# TwoWheelLocalizer - Abstract Class For Two Wheel Odometry

TwoWheelLocalizer(List<Pose2d> wheelPoses>);

I could be useful with this message, but that's a lot of work.

ABSTRACT FOP A REASON!

I recommend creating some form of interface on top of this class to make it easier to use. Have a periodic() or update(), a getPos() or getPose(), and a setPos() or setPose() method.

Required Methods:

• Override getHeading()
• Override getWheelPositions()
• A 'periodic' method to call TwoWheelLocalizer.update(), eg., super.update()

Recommended Methods:

• Convert encoder ticks to unit of measurement
• A method to return the Pose2d of the bot, utilize TwoWheelLocalizer.getPoseEstimate(), eg., super.getPoseEstimate()
• A method to set the Pose2d of the bot, utilize TwoWheelLocalizer.setPoseEstimate(), eg., super.setPoseEstimate()