SCDS/FTCRoadRunnerRobotics
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Dead wheel overflow encoders by default

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This commit is contained in:
Ryan Brott
2023-09-18 22:51:19 -07:00
parent 334252c421
commit 5f2fcaf51f
2 changed files with 7 additions and 5 deletions
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7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
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@ -7,6 +7,7 @@ import com.acmerobotics.roadrunner.Twist2dDual;
import com.acmerobotics.roadrunner.Vector2dDual;
import com.acmerobotics.roadrunner.ftc.Encoder;
import com.acmerobotics.roadrunner.ftc.FlightRecorder;
import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
import com.acmerobotics.roadrunner.ftc.RawEncoder;
import com.qualcomm.robotcore.hardware.DcMotorEx;
@ -29,9 +30,9 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
private int lastPar0Pos, lastPar1Pos, lastPerpPos;
public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
par0 = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0"));
par1 = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1"));
perp = new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp"));
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
lastPar0Pos = par0.getPositionAndVelocity().position;
lastPar1Pos = par1.getPositionAndVelocity().position;

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
View File

@ -8,6 +8,7 @@ import com.acmerobotics.roadrunner.Twist2dDual;
import com.acmerobotics.roadrunner.Vector2dDual;
import com.acmerobotics.roadrunner.ftc.Encoder;
import com.acmerobotics.roadrunner.ftc.FlightRecorder;
import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
import com.acmerobotics.roadrunner.ftc.RawEncoder;
import com.qualcomm.robotcore.hardware.DcMotorEx;
@ -34,8 +35,8 @@ public final class TwoDeadWheelLocalizer implements Localizer {
private final double inPerTick;
public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
par = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par"));
perp = new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp"));
par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
this.imu = imu;
lastParPos = par.getPositionAndVelocity().position;