Class Swerve.SimErrors

java.lang.Object

frc.robot.subsystems.swerve.Swerve.SimErrors

Enclosing class:

Swerve

public static final class Swerve.SimErrors
extends Object

Deliberate odometry error in simulation, so the comparison between vision sources has something to correct. The truth pose is the uncorrupted odometry.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	GYRO_DRIFT_DEG_PER_SEC	Gyro drift, degrees per second.
static final double	WHEEL_SCALE	Measured wheel distance over true distance.

Constructor Summary

Constructors

Constructor	Description
SimErrors()

Method Summary

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

WHEEL_SCALE

public static final double WHEEL_SCALE

Measured wheel distance over true distance. 1.02 is a worn-tread two percent.

See Also:

• Constant Field Values

GYRO_DRIFT_DEG_PER_SEC

public static final double GYRO_DRIFT_DEG_PER_SEC

Gyro drift, degrees per second.

See Also:

• Constant Field Values

Constructor Details

SimErrors

public SimErrors()