class SwerveLocalizer : Localizer
Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.
useExternalHeading - use external heading provided by an external sensor (e.g., IMU, gyroscope)
SwerveLocalizer(drive: SwerveDrive, useExternalHeading: Boolean = true)
Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor. |
var poseEstimate: Pose2d
Current robot pose estimate. |
fun update(): Unit
Completes a single localization update. |