name) |
Saves a value to the Logger for logging. | |
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template<typename T > | |
void | SendToNetwork (T value, std::string key, std::string table) |
Sends a value to the network through LiveNetworkSender. | |
Localizes the robot's location relative to its start position using changes in encoder values. Uses arcs to approximate path.
double RobotLocation::GetTheta | ( | ) |
Gets the angle of the robot relative to the zeroed angle.
double RobotLocation::GetX | ( | ) |
Get the x position of the robot relative to the zeroed location.
double RobotLocation::GetY | ( | ) |
Get the y position of the robot relative to the zeroed location.