From e329bbc16dca49104dfa7854786349611d71c23c Mon Sep 17 00:00:00 2001 From: carlos Date: Tue, 24 Sep 2024 15:38:10 -0700 Subject: [PATCH] latest update --- .../firstinspires/ftc/teamcode/MecanumDrive.java | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java index 7f87393..cebcba7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java @@ -58,18 +58,19 @@ public final class MecanumDrive { // TODO: fill in these values based on // see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection = - RevHubOrientationOnRobot.LogoFacingDirection.UP; + RevHubOrientationOnRobot.LogoFacingDirection.DOWN; public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = - RevHubOrientationOnRobot.UsbFacingDirection.FORWARD; + RevHubOrientationOnRobot.UsbFacingDirection.LEFT; // drive model parameters - public double inPerTick = 1; - public double lateralInPerTick = inPerTick; - public double trackWidthTicks = 0; + //public double inPerTick = 37619.0/112; + public double inPerTick = 18760.5/56; + public double lateralInPerTick = 293.2046574609792; + public double trackWidthTicks = 3968.437903995162; // feedforward parameters (in tick units) - public double kS = 0; - public double kV = 0; + public double kS = 0.7748584778215575; + public double kV = 0.0005849868585467051; public double kA = 0; // path profile parameters (in inches)