SCDS/FTCRoadRunnerRobotics
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moved velocity calculations to the localizers

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This commit is contained in:
Anyi Lin
2024-11-21 17:13:30 -05:00
parent 9711a268e5
commit 089fc3ae68
1 changed files with 4 additions and 3 deletions
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
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@ -262,9 +262,10 @@ public class PoseUpdater {
*/ */
public Vector getVelocity() { public Vector getVelocity() {
if (currentVelocity == null) { if (currentVelocity == null) {
currentVelocity = new Vector(); // currentVelocity = new Vector();
currentVelocity.setOrthogonalComponents(getPose().getX() - previousPose.getX(), getPose().getY() - previousPose.getY()); // currentVelocity.setOrthogonalComponents(getPose().getX() - previousPose.getX(), getPose().getY() - previousPose.getY());
currentVelocity.setMagnitude(MathFunctions.distance(getPose(), previousPose) / ((currentPoseTime - previousPoseTime) / Math.pow(10.0, 9))); // currentVelocity.setMagnitude(MathFunctions.distance(getPose(), previousPose) / ((currentPoseTime - previousPoseTime) / Math.pow(10.0, 9)));
currentVelocity = localizer.getVelocityVector();
return MathFunctions.copyVector(currentVelocity); return MathFunctions.copyVector(currentVelocity);
} else { } else {
return MathFunctions.copyVector(currentVelocity); return MathFunctions.copyVector(currentVelocity);