Odometry Sensors

LouLib contains three different classes that represent sensors that can be used for odometry

Rotation Sensor

The OdomRotationSensor class is used to represent a odometry dead-wheel with a VEX V5 rotation sensor.

Creating a rotation sensor

The constructor for OdomRotationSensor takes three arguments:

int port
The port that the sensor is plugged into
bool reversed
Whether or not the direction of the sensor needs to be reversed
LouLib::Units::Length wheelDiam
The diameter of the tracking wheel

Adding a gear ratio

If the odometry dead-wheel contains gears between the sensor shaft and the wheel shaft, the setGearRatio method is used to ensure the OdomRotationSensor returns accurate values. This method takes two arguments:

int wheelSide
The number of teeth on the gear attatched to the same shaft as the tracking wheel
int sensorSide
The number of teeth on the gear attatched to the same shaft as the rotation sensor.

Motor Sensor

The OdomMotorSensor class is used to represent a drive wheel being used as an odometry tracking wheel.

Creating a motor sensor

The constructor for OdomMotorSensor takes four arguments:

int motorPort
The port the motor is plugged into
pros::motor_gearset_e_t gearset
The pros gearset of the motor
bool motorReversed
Whether or not the direction of the motor needs to be reversed
LouLib::Units::Length wheelDiam
The diameter of the tracking wheel

Adding a gear ratio

If the drive contains gears between the motor shaft and the wheel shaft, the setGearRatio method is used to ensure the OdomMotorSensor returns accurate values. This method takes two arguments:

int wheelSide
The number of teeth on the gear attatched to the same shaft as the wheel
int sensorSide
The number of teeth on the gear attatched to the same shaft as the motor.

IMU Sensor

The OdomIMUSensor class is used to represent a VEX V5 rotation sensor being used as a gyroscope for odometry heading.

Creating an IMU sensor

The constructor for OdomIMUSensor takes two arguments:

int port
The port the sensor is plugged into
double scale (optional)
Sometimes VEX IMU sensors will return heading values that aren’t accurate, but can be made accurate by multiplying the output of the sensor by a scalar. This scale argument is used to provide the scalar for the IMU sensor being used. If no scale is provided, it will default to 1 (the default IMU readings).