GoBildaPinpointDriverVoyager

This class extends GoBildaPinpointDriver and provides a specialized interface for the goBILDA Pinpoint Odometry Computer, specifically tailored to work with Voyager's PointXYZ and PointXY data types. It facilitates seamless integration of the Pinpoint's odometry data into the Voyager framework.

Methods

GoBildaPinpointDriverVoyager(I2cDeviceSynchSimple deviceClient, boolean deviceClientIsOwned)

Constructs a new GoBildaPinpointDriverVoyager instance.

setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods pods)

Overrides the parent method to set the encoder resolution based on the type of goBILDA Odometry Pods used. It also updates the currentTicksPerMM field accordingly.

getPositionXYZ()

Retrieves the current position from the Pinpoint and converts it into a Voyager PointXYZ object. The X and Y coordinates are in inches, and the heading (Z) is in radians.

setPosition(PointXYZ pos)

Sets the position of the Pinpoint to the provided Voyager PointXYZ object. The input PointXYZ's X and Y coordinates are interpreted as inches, and its Z (heading) is interpreted as radians.

getVelocityXYZ()

Retrieves the current velocity components from the Pinpoint and converts them into a Voyager PointXYZ object. The X and Y velocities are in inches per second, and the heading velocity is in radians per second.