pinpoint.mdx added

Author: 28shettr

.idea/workspace.xml

@@ -0,0 +1,100 @@
+---
+title: Pinpoint
+description: Reading odometry with NextPinpoint
+sidebar:
+    order: 4
+---
+
+import { Tabs, TabItem } from '@astrojs/starlight/components';
+
+`NextPinpoint` is a wrapper for the [goBILDA Pinpoint Odometry Computer](https://www.gobilda.com/pinpoint-odometry-computer-imu-sensor-fusion-for-2-wheel-odometry/) that uses lazy initialization.
+
+## Creating a NextPinpoint
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+val pinpoint = NextPinpoint(RobotController.controlHub, 0) // By Lynx Module and I2C bus
+
+val pinpoint = NextPinpoint("pinpoint") // Using your configuration name
+```
+</TabItem>
+<TabItem label="Java">
+```java
+NextPinpoint pinpoint = new NextPinpoint(RobotController.getControlHub(), 0); // By Lynx Module and I2C bus
+
+NextPinpoint pinpoint = new NextPinpoint("pinpoint"); // Using your configuration name
+```
+</TabItem>
+</Tabs>
+
+
+## Usage
+
+### `update()`
+
+Updates the position data from the device. Call this each loop, you can put this in your `periodic` for your `Mechanism`.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+pinpoint.update()
+```
+</TabItem>
+<TabItem label="Java">
+```java
+pinpoint.update();
+```
+</TabItem>
+</Tabs>
+
+### `pose`
+
+`Pose2d` this is the robot's current position and heading, in inches and radians.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+val currentPose = pinpoint.pose
+```
+</TabItem>
+<TabItem label="Java">
+```java
+Pose2d currentPose = pinpoint.getPose();
+```
+</TabItem>
+</Tabs>
+
+### `velocity`
+
+`PoseVelocity2d` this is the robot's current translational and heading velocity.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+val currentVelocity = pinpoint.velocity
+```
+</TabItem>
+<TabItem label="Java">
+```java
+PoseVelocity2d currentVelocity = pinpoint.getVelocity();
+```
+</TabItem>
+</Tabs>
+
+### `resetPosAndIMU()`
+
+Resets the odometry position tracking.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+pinpoint.resetPosAndIMU()
+```
+</TabItem>
+<TabItem label="Java">
+```java
+pinpoint.resetPosAndIMU();
+```
+</TabItem>
+</Tabs>