SCDS/FTCRoadRunnerRobotics
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Use new params

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This commit is contained in:
Ryan Brott
2024-03-02 22:56:53 -08:00
parent 03d95d791e
commit 6b35895532
3 changed files with 20 additions and 6 deletions
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2
TeamCode/build.gradle
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@ -34,5 +34,7 @@ dependencies {
annotationProcessor files('lib/OpModeAnnotationProcessor.jar') annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
implementation "com.acmerobotics.roadrunner:ftc:0.1.13" implementation "com.acmerobotics.roadrunner:ftc:0.1.13"
implementation "com.acmerobotics.roadrunner:core:1.0.0-beta7"
implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta7"
implementation "com.acmerobotics.dashboard:dashboard:0.4.14" implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
} }

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -475,10 +475,15 @@ public final class MecanumDrive {
return new TrajectoryActionBuilder( return new TrajectoryActionBuilder(
TurnAction::new, TurnAction::new,
FollowTrajectoryAction::new, FollowTrajectoryAction::new,
beginPose, 1e-6, 0.0, new TrajectoryBuilderParams(
1e-6,
new ProfileParams(
0.25, 0.1, 1e-2
)
),
beginPose, 0.0,
defaultTurnConstraints, defaultTurnConstraints,
defaultVelConstraint, defaultAccelConstraint, defaultVelConstraint, defaultAccelConstraint
0.25, 0.1
); );
} }
} }

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
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@ -18,12 +18,14 @@ import com.acmerobotics.roadrunner.Pose2dDual;
import com.acmerobotics.roadrunner.PoseVelocity2d; import com.acmerobotics.roadrunner.PoseVelocity2d;
import com.acmerobotics.roadrunner.PoseVelocity2dDual; import com.acmerobotics.roadrunner.PoseVelocity2dDual;
import com.acmerobotics.roadrunner.ProfileAccelConstraint; import com.acmerobotics.roadrunner.ProfileAccelConstraint;
import com.acmerobotics.roadrunner.ProfileParams;
import com.acmerobotics.roadrunner.RamseteController; import com.acmerobotics.roadrunner.RamseteController;
import com.acmerobotics.roadrunner.TankKinematics; import com.acmerobotics.roadrunner.TankKinematics;
import com.acmerobotics.roadrunner.Time; import com.acmerobotics.roadrunner.Time;
import com.acmerobotics.roadrunner.TimeTrajectory; import com.acmerobotics.roadrunner.TimeTrajectory;
import com.acmerobotics.roadrunner.TimeTurn; import com.acmerobotics.roadrunner.TimeTurn;
import com.acmerobotics.roadrunner.TrajectoryActionBuilder; import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
import com.acmerobotics.roadrunner.TurnConstraints; import com.acmerobotics.roadrunner.TurnConstraints;
import com.acmerobotics.roadrunner.Twist2dDual; import com.acmerobotics.roadrunner.Twist2dDual;
import com.acmerobotics.roadrunner.Vector2d; import com.acmerobotics.roadrunner.Vector2d;
@ -482,10 +484,15 @@ public final class TankDrive {
return new TrajectoryActionBuilder( return new TrajectoryActionBuilder(
TurnAction::new, TurnAction::new,
FollowTrajectoryAction::new, FollowTrajectoryAction::new,
beginPose, 1e-6, 0.0, new TrajectoryBuilderParams(
1e-6,
new ProfileParams(
0.25, 0.1, 1e-2
)
),
beginPose, 0.0,
defaultTurnConstraints, defaultTurnConstraints,
defaultVelConstraint, defaultAccelConstraint, defaultVelConstraint, defaultAccelConstraint
0.25, 0.1
); );
} }
} }