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Drive view use feedforward factory (fixes #258)

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This commit is contained in:
Ryan Brott
2023-10-15 09:10:55 -07:00
parent 57db0dc66b
commit 42246e0296
2 changed files with 3 additions and 3 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
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@ -97,7 +97,7 @@ public final class TuningOpModes {
perpEncs,
md.imu,
md.voltageSensor,
new MotorFeedforward(MecanumDrive.PARAMS.kS,
() -> new MotorFeedforward(MecanumDrive.PARAMS.kS,
MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick,
MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick)
);
@ -140,7 +140,7 @@ public final class TuningOpModes {
perpEncs,
td.imu,
td.voltageSensor,
new MotorFeedforward(TankDrive.PARAMS.kS,
() -> new MotorFeedforward(TankDrive.PARAMS.kS,
TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
);