SCDS/FTCRoadRunnerRobotics
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enabled deadwheels and changed right side direction

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This commit is contained in:
carlos
2024-08-29 17:13:14 -07:00
parent af672c7807
commit 1c16c6beb5
2 changed files with 11 additions and 10 deletions
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15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
View File

@ -138,8 +138,6 @@ public final class MecanumDrive {
imu = lazyImu.get();
// TODO: reverse encoders if needed
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
}
@Override
@ -217,10 +215,10 @@ public final class MecanumDrive {
// TODO: make sure your config has motors with these names (or change them)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
leftFront = hardwareMap.get(DcMotorEx.class, "Drive front lt");
leftBack = hardwareMap.get(DcMotorEx.class, "Drive back lt");
rightBack = hardwareMap.get(DcMotorEx.class, "Drive back rt");
rightFront = hardwareMap.get(DcMotorEx.class, "Drive front rt");
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@ -229,6 +227,9 @@ public final class MecanumDrive {
// TODO: reverse motor directions if needed
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
@ -237,7 +238,7 @@ public final class MecanumDrive {
voltageSensor = hardwareMap.voltageSensor.iterator().next();
localizer = new DriveLocalizer();
localizer = new ThreeDeadWheelLocalizer(hardwareMap, PARAMS.inPerTick);
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
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@ -38,9 +38,9 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
// TODO: make sure your config has **motors** with these names (or change them)
// the encoders should be plugged into the slot matching the named motor
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder left")));
par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder right")));
perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder back")));
// TODO: reverse encoder directions if needed
// par0.setDirection(DcMotorSimple.Direction.REVERSE);