SCDS/FTCRoadRunnerRobotics
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more fixes

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This commit is contained in:
brotherhobo
2024-05-17 10:04:28 -04:00
parent 252cc304ad
commit bfab6dc7d0
4 changed files with 39 additions and 27 deletions
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1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/DriveEncoderLocalizer.java
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@ -53,7 +53,6 @@ public class DriveEncoderLocalizer extends Localizer { // todo: make drive encod
* @param setStartPose the Pose to start from
*/
public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) {
hardwareMap = map;
// TODO: replace these with your encoder ports

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LateralTuner.java
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@ -62,7 +62,7 @@ public class LateralTuner extends OpMode {
telemetryA.addData("distance moved", poseUpdater.getPose().getY());
telemetryA.addLine("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getX() / poseUpdater.getLocalizer().getLateralMultiplier()));
telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getY() / poseUpdater.getLocalizer().getLateralMultiplier()));
telemetryA.update();
Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");

48
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
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@ -27,29 +27,6 @@ public class FollowerConstants {
private static double[] convertToPolar = Point.cartesianToPolar(xMovement, -yMovement);
public static Vector frontLeftVector = MathFunctions.normalizeVector(new Vector(convertToPolar[0],convertToPolar[1]));
// Large heading error PIDF coefficients
public static CustomPIDFCoefficients largeHeadingPIDFCoefficients = new CustomPIDFCoefficients(
1,
0,
0,
0);
// Feed forward constant added on to the large heading PIDF
public static double largeHeadingPIDFFeedForward = 0.01;
// the limit at which the heading PIDF switches between the large and small heading PIDFs
public static double headingPIDFSwitch = Math.PI/20;
// Small heading error PIDF coefficients
public static CustomPIDFCoefficients smallHeadingPIDFCoefficients = new CustomPIDFCoefficients(
5,
0,
0.08,
0);
// Feed forward constant added on to the small heading PIDF
public static double smallHeadingPIDFFeedForward = 0.01;
// Large translational PIDF coefficients
public static CustomPIDFCoefficients largeTranslationalPIDFCoefficients = new CustomPIDFCoefficients(
0.1,
@ -87,6 +64,29 @@ public class FollowerConstants {
// Feed forward constant added on to the small translational PIDF
public static double smallTranslationalPIDFFeedForward = 0.015;
// Large heading error PIDF coefficients
public static CustomPIDFCoefficients largeHeadingPIDFCoefficients = new CustomPIDFCoefficients(
1,
0,
0,
0);
// Feed forward constant added on to the large heading PIDF
public static double largeHeadingPIDFFeedForward = 0.01;
// the limit at which the heading PIDF switches between the large and small heading PIDFs
public static double headingPIDFSwitch = Math.PI/20;
// Small heading error PIDF coefficients
public static CustomPIDFCoefficients smallHeadingPIDFCoefficients = new CustomPIDFCoefficients(
5,
0,
0.08,
0);
// Feed forward constant added on to the small heading PIDF
public static double smallHeadingPIDFFeedForward = 0.01;
// Large drive PIDF coefficients
public static CustomPIDFCoefficients largeDrivePIDFCoefficients = new CustomPIDFCoefficients(
0.025,
@ -118,12 +118,10 @@ public class FollowerConstants {
// Acceleration of the drivetrain when power is cut in inches/second^2 (should be negative)
// if not negative, then the robot thinks that its going to go faster under 0 power
// this is for curves
public static double forwardZeroPowerAcceleration = -34.62719;
// Acceleration of the drivetrain when power is cut in inches/second^2 (should be negative)
// if not negative, then the robot thinks that its going to go faster under 0 power
// this is for curves
public static double lateralZeroPowerAcceleration = -78.15554;
// A multiplier for the zero power acceleration to change the speed the robot decelerates at

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
View File

@ -19,6 +19,21 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
/**
* This is the LateralZeroPowerAccelerationTuner autonomous tuning OpMode. This runs the robot
* to the right until a specified velocity is achieved. Then, the robot cuts power to the motors, setting
* them to zero power. The deceleration, or negative acceleration, is then measured until the robot
* stops. The accelerations across the entire time the robot is slowing down is then averaged and
* that number is then printed. This is used to determine how the robot will decelerate in the
* forward direction when power is cut, making the estimations used in the calculations for the
* drive Vector more accurate and giving better braking at the end of Paths.
* You can adjust the max velocity the robot will hit on FTC Dashboard: 192/168/43/1:8080/dash
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/13/2024
*/
@Config
@Autonomous (name = "Lateral Zero Power Acceleration Tuner", group = "Autonomous Pathing Tuning")
public class LateralZeroPowerAccelerationTuner extends OpMode {