SCDS/FTCRoadRunnerRobotics
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Added more variables to Constants file

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This commit is contained in:
Carlos
2024-09-17 18:46:26 -07:00
parent 4ed1c8c615
commit fce14b3753
3 changed files with 23 additions and 5 deletions
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15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -1,5 +1,9 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class PedroConstants {
/*
@ -12,6 +16,12 @@ public class PedroConstants {
public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
public static final String BACK_RIGHT_MOTOR = "Drive back rt";
// Robot motor direction
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
// Robot IMU configuration
public static final String IMU = "imu";
@ -20,6 +30,11 @@ public class PedroConstants {
public static final String RIGHT_ENCODER = "encoder right";
public static final String BACK_ENCODER = "encoder back";
// Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
/*
Pedro's parameters
*/

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.pedroPathing.follower;
import static org.firstinspires.ftc.teamcode.PedroConstants.*;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.drivePIDFSwitch;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.forwardZeroPowerAcceleration;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.headingPIDFSwitch;
@ -168,8 +169,10 @@ public class Follower {
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
// TODO: Make sure that this is the direction your motors need to be reversed in.
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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@ -106,9 +106,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
//leftEncoder.setDirection(Encoder.REVERSE);
//rightEncoder.setDirection(Encoder.FORWARD);
//strafeEncoder.setDirection(Encoder.FORWARD);
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
setStartPose(setStartPose);
timer = new NanoTimer();