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made the robot odo pod diagram more readable

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This commit is contained in:
brotherhobo
2024-08-27 10:05:53 -04:00
parent 93db7dcdfa
commit 94bad19674
4 changed files with 37 additions and 25 deletions
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15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java
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@ -12,24 +12,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
/** /**
* This is the OTOSLocalizer class. This class extends the Localizer superclass and is a * This is the OTOSLocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the SparkFun OTOS. The diagram below, which is taken from * localizer that uses the SparkFun OTOS. The diagram below, which is modified from
* Road Runner, shows a typical set up. * Road Runner, shows a typical set up.
* *
* The view is from the bottom of the robot looking upwards. * The view is from the top of the robot looking downwards.
* *
* left on robot is y pos * left on robot is the y positive direction
* *
* front on robot is x pos * forward on robot is the x positive direction
* *
* /--------------\ * /--------------\
* | ____ | * | ____ |
* | ---- | * | ---- |
* | || || | * | || || |
* | || || | left (y pos) * | || || | ----> left (y positive)
* | | * | |
* | | * | |
* \--------------/ * \--------------/
* front (x pos) * |
* |
* V
* forward (x positive)
* *
* @author Anyi Lin - 10158 Scott's Bots * @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 7/20/2024 * @version 1.0, 7/20/2024

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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@ -18,23 +18,26 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
/** /**
* This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a * This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the three wheel odometry set up with the IMU to have more accurate heading * localizer that uses the three wheel odometry set up with the IMU to have more accurate heading
* readings. The diagram below, which is taken from Road Runner, shows a typical set up. * readings. The diagram below, which is modified from Road Runner, shows a typical set up.
* *
* The view is from the bottom of the robot looking upwards. * The view is from the top of the robot looking downwards.
* *
* left on robot is y pos * left on robot is the y positive direction
* *
* front on robot is x pos * forward on robot is the x positive direction
* *
* /--------------\ * /--------------\
* | ____ | * | ____ |
* | ---- | * | ---- |
* | || || | * | || || |
* | || || | left (y pos) * | || || | ----> left (y positive)
* | | * | |
* | | * | |
* \--------------/ * \--------------/
* front (x pos) * |
* |
* V
* forward (x positive)
* *
* @author Logan Nash * @author Logan Nash
* @author Anyi Lin - 10158 Scott's Bots * @author Anyi Lin - 10158 Scott's Bots

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
View File

@ -14,24 +14,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
/** /**
* This is the ThreeWheelLocalizer class. This class extends the Localizer superclass and is a * This is the ThreeWheelLocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the three wheel odometry set up. The diagram below, which is taken from * localizer that uses the three wheel odometry set up. The diagram below, which is modified from
* Road Runner, shows a typical set up. * Road Runner, shows a typical set up.
* *
* The view is from the bottom of the robot looking upwards. * The view is from the top of the robot looking downwards.
* *
* left on robot is y pos * left on robot is the y positive direction
* *
* front on robot is x pos * forward on robot is the x positive direction
* *
* /--------------\ * /--------------\
* | ____ | * | ____ |
* | ---- | * | ---- |
* | || || | * | || || |
* | || || | left (y pos) * | || || | ----> left (y positive)
* | | * | |
* | | * | |
* \--------------/ * \--------------/
* front (x pos) * |
* |
* V
* forward (x positive)
* *
* @author Anyi Lin - 10158 Scott's Bots * @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 4/2/2024 * @version 1.0, 4/2/2024

17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
View File

@ -17,24 +17,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
/** /**
* This is the TwoWheelLocalizer class. This class extends the Localizer superclass and is a * This is the TwoWheelLocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the two wheel odometry with IMU set up. The diagram below, which is taken from * localizer that uses the two wheel odometry with IMU set up. The diagram below, which is modified from
* Road Runner, shows a typical set up. * Road Runner, shows a typical set up.
* *
* The view is from the bottom of the robot looking upwards. * The view is from the top of the robot looking downwards.
* *
* left on robot is y pos * left on robot is the y positive direction
* *
* front on robot is x pos * forward on robot is the x positive direction
* *
* /--------------\ * /--------------\
* | ____ | * | ____ |
* | ---- | * | ---- |
* | || | * | || || |
* | || | left (y pos) * | || || | ----> left (y positive)
* | | * | |
* | | * | |
* \--------------/ * \--------------/
* front (x pos) * |
* |
* V
* forward (x positive)
* *
* @author Anyi Lin - 10158 Scott's Bots * @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 4/2/2024 * @version 1.0, 4/2/2024