Implement odom calibration

5150VEX · Oct 15, 2023 · 76fc8be · 76fc8be
1 parent a26200f
commit 76fc8be
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Showing 3 changed files with 499 additions and 427 deletions.
diff --git a/include/lemlib/odom/arc.hpp b/include/lemlib/odom/arc.hpp
@@ -17,6 +17,17 @@ class ArcOdom : public Odom {
          */
         ArcOdom(std::vector<TrackingWheel>& verticals, std::vector<TrackingWheel>& horizontals,
                 std::vector<pros::Imu>& imus);
+
+        /**
+         * @brief Calibrate tracking wheels and inertial sensors
+         *
+         */
+        void calibrate() override;
+        /**
+         * @brief Update odom pose
+         *
+         */
+        void update() override;
     private:
         std::vector<TrackingWheel> verticals;
         std::vector<TrackingWheel> horizontals;