Odometry Core

This is a library made to handle the core mathematical calculations for three wheel Odometry.

This library requires either a value in encoder ticks, paired with the counts per revolution per encoder, or an inch value for each encoder to be given

Installation (Gradle)

In order to use this library, paste the following code under your allprojects/repositories:

allprojects {
    repositories {
        jcenter()
        maven { url "https://jitpack.io" }  //Add this line
    }
}

Then place the following line under your dependencies:

dependencies {
    implementation 'com.github.tmthecoder:OdometryCore:1.0.0'
}

Installation (JAR)

Alternatively, you can use the provided JAR in the releases section under the latest released version

Usage

Library Initialization:

OdometryCore.initialize(cpr, diameter, leftOffet, rightOffset, frontBackOffset);

The parameters seen are:

• cpr: The counts per revolution for the encoders you are using
• diameter: The diameter of the wheels on the encoder
• leftOffset: The offset of the left wheel from the center of the robot (only horizontal offset)
• rightOffset: The offset of the right wheel from the center of the robot (only horizontal offset)
• frontBackOffset: The offset of the front or back encoder wheel (only vertical offset)

Position Tracking:

After initializing, the robot's position can be found using the following code:

EncoderPositions encoderPositions = new EncoderPositions(leftPosition, rightPosition, frontBackPosition);
OdometryPosition position = OdometryCore.getInstance().getCurrentPosition(encoderPositions);

The parameters seen are:

• leftPosition: The left encoder's position in ticks
• rightPosition: The right encoder's position in ticks
• frontBackPosition: The front or back encoder's position in ticks

The position tracking code should be run on a loop with as small an interval as possible, and if possible on a separate thread

Features and Bugs

Please file feature requests and bugs at the issue tracker.

Licensing

OdometryCore is Licensed under the MIT License