SCDS/FTCRoadRunnerRobotics
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Extract motor direction to constants so they are set in one place

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This commit is contained in:
Julien Vanier
2024-11-29 10:00:54 -05:00
parent 9765f23493
commit a0b3b76210
7 changed files with 54 additions and 29 deletions
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13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
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@ -10,6 +10,10 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstan
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.secondaryDrivePIDFFeedForward;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.secondaryHeadingPIDFFeedForward;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.secondaryTranslationalPIDFFeedForward;
@ -23,7 +27,6 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
@ -166,10 +169,10 @@ public class Follower {
leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
// TODO: Make sure that this is the direction your motors need to be reversed in.
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(leftFrontMotorDirection);
leftRear.setDirection(leftRearMotorDirection);
rightFront.setDirection(rightFrontMotorDirection);
rightRear.setDirection(rightRearMotorDirection);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LocalizationTest.java
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@ -4,6 +4,10 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstan
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -12,7 +16,6 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -57,9 +60,10 @@ public class LocalizationTest extends OpMode {
leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(leftFrontMotorDirection);
leftRear.setDirection(leftRearMotorDirection);
rightFront.setDirection(rightFrontMotorDirection);
rightRear.setDirection(rightRearMotorDirection);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.pedroPathing.tuning;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@ -28,6 +29,11 @@ public class FollowerConstants {
public static String rightFrontMotorName = "rightFront";
public static String rightRearMotorName = "rightRear";
public static DcMotorSimple.Direction leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
public static DcMotorSimple.Direction rightFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
public static DcMotorSimple.Direction leftRearMotorDirection = DcMotorSimple.Direction.FORWARD;
public static DcMotorSimple.Direction rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;
// This section is for setting the actual drive vector for the front left wheel, if the robot
// is facing a heading of 0 radians with the wheel centered at (0,0)
private static double xMovement = 81.34056;

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardVelocityTuner.java
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@ -4,6 +4,10 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstan
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -12,7 +16,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -71,10 +74,10 @@ public class ForwardVelocityTuner extends OpMode {
leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
// TODO: Make sure that this is the direction your motors need to be reversed in.
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(leftFrontMotorDirection);
leftRear.setDirection(leftRearMotorDirection);
rightFront.setDirection(rightFrontMotorDirection);
rightRear.setDirection(rightRearMotorDirection);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardZeroPowerAccelerationTuner.java
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@ -4,6 +4,10 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstan
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -12,7 +16,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -74,10 +77,10 @@ public class ForwardZeroPowerAccelerationTuner extends OpMode {
leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
// TODO: Make sure that this is the direction your motors need to be reversed in.
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(leftFrontMotorDirection);
leftRear.setDirection(leftRearMotorDirection);
rightFront.setDirection(rightFrontMotorDirection);
rightRear.setDirection(rightRearMotorDirection);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
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@ -4,6 +4,10 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstan
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -12,7 +16,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -74,10 +77,10 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
// TODO: Make sure that this is the direction your motors need to be reversed in.
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(leftFrontMotorDirection);
leftRear.setDirection(leftRearMotorDirection);
rightFront.setDirection(rightFrontMotorDirection);
rightRear.setDirection(rightRearMotorDirection);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/StrafeVelocityTuner.java
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@ -4,6 +4,10 @@ import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstan
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -12,7 +16,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -71,10 +74,10 @@ public class StrafeVelocityTuner extends OpMode {
leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
// TODO: Make sure that this is the direction your motors need to be reversed in.
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(leftFrontMotorDirection);
leftRear.setDirection(leftRearMotorDirection);
rightFront.setDirection(rightFrontMotorDirection);
rightRear.setDirection(rightRearMotorDirection);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);