SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

centripetal correction oops

Browse Source
This commit is contained in:
brotherhobo
2024-08-13 01:04:21 -04:00
parent 87f42407f7
commit 13e503c730
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
View File

@ -853,7 +853,7 @@ public class Follower {
curvature = (yDoublePrime) / (Math.pow(Math.sqrt(1 + Math.pow(yPrime, 2)), 3));
}
if (Double.isNaN(curvature)) return new Vector();
centripetalVector = new Vector(MathFunctions.clamp(FollowerConstants.centripetalScaling * FollowerConstants.mass * Math.pow(MathFunctions.dotProduct(poseUpdater.getVelocity(), MathFunctions.normalizeVector(currentPath.getClosestPointTangentVector())), 2) * Math.abs(curvature), -1, 1), currentPath.getClosestPointTangentVector().getTheta() + Math.PI / 2 * MathFunctions.getSign(currentPath.getClosestPointNormalVector().getTheta()));
centripetalVector = new Vector(MathFunctions.clamp(FollowerConstants.centripetalScaling * FollowerConstants.mass * Math.pow(MathFunctions.dotProduct(poseUpdater.getVelocity(), MathFunctions.normalizeVector(currentPath.getClosestPointTangentVector())), 2) * curvature, -1, 1), currentPath.getClosestPointTangentVector().getTheta() + Math.PI / 2 * MathFunctions.getSign(currentPath.getClosestPointNormalVector().getTheta()));
return centripetalVector;
}