Pioneer Robotics Documentation/pioneer.localization.localizers/Odometry

Odometry

class Odometry(hardwareMap: HardwareMap, name: String, ticksPerRev: Double, wheelDiameterCM: Double)

Represents an Odometry system for a single encoder.

Constructors

constructor(hardwareMap: HardwareMap, name: String, ticksPerRev: Double, wheelDiameterCM: Double)

Properties

val currentTicks: Int

Gets the current position of the encoder in ticks.

Functions

fun reset()

Resets the odometry hardware and internal state.

fun toCentimeters(): Double

Calculates the distance traveled based on ticks.