SCDS/FTCRoadRunnerRobotics
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Added more static entries for ease of configuration

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This commit is contained in:
Carlos Rivas
2024-09-14 12:16:06 -07:00
parent a149909e82
commit 4dc7b493fa
4 changed files with 24 additions and 10 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedrosConstants.java
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@ -8,6 +8,14 @@ public class PedrosConstants {
public static final String FRONT_RIGHT_MOTOR = "Drive front rt"; public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
public static final String BACK_RIGHT_MOTOR = "Drive back rt"; public static final String BACK_RIGHT_MOTOR = "Drive back rt";
// Robot IMU configuration
public static final String IMU = "imu";
// Robot Encoders
public static final String LEFT_ENCODER = "encoder left";
public static final String RIGHT_ENCODER = "encoder right";
public static final String BACK_ENCODER = "encoder back";
/* /*
Pedro's parameters Pedro's parameters
*/ */

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers; package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedrosConstants.*;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
@ -88,7 +90,7 @@ public class ThreeWheelIMULocalizer extends Localizer {
*/ */
public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) { public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) {
hardwareMap = map; hardwareMap = map;
imu = hardwareMap.get(IMU.class, "imu"); imu = hardwareMap.get(IMU.class, IMU);
// TODO: replace this with your IMU's orientation // TODO: replace this with your IMU's orientation
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.LEFT, RevHubOrientationOnRobot.UsbFacingDirection.UP))); imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.LEFT, RevHubOrientationOnRobot.UsbFacingDirection.UP)));
@ -98,11 +100,10 @@ public class ThreeWheelIMULocalizer extends Localizer {
rightEncoderPose = new Pose(-3, -5.7, 0); rightEncoderPose = new Pose(-3, -5.7, 0);
strafeEncoderPose = new Pose(6.9, 1, Math.toRadians(90)); strafeEncoderPose = new Pose(6.9, 1, Math.toRadians(90));
// TODO: replace these with your encoder ports // TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "lb")); leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "lf")); rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rf")); strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary // TODO: reverse any encoders necessary
leftEncoder.setDirection(Encoder.REVERSE); leftEncoder.setDirection(Encoder.REVERSE);

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
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@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers; package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedrosConstants.*;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
@ -85,9 +87,9 @@ public class ThreeWheelLocalizer extends Localizer {
hardwareMap = map; hardwareMap = map;
// TODO: replace these with your encoder ports // TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftRear")); leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightFront")); rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder")); strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary // TODO: reverse any encoders necessary
leftEncoder.setDirection(Encoder.REVERSE); leftEncoder.setDirection(Encoder.REVERSE);

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
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@ -1,5 +1,8 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers; package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedrosConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedrosConstants.LEFT_ENCODER;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
@ -91,8 +94,8 @@ public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo w
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.LEFT))); imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.LEFT)));
// TODO: replace these with your encoder ports // TODO: replace these with your encoder ports
forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftRear")); forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder")); strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary // TODO: reverse any encoders necessary
forwardEncoder.setDirection(Encoder.REVERSE); forwardEncoder.setDirection(Encoder.REVERSE);