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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. * This resets the IMU, if applicable.
*/ */
public void resetIMU() { private void resetIMU() throws InterruptedException {
poseUpdater.resetIMU(); 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. * 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. * This is overridden to return the IMU, if there is one.

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
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@ -351,7 +351,7 @@ public class PoseUpdater {
/** /**
* *
*/ */
public void resetIMU() { public void resetIMU() throws InterruptedException {
localizer.resetIMU(); localizer.resetIMU();
} }
} }

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
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@ -79,13 +79,11 @@
// //TODO: Set encoder directions // //TODO: Set encoder directions
// odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD); // odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD);
// //
// odo.resetPosAndIMU(); // resetPinpoint();;
//
// setStartPose(setStartPose); // setStartPose(setStartPose);
// totalHeading = 0; // totalHeading = 0;
// previousHeading = setStartPose.getHeading(); // previousHeading = setStartPose.getHeading();
//
// resetPinpoint();
// } // }
// //
// /** // /**
@ -107,7 +105,7 @@
// @Override // @Override
// public Pose getVelocity() { // public Pose getVelocity() {
// Pose2D pose = odo.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 // @Override
// public void setPose(Pose setPose) { // public void setPose(Pose setPose) {
// resetPinpoint();
// odo.setPosition(new Pose2D(DistanceUnit.INCH, setPose.getX(), setPose.getY(), AngleUnit.RADIANS, setPose.getHeading())); // 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 // @Override
// public void resetIMU() { // public void resetIMU() throws InterruptedException {
// odo.recalibrateIMU(); // 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(); // odo.resetPosAndIMU();
//
// try {
// Thread.sleep(300);
// } catch (InterruptedException e) {
// throw new RuntimeException(e);
// }
// } // }
//} //}