SCDS/FTCRoadRunnerRobotics
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Added IMU direction

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This commit is contained in:
Carlos
2024-09-17 18:55:37 -07:00
parent fce14b3753
commit e534f46efb
2 changed files with 9 additions and 2 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
@ -25,7 +26,13 @@ public class PedroConstants {
// Robot IMU configuration
public static final String IMU = "imu";
// Robot Encoders
// 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";

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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@ -93,7 +93,7 @@ public class ThreeWheelIMULocalizer extends Localizer {
imu = hardwareMap.get(IMU.class, IMU);
// TODO: replace this with your IMU's orientation
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.DOWN, RevHubOrientationOnRobot.UsbFacingDirection.LEFT)));
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(IMU_LOGO_FACING_DIRECTION, IMU_USB_FACING_DIRECTION)));
// TODO: replace these with your encoder positions
leftEncoderPose = new Pose(-7.625, 6.19375, 0);