SCDS/FTCRoadRunnerRobotics
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Update PinpointLocalizer.java

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This commit is contained in:
junkjunk123
2024-12-06 09:17:29 -08:00
committed by GitHub
parent bdc0de4eeb
commit fd5d6b716b
1 changed files with 19 additions and 10 deletions
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29
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
// odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD);
//
// odo.resetPosAndIMU();
//
// resetPinpoint();;
// setStartPose(setStartPose);
// totalHeading = 0;
// previousHeading = setStartPose.getHeading();
//
// resetPinpoint();
// }
//
// /**
@ -142,7 +140,6 @@
// */
// @Override
// public void setPose(Pose setPose) {
// resetPinpoint();
// 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
// public void resetIMU() {
// odo.recalibrateIMU();
// public void resetIMU() throws InterruptedException {
// 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();
//
// try {
// Thread.sleep(300);
// } catch (InterruptedException e) {
// throw new RuntimeException(e);
// }
// }
//}