SCDS/FTCRoadRunnerRobotics
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Update to lazy IMU (fixes #346)

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This commit is contained in:
Ryan Brott
2024-01-25 22:27:07 -08:00
parent 5cf1596910
commit c6ef075c48
3 changed files with 9 additions and 13 deletions
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2
TeamCode/build.gradle
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@ -33,6 +33,6 @@ dependencies {
implementation project(':FtcRobotController')
annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
implementation "com.acmerobotics.roadrunner:ftc:0.1.11"
implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
}

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -26,6 +26,7 @@ import com.acmerobotics.roadrunner.VelConstraint;
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
import com.acmerobotics.roadrunner.ftc.Encoder;
import com.acmerobotics.roadrunner.ftc.FlightRecorder;
import com.acmerobotics.roadrunner.ftc.LazyImu;
import com.acmerobotics.roadrunner.ftc.LynxFirmware;
import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
@ -36,7 +37,6 @@ 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.IMU;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@ -109,7 +109,7 @@ public final class MecanumDrive {
public final VoltageSensor voltageSensor;
public final IMU imu;
public final LazyImu imu;
public final Localizer localizer;
public Pose2d pose;
@ -141,7 +141,7 @@ public final class MecanumDrive {
lastRightBackPos = rightBack.getPositionAndVelocity().position;
lastRightFrontPos = rightFront.getPositionAndVelocity().position;
lastHeading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
lastHeading = Rotation2d.exp(imu.get().getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
}
@Override
@ -154,7 +154,7 @@ public final class MecanumDrive {
FlightRecorder.write("MECANUM_ENCODERS", new MecanumEncodersMessage(
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel));
Rotation2d heading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
Rotation2d heading = Rotation2d.exp(imu.get().getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
double headingDelta = heading.minus(lastHeading);
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
@ -216,10 +216,8 @@ public final class MecanumDrive {
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
imu = hardwareMap.get(IMU.class, "imu");
IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
imu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
imu.initialize(parameters);
voltageSensor = hardwareMap.voltageSensor.iterator().next();

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
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@ -32,6 +32,7 @@ import com.acmerobotics.roadrunner.VelConstraint;
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
import com.acmerobotics.roadrunner.ftc.Encoder;
import com.acmerobotics.roadrunner.ftc.FlightRecorder;
import com.acmerobotics.roadrunner.ftc.LazyImu;
import com.acmerobotics.roadrunner.ftc.LynxFirmware;
import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
@ -42,7 +43,6 @@ 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.IMU;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
@ -110,7 +110,7 @@ public final class TankDrive {
public final List<DcMotorEx> leftMotors, rightMotors;
public final IMU imu;
public final LazyImu imu;
public final VoltageSensor voltageSensor;
@ -234,10 +234,8 @@ public final class TankDrive {
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
imu = hardwareMap.get(IMU.class, "imu");
IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
imu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
imu.initialize(parameters);
voltageSensor = hardwareMap.voltageSensor.iterator().next();