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Remove mecanum forward kinematics rotation factors

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This commit is contained in:
Ryan Brott
2023-09-10 09:12:50 -07:00
parent b12b121447
commit dc1b43e13f
1 changed files with 4 additions and 4 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
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@ -136,19 +136,19 @@ public final class MecanumDrive {
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>( Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(leftFrontPosVel.position - lastLeftFrontPos) + kinematics.trackWidth * headingDelta, (leftFrontPosVel.position - lastLeftFrontPos),
leftFrontPosVel.velocity, leftFrontPosVel.velocity,
}).times(PARAMS.inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(leftRearPosVel.position - lastLeftRearPos) + kinematics.trackWidth * headingDelta, (leftRearPosVel.position - lastLeftRearPos),
leftRearPosVel.velocity, leftRearPosVel.velocity,
}).times(PARAMS.inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(rightRearPosVel.position - lastRightRearPos) - kinematics.trackWidth * headingDelta, (rightRearPosVel.position - lastRightRearPos),
rightRearPosVel.velocity, rightRearPosVel.velocity,
}).times(PARAMS.inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(rightFrontPosVel.position - lastRightFrontPos) - kinematics.trackWidth * headingDelta, (rightFrontPosVel.position - lastRightFrontPos),
rightFrontPosVel.velocity, rightFrontPosVel.velocity,
}).times(PARAMS.inPerTick) }).times(PARAMS.inPerTick)
)); ));