Dead wheel overflow encoders by default
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@ -7,6 +7,7 @@ import com.acmerobotics.roadrunner.Twist2dDual;
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import com.acmerobotics.roadrunner.Vector2dDual;
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import com.acmerobotics.roadrunner.Vector2dDual;
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import com.acmerobotics.roadrunner.ftc.Encoder;
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import com.acmerobotics.roadrunner.ftc.Encoder;
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import com.acmerobotics.roadrunner.ftc.FlightRecorder;
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import com.acmerobotics.roadrunner.ftc.FlightRecorder;
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import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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import com.acmerobotics.roadrunner.ftc.RawEncoder;
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import com.acmerobotics.roadrunner.ftc.RawEncoder;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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@ -29,9 +30,9 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
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private int lastPar0Pos, lastPar1Pos, lastPerpPos;
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private int lastPar0Pos, lastPar1Pos, lastPerpPos;
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public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
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public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
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par0 = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0"));
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par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
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par1 = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1"));
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par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
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perp = new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp"));
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perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
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lastPar0Pos = par0.getPositionAndVelocity().position;
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lastPar0Pos = par0.getPositionAndVelocity().position;
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lastPar1Pos = par1.getPositionAndVelocity().position;
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lastPar1Pos = par1.getPositionAndVelocity().position;
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@ -8,6 +8,7 @@ import com.acmerobotics.roadrunner.Twist2dDual;
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import com.acmerobotics.roadrunner.Vector2dDual;
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import com.acmerobotics.roadrunner.Vector2dDual;
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import com.acmerobotics.roadrunner.ftc.Encoder;
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import com.acmerobotics.roadrunner.ftc.Encoder;
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import com.acmerobotics.roadrunner.ftc.FlightRecorder;
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import com.acmerobotics.roadrunner.ftc.FlightRecorder;
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import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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import com.acmerobotics.roadrunner.ftc.RawEncoder;
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import com.acmerobotics.roadrunner.ftc.RawEncoder;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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@ -34,8 +35,8 @@ public final class TwoDeadWheelLocalizer implements Localizer {
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private final double inPerTick;
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private final double inPerTick;
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public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
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public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
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par = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par"));
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par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
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perp = new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp"));
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perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
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this.imu = imu;
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this.imu = imu;
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lastParPos = par.getPositionAndVelocity().position;
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lastParPos = par.getPositionAndVelocity().position;
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