TrackingWheel

pub struct TrackingWheel

A tracking wheel: an encoder (or motor group) and the geometry to turn it into distance.

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MethodsCopy Anchor Link

newCopy Anchor Link

pub fn new(
        encoder: impl Into<TrackingEncoder>,
        wheel_diameter: f32,
        distance: f32,
        gear_ratio: f32,
    ) -> Self

Create a tracking wheel from a rotation sensor or an ADI encoder.

• encoder — a vexide RotationSensor or AdiEncoder (or a TrackingEncoder)
• wheel_diameter — the diameter of the wheel, in inches (see Omniwheel)
• distance — distance between the tracking wheel and the center of rotation, in inches. Same sign convention as LemLib: negative is left / back.
• gear_ratio — gear ratio of the tracking wheel (LemLib default 1), defined as output / input

// pros::Rotation verticalEnc(-11);
// lemlib::TrackingWheel vertical(&verticalEnc, lemlib::Omniwheel::NEW_275, -2.5);
let vertical_enc = RotationSensor::new(peripherals.port_11, Direction::Reverse);
let vertical = TrackingWheel::new(vertical_enc, Omniwheel::NEW_275, -2.5, 1.0);

Parameters

Returns

Self

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from_motorsCopy Anchor Link

pub fn from_motors(
        motors: Rc<RefCell<MotorGroup>>,
        wheel_diameter: f32,
        distance: f32,
        rpm: f32,
    ) -> Self

Create a "tracking wheel" from drivetrain motors (LemLib's MotorGroup* constructor).

• motors — the motor group
• wheel_diameter — the diameter of the drivetrain wheels, in inches
• distance — half the track width, negative for the left side
• rpm — theoretical maximum rpm of the drivetrain wheels

Parameters

Returns

Self

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resetCopy Anchor Link

pub fn reset(&mut self)

Reset the tracking wheel position to 0.

Returns

()

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get_distance_traveledCopy Anchor Link

pub fn get_distance_traveled(&self) -> f32

Get the distance traveled by the tracking wheel, in inches.

Returns

f32

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get_offsetCopy Anchor Link

pub fn get_offset(&self) -> f32

Get the offset of the tracking wheel from the center of rotation.

Returns

f32

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get_typeCopy Anchor Link

pub fn get_type(&self) -> i32

Get the type of tracking wheel: 0 for an encoder, 1 for motors.

Returns

i32

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