set_sensorsCopy Anchor Link

pub fn set_sensors(sensors: OdomSensors, drivetrain: Drivetrain)

Set the sensors to be used for odometry.

Parameters

Returns

()

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get_poseCopy Anchor Link

pub fn get_pose(radians: bool) -> Pose

Get the pose of the robot.

• radians — true for theta in radians, false for degrees (LemLib default false)

Parameters

Returns

Pose

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set_poseCopy Anchor Link

pub fn set_pose(pose: Pose, radians: bool)

Set the pose of the robot.

• radians — true if theta is in radians, false for degrees (LemLib default false)

Parameters

Returns

()

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get_speedCopy Anchor Link

pub fn get_speed(radians: bool) -> Pose

Get the speed of the robot.

• radians — true for theta in radians, false for degrees (LemLib default false)

Parameters

Returns

Pose

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get_local_speedCopy Anchor Link

pub fn get_local_speed(radians: bool) -> Pose

Get the local speed of the robot.

• radians — true for theta in radians, false for degrees (LemLib default false)

Parameters

Returns

Pose

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estimate_poseCopy Anchor Link

pub fn estimate_pose(time: f32, radians: bool) -> Pose

Estimate the pose of the robot after a certain amount of time.

• time — time in seconds
• radians — false for degrees, true for radians (LemLib default false)

Parameters

Returns

Pose

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updateCopy Anchor Link

pub fn update()

Update the pose of the robot. Runs every 10 ms in the tracking task started by init.

PanicsCopy Anchor Link

If called before Chassis::calibrate(crate::Chassis::calibrate) has installed the vertical tracking wheels. LemLib dereferences a null pointer in the same situation.

Returns

()

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initCopy Anchor Link

pub fn init()

Initialize odometry: start the tracking task (once).

Returns

()

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