SCDS/FTCRoadRunnerRobotics
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Pipe feedforward into drive view factory

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This commit is contained in:
Ryan Brott
2023-10-10 14:49:06 -07:00
parent 1b1197db0c
commit 57db0dc66b
1 changed files with 7 additions and 2 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
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@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.tuning;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.reflection.ReflectionConfig; import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
import com.acmerobotics.roadrunner.MotorFeedforward;
import com.acmerobotics.roadrunner.Pose2d; import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.ftc.AngularRampLogger; import com.acmerobotics.roadrunner.ftc.AngularRampLogger;
import com.acmerobotics.roadrunner.ftc.DriveType; import com.acmerobotics.roadrunner.ftc.DriveType;
@ -96,7 +97,9 @@ public final class TuningOpModes {
perpEncs, perpEncs,
md.imu, md.imu,
md.voltageSensor, 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)) { } else if (DRIVE_CLASS.equals(TankDrive.class)) {
@ -137,7 +140,9 @@ public final class TuningOpModes {
perpEncs, perpEncs,
td.imu, td.imu,
td.voltageSensor, td.voltageSensor,
td.feedforward new MotorFeedforward(TankDrive.PARAMS.kS,
TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
); );
}; };
} else { } else {