SCDS/FTCRoadRunnerRobotics
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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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2
TeamCode/build.gradle
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@ -33,6 +33,6 @@ dependencies {
implementation project(':FtcRobotController') implementation project(':FtcRobotController')
annotationProcessor files('lib/OpModeAnnotationProcessor.jar') annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
implementation "com.acmerobotics.roadrunner:ftc:0.1.7" implementation "com.acmerobotics.roadrunner:ftc:0.1.8"
implementation "com.acmerobotics.dashboard:dashboard:0.4.13" implementation "com.acmerobotics.dashboard:dashboard:0.4.13"
} }

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
View File

@ -97,7 +97,7 @@ public final class TuningOpModes {
perpEncs, perpEncs,
md.imu, md.imu,
md.voltageSensor, md.voltageSensor,
new MotorFeedforward(MecanumDrive.PARAMS.kS, () -> new MotorFeedforward(MecanumDrive.PARAMS.kS,
MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick, MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick,
MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick) MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick)
); );
@ -140,7 +140,7 @@ public final class TuningOpModes {
perpEncs, perpEncs,
td.imu, td.imu,
td.voltageSensor, td.voltageSensor,
new MotorFeedforward(TankDrive.PARAMS.kS, () -> new MotorFeedforward(TankDrive.PARAMS.kS,
TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick, TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick) TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
); );