From 57db0dc66b95c04a5922961764c44ca0b9e44ac7 Mon Sep 17 00:00:00 2001
From: Ryan Brott <rcbrott@gmail.com>
Date: Tue, 10 Oct 2023 14:49:06 -0700
Subject: [PATCH] Pipe feedforward into drive view factory

---
 .../firstinspires/ftc/teamcode/tuning/TuningOpModes.java | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
index a49eb9a..eae05fc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.tuning;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
+import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.ftc.AngularRampLogger;
 import com.acmerobotics.roadrunner.ftc.DriveType;
@@ -96,7 +97,9 @@ public final class TuningOpModes {
                         perpEncs,
                         md.imu,
                         md.voltageSensor,
-                        md.feedforward
+                        new MotorFeedforward(MecanumDrive.PARAMS.kS,
+                                MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick,
+                                MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick)
                 );
             };
         } else if (DRIVE_CLASS.equals(TankDrive.class)) {
@@ -137,7 +140,9 @@ public final class TuningOpModes {
                         perpEncs,
                         td.imu,
                         td.voltageSensor,
-                        td.feedforward
+                        new MotorFeedforward(TankDrive.PARAMS.kS,
+                                TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
+                                TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
                 );
             };
         } else {