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Preliminary configuration for Bobito as a DriveEncoder robot

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This commit is contained in:
Carlos Rivas
2024-10-22 20:36:02 -07:00
parent 89f4c1b9a0
commit cd10d3a01b
3 changed files with 21 additions and 29 deletions
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23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -10,8 +10,6 @@ public class PedroConstants {
/* /*
Robot parameters Robot parameters
*/ */
// Turn localizer - -0.003
// Robot motor configurations // Robot motor configurations
public static final String FRONT_LEFT_MOTOR = "Drive front lt"; public static final String FRONT_LEFT_MOTOR = "Drive front lt";
@ -25,24 +23,11 @@ public class PedroConstants {
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD; public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD; public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
// Robot IMU configuration
public static final String IMU = "imu";
// Robot IMU placement
public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
= RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
= RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
// Robot encoders
public static final String LEFT_ENCODER = "encoder left";
public static final String RIGHT_ENCODER = "encoder right";
public static final String BACK_ENCODER = "encoder back";
// Robot encoder direction // Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD; public static final double FRONT_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD; public static final double BACK_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD; public static final double FRONT_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
public static final double BACK_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
/* /*
Pedro's parameters Pedro's parameters

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
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@ -70,8 +70,7 @@ public class PoseUpdater {
*/ */
public PoseUpdater(HardwareMap hardwareMap) { public PoseUpdater(HardwareMap hardwareMap) {
// TODO: replace the second argument with your preferred localizer // TODO: replace the second argument with your preferred localizer
this(hardwareMap, new ThreeWheelLocalizer(hardwareMap)); this(hardwareMap, new DriveEncoderLocalizer(hardwareMap));
// this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
} }
/** /**

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
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@ -1,5 +1,13 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers; package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName; import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName; import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName; import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
@ -64,16 +72,16 @@ public class DriveEncoderLocalizer extends Localizer {
public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) { public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) {
hardwareMap = map; hardwareMap = map;
leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, leftFrontMotorName)); leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, leftRearMotorName)); leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, rightRearMotorName)); rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, rightFrontMotorName)); rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
// TODO: reverse any encoders necessary // TODO: reverse any encoders necessary
leftFront.setDirection(Encoder.REVERSE); leftFront.setDirection(FRONT_LEFT_MOTOR_ENCODER);
rightRear.setDirection(Encoder.REVERSE); rightFront.setDirection(FRONT_RIGHT_MOTOR_ENCODER);
leftRear.setDirection(Encoder.FORWARD); leftRear.setDirection(BACK_LEFT_MOTOR_ENCODER);
rightRear.setDirection(Encoder.FORWARD); rightRear.setDirection(BACK_RIGHT_MOTOR_ENCODER);
setStartPose(setStartPose); setStartPose(setStartPose);
timer = new NanoTimer(); timer = new NanoTimer();