more fixes

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/DriveEncoderLocalizer.java

@@ -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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LateralTuner.java

@@ -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");

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java

@@ -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

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

@@ -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 {