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Require odometry wheel positions to run ManualFeedbackTuner (#292)

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This commit is contained in:
j5155
2023-11-12 20:55:25 -09:00
committed by GitHub
parent e69e475565
commit 071e405f92
1 changed files with 19 additions and 1 deletions
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20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
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@ -14,7 +14,16 @@ public final class ManualFeedbackTuner extends LinearOpMode {
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) { if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
waitForStart(); waitForStart();
while (opModeIsActive()) { while (opModeIsActive()) {
@ -27,6 +36,15 @@ public final class ManualFeedbackTuner extends LinearOpMode {
} else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) { } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0)); TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
waitForStart(); waitForStart();
while (opModeIsActive()) { while (opModeIsActive()) {