diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java index 13f63a9..6b11ce2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java @@ -12,24 +12,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector; /** * This is the OTOSLocalizer class. This class extends the Localizer superclass and is a - * localizer that uses the SparkFun OTOS. The diagram below, which is taken from + * localizer that uses the SparkFun OTOS. The diagram below, which is modified from * Road Runner, shows a typical set up. * - * The view is from the bottom of the robot looking upwards. + * The view is from the top of the robot looking downwards. * - * left on robot is y pos + * left on robot is the y positive direction * - * front on robot is x pos + * forward on robot is the x positive direction * * /--------------\ * | ____ | * | ---- | * | || || | - * | || || | left (y pos) + * | || || | ----> left (y positive) * | | * | | * \--------------/ - * front (x pos) + * | + * | + * V + * forward (x positive) * * @author Anyi Lin - 10158 Scott's Bots * @version 1.0, 7/20/2024 diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java index 4760e1c..44a03c6 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java @@ -18,23 +18,26 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer; /** * This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a * localizer that uses the three wheel odometry set up with the IMU to have more accurate heading - * readings. The diagram below, which is taken from Road Runner, shows a typical set up. + * readings. The diagram below, which is modified from Road Runner, shows a typical set up. * - * The view is from the bottom of the robot looking upwards. + * The view is from the top of the robot looking downwards. * - * left on robot is y pos + * left on robot is the y positive direction * - * front on robot is x pos + * forward on robot is the x positive direction * * /--------------\ * | ____ | * | ---- | * | || || | - * | || || | left (y pos) + * | || || | ----> left (y positive) * | | * | | * \--------------/ - * front (x pos) + * | + * | + * V + * forward (x positive) * * @author Logan Nash * @author Anyi Lin - 10158 Scott's Bots diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java index 494d07d..a955946 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java @@ -14,24 +14,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer; /** * This is the ThreeWheelLocalizer class. This class extends the Localizer superclass and is a - * localizer that uses the three wheel odometry set up. The diagram below, which is taken from + * localizer that uses the three wheel odometry set up. The diagram below, which is modified from * Road Runner, shows a typical set up. * - * The view is from the bottom of the robot looking upwards. + * The view is from the top of the robot looking downwards. * - * left on robot is y pos + * left on robot is the y positive direction * - * front on robot is x pos + * forward on robot is the x positive direction * * /--------------\ * | ____ | * | ---- | * | || || | - * | || || | left (y pos) + * | || || | ----> left (y positive) * | | * | | * \--------------/ - * front (x pos) + * | + * | + * V + * forward (x positive) * * @author Anyi Lin - 10158 Scott's Bots * @version 1.0, 4/2/2024 diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java index e93b496..aa40a8d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java @@ -17,24 +17,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer; /** * This is the TwoWheelLocalizer class. This class extends the Localizer superclass and is a - * localizer that uses the two wheel odometry with IMU set up. The diagram below, which is taken from + * localizer that uses the two wheel odometry with IMU set up. The diagram below, which is modified from * Road Runner, shows a typical set up. * - * The view is from the bottom of the robot looking upwards. + * The view is from the top of the robot looking downwards. * - * left on robot is y pos + * left on robot is the y positive direction * - * front on robot is x pos + * forward on robot is the x positive direction * * /--------------\ * | ____ | * | ---- | - * | || | - * | || | left (y pos) + * | || || | + * | || || | ----> left (y positive) * | | * | | * \--------------/ - * front (x pos) + * | + * | + * V + * forward (x positive) * * @author Anyi Lin - 10158 Scott's Bots * @version 1.0, 4/2/2024