DeadWheelsKinematics


public class DeadWheelsKinematics

Constructor Summary

Constructors
Constructor	Description
`DeadWheelsKinematics(ILogger logger, DeadWheelsKinematicsParams params)`	Constructs a new instance of the DeadWheelsKinematics class.

Method Summary

Modifier and Type	Method	Description
`PoseAndVelocity`	`getPositionVelocity()`	Gets the current position and velocity.
`void`	`update(int positionLeft, int positionRight, int positionCenter)`	Updates the position and velocity based on the new encoder positions.
`void`	`updateAndReset(int positionLeft, int positionRight, int positionCenter, Pose2D pose)`	Updates the encoder positions and resets the current pose and velocity values.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - DeadWheelsKinematics
```
DeadWheelsKinematics(ILogger logger, DeadWheelsKinematicsParams params)
```
    Constructs a new instance of the DeadWheelsKinematics class.
- Method Detail
  - getPositionVelocity
```
 PoseAndVelocity getPositionVelocity()
```
    Gets the current position and velocity.
  - update
```
 void update(int positionLeft, int positionRight, int positionCenter)
```
    Updates the position and velocity based on the new encoder positions. This method should be called periodicallywith the most recent encoder positions.
    
    Parameters:
    
    positionLeft - encoder position left.
    
    positionRight - encoder position right.
    
    positionCenter - encoder position center.
  - updateAndReset
```
 void updateAndReset(int positionLeft, int positionRight, int positionCenter, Pose2D pose)
```
    Updates the encoder positions and resets the current pose and velocity values.
    
    Parameters:
    
    positionLeft - encoder position left.
    
    positionRight - encoder position right.
    
    positionCenter - encoder position center.
    
    pose - new tracker pose.