robotCore.Navigator Class Reference

The Navigator class uses the drive wheel encoders and a gyro to keep track of the robots absolute position on the field in real time. More...

Classes
class	NavigatorPos
	The NavigatorPos class is used to return the current navigator position data. More...

Public Member Functions
	Navigator (Encoder leftEncoder, Encoder rightEncoder)
NavigatorPos	getPos ()
double	getYaw ()
void	setTicksPerFoot (double ticks)
void	reset (double yaw, double xPos, double yPos)
void	invert (boolean invert)

Detailed Description

The Navigator class uses the drive wheel encoders and a gyro to keep track of the robots absolute position on the field in real time.

Author

John Gaby

Constructor & Destructor Documentation

Navigator()

robotCore.Navigator.Navigator	(	Encoder	leftEncoder,
		Encoder	rightEncoder
	)

Parameters

leftEncoder	- Specifies the encoder for the left motor
rightEncoder	- Specifies the encoder for the right motor

Member Function Documentation

getPos()

NavigatorPos robotCore.Navigator.getPos

(

)

Gets the current position data for the robot.

Returns

Returns the current position data.

getYaw()

double robotCore.Navigator.getYaw

(

)

Gets only the yaw.

Returns

Returns the yaw.

invert()

void robotCore.Navigator.invert

(

boolean

invert

)

Specifies that the sense of the yaw be inverted. I.E. controls whether the yaw value increases or decreases when the robot turns clockwise. In general, the Pure Pursuit path following assumes that the yaw will decrease when the robot turns clockwise.

Parameters

invert

- If true, inverts the direction of the yaw

reset()

void robotCore.Navigator.reset	(	double	yaw,
		double	xPos,
		double	yPos
	)

Resets the yaw and position of the robot.

Parameters

yaw	- Specifies the new yaw value for the robot in degrees. This value will be adjusted so that it in the range -180 to 180.
xPos	- Specifies the new x position of the robot. This value is in encoder ticks unless the ticksPerFoot value is set in which case it is in feet.
yPos	- Specifies the new y position of the robot. This value is in encoder ticks unless the ticksPerFoot value is set in which case it is in feet.

setTicksPerFoot()

void robotCore.Navigator.setTicksPerFoot

(

double

ticks

)

Sets the number of ticks per foot

Parameters

ticks

- Specifies the number of ticks per foot.

---

The documentation for this class was generated from the following file:

• D:/SDASVN/2022/RaspberryPi/Source/robotCore/Navigator.java