`TriWheels` localization

BotsBurgh / BOTSBURGH-FTC-2024-25

Code for our FTC 2024-25 season robot

GNU General Public License v2.0

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Closed BD103 closed 20 hours ago

BD103 commented 6 days ago

This adds the ability to find the position of the robot given the encoder values of all 3 wheels.

Renamed TriWheels.wheelRatio to compute, made it public, and removed the rotation argument.
Created the TriWheels.inverse method, which finds the inverse of compute.
Created Polar2d to represent polar coordinates. It complements the Cartesian form, Vector2d.
Created several math utilities.
Added unit tests for all features above.
Created a demo of using localization.

BD103 commented 20 hours ago

Aside from the fact that I don't fully understand how it works looks good.

Pull me aside one day and I can explain it :)