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Merge pull request #20 from junkjunk123/master

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Patches to the PinpointLocalizer
This commit is contained in:
Logan Nash
2024-12-06 13:44:57 -05:00
committed by GitHub
parent bdc0de4eeb 9330c22213
commit d34d56d567
4 changed files with 23 additions and 14 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
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@ -1019,7 +1019,7 @@ public class Follower {
/**
* This resets the IMU, if applicable.
*/
public void resetIMU() {
private void resetIMU() throws InterruptedException {
poseUpdater.resetIMU();
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/Localizer.java
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@ -92,7 +92,7 @@ public abstract class Localizer {
/**
* This resets the IMU of the localizer, if applicable.
*/
public abstract void resetIMU();
public abstract void resetIMU() throws InterruptedException;
/**
* This is overridden to return the IMU, if there is one.

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
View File

@ -351,7 +351,7 @@ public class PoseUpdater {
/**
*
*/
public void resetIMU() {
public void resetIMU() throws InterruptedException {
localizer.resetIMU();
}
}

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
View File

@ -79,13 +79,11 @@
// //TODO: Set encoder directions
// odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD);
//
// odo.resetPosAndIMU();
//
// resetPinpoint();;
// setStartPose(setStartPose);
// totalHeading = 0;
// previousHeading = setStartPose.getHeading();
//
// resetPinpoint();
// }
//
// /**
@ -107,7 +105,7 @@
// @Override
// public Pose getVelocity() {
// Pose2D pose = odo.getVelocity();
// return new Pose(pose.getX(DistanceUnit.INCH), pose.getY(DistanceUnit.INCH), pose.getHeading(AngleUnit.RADIANS));
// return new Pose(pose.getX(DistanceUnit.INCH), pose.getY(DistanceUnit.INCH), odo.getHeadingVelocity());
// }
//
// /**
@ -142,7 +140,6 @@
// */
// @Override
// public void setPose(Pose setPose) {
// resetPinpoint();
// odo.setPosition(new Pose2D(DistanceUnit.INCH, setPose.getX(), setPose.getY(), AngleUnit.RADIANS, setPose.getHeading()));
// }
//
@ -195,17 +192,29 @@
// }
//
// /**
// * This resets the IMU.
// * This resets the IMU. Note: This does not change the estimated heading orientation.
// */
// @Override
// public void resetIMU() {
// odo.recalibrateIMU();
// public void resetIMU() throws InterruptedException {
// odo.recalibrateIMU();
//
// try {
// Thread.sleep(300);
// } catch (InterruptedException e) {
// throw new RuntimeException(e);
// }
// }
//
// /**
// * This resets the OTOS.
// * This resets the pinpoint.
// */
// public void resetPinpoint(){
// private void resetPinpoint() {
// odo.resetPosAndIMU();
//
// try {
// Thread.sleep(300);
// } catch (InterruptedException e) {
// throw new RuntimeException(e);
// }
// }
//}