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fixed path parameter issues

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brotherhobo
2024-05-05 20:32:06 -04:00
parent f8fd55da43
commit bdf183fe62
1 changed files with 6 additions and 6 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/pathGeneration/Path.java
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@ -38,32 +38,32 @@ public class Path {
// Decreasing this will cause the deceleration at the end of the Path to be slower, making the // Decreasing this will cause the deceleration at the end of the Path to be slower, making the
// robot slower but reducing risk of end-of-path overshoots or localization slippage. // robot slower but reducing risk of end-of-path overshoots or localization slippage.
// This can be set individually for each Path, but this is the default. // This can be set individually for each Path, but this is the default.
private static double zeroPowerAccelerationMultiplier = FollowerConstants.zeroPowerAccelerationMultiplier; private double zeroPowerAccelerationMultiplier = FollowerConstants.zeroPowerAccelerationMultiplier;
// When the robot is at the end of its current Path or PathChain and the velocity goes // When the robot is at the end of its current Path or PathChain and the velocity goes
// this value, then end the Path. This is in inches/second. // this value, then end the Path. This is in inches/second.
// This can be custom set for each Path. // This can be custom set for each Path.
private static double pathEndVelocityConstraint = FollowerConstants.pathEndVelocityConstraint; private double pathEndVelocityConstraint = FollowerConstants.pathEndVelocityConstraint;
// When the robot is at the end of its current Path or PathChain and the translational error // When the robot is at the end of its current Path or PathChain and the translational error
// goes below this value, then end the Path. This is in inches. // goes below this value, then end the Path. This is in inches.
// This can be custom set for each Path. // This can be custom set for each Path.
private static double pathEndTranslationalConstraint = FollowerConstants.pathEndTranslationalConstraint; private double pathEndTranslationalConstraint = FollowerConstants.pathEndTranslationalConstraint;
// When the robot is at the end of its current Path or PathChain and the heading error goes // When the robot is at the end of its current Path or PathChain and the heading error goes
// below this value, then end the Path. This is in radians. // below this value, then end the Path. This is in radians.
// This can be custom set for each Path. // This can be custom set for each Path.
private static double pathEndHeadingConstraint = FollowerConstants.pathEndHeadingConstraint; private double pathEndHeadingConstraint = FollowerConstants.pathEndHeadingConstraint;
// When the t-value of the closest point to the robot on the Path is greater than this value, // When the t-value of the closest point to the robot on the Path is greater than this value,
// then the Path is considered at its end. // then the Path is considered at its end.
// This can be custom set for each Path. // This can be custom set for each Path.
private static double pathEndTValueConstraint = FollowerConstants.pathEndTValueConstraint; private double pathEndTValueConstraint = FollowerConstants.pathEndTValueConstraint;
// When the Path is considered at its end parametrically, then the Follower has this many // When the Path is considered at its end parametrically, then the Follower has this many
// seconds to further correct by default. // seconds to further correct by default.
// This can be custom set for each Path. // This can be custom set for each Path.
private static double pathEndTimeoutConstraint = FollowerConstants.pathEndTimeoutConstraint; private double pathEndTimeoutConstraint = FollowerConstants.pathEndTimeoutConstraint;
/** /**
* Creates a new Path from a BezierCurve. The default heading interpolation is tangential. * Creates a new Path from a BezierCurve. The default heading interpolation is tangential.