Pinpoints

NextPinpoint is a wrapper for the goBILDA Pinpoint Odometry Computer that uses lazy initialization.

Creating a NextPinpoint

Kotlin

// By Lynx Module and I2C bus
val pinpoint = NextPinpoint(RobotController.controlHub, 0)

// Using your configuration name
val pinpoint = NextPinpoint("pinpoint")

Java

// By Lynx Module and I2C bus
NextPinpoint pinpoint = new NextPinpoint(RobotController.controlHub(), 0);

// Using your configuration name
NextPinpoint pinpoint = new NextPinpoint("pinpoint");

Usage

update()

Updates the position data from the device. Call this each loop, you can put this in your periodic for your Mechanism.

Kotlin

pinpoint.update()

Java

pinpoint.update();

pose

Pose2d this is the robot’s current position and heading, in inches and radians.

Kotlin

val currentPose = pinpoint.pose

Java

Pose2d currentPose = pinpoint.getPose();

velocity

PoseVelocity2d this is the robot’s current translational and heading velocity.

Kotlin

val currentVelocity = pinpoint.velocity

Java

PoseVelocity2d currentVelocity = pinpoint.getVelocity();

resetPosAndIMU()

Resets the odometry position tracking.

Kotlin

pinpoint.resetPosAndIMU()

Java

pinpoint.resetPosAndIMU();