SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:acmerobotics/road-runner-quickstart

Browse Source
This commit is contained in:
Ryan Brott
2023-11-20 00:13:42 -08:00
parent d955adf47c 071e405f92
commit a6ed85a5c4
1 changed files with 19 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
View File

@ -14,7 +14,16 @@ public final class ManualFeedbackTuner extends LinearOpMode {
public void runOpMode() throws InterruptedException {
if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
waitForStart();
while (opModeIsActive()) {
@ -27,6 +36,15 @@ public final class ManualFeedbackTuner extends LinearOpMode {
} else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
waitForStart();
while (opModeIsActive()) {