latest update

README.md

@@ -2,11 +2,3 @@
 
 Check out the [docs](https://rr.brott.dev/docs/v1-0/tuning/).
 
-
-# Helpful Commands
-
-To connect to the robot:
-- Open up a command prompt (Hit the Windows key, then type CMD and hit enter)
-- Enter the follwing command
-- extend opmode
-- 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java

@@ -1,8 +1,5 @@
 package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
-import static org.firstinspires.ftc.teamcode.TankDrive.PARAMS;
-
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.dashboard.canvas.Canvas;
@@ -63,22 +60,17 @@ public final class MecanumDrive {
         public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
                 RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
         public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.RIGHT;
+                RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
 
         // drive model parameters
-        public double inPerTick = 125.5/42126.8333333;
+        //public double inPerTick = 37619.0/112;
-        public double lateralInPerTick = 0.0026542073080477006;
+        public double inPerTick = 18760.5/56;
-        public double trackWidthTicks = 4012.7667474312616;
+        public double lateralInPerTick = 293.2046574609792;
-
+        public double trackWidthTicks = 3968.437903995162;
-        public double par0Yticks = -2097.77;
-
-        public double par1ticks = -2097.77;
-
-        public double perpXTicks = -2497.77;
 
         // feedforward parameters (in tick units)
-        public double kS = 0.7579547290234911;
+        public double kS = 0.7748584778215575;
-        public double kV = 0.0005724562271687877;
+        public double kV = 0.0005849868585467051;
         public double kA = 0;
 
         // path profile parameters (in inches)
@@ -147,8 +139,6 @@ public final class MecanumDrive {
 
             imu = lazyImu.get();
 
-            // TODO: reverse encoders if needed
-            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
         }
 
         @Override
@@ -238,12 +228,15 @@ public final class MecanumDrive {
 
         // TODO: reverse motor directions if needed
         //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        rightFront.setDirection(DcMotorSimple.Direction.FORWARD);
+        rightBack.setDirection(DcMotorSimple.Direction.FORWARD);
         leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
         leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
 
+
         // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyImu(hardwareMap, "adaimu", new RevHubOrientationOnRobot(
+        lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
 
         voltageSensor = hardwareMap.voltageSensor.iterator().next();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java

@@ -33,7 +33,6 @@ import java.util.List;
 
 public final class TuningOpModes {
     // TODO: change this to TankDrive.class if you're using tank
-   // public static final Class<?> DRIVE_CLASS = MecanumDrive.class;
     public static final Class<?> DRIVE_CLASS = MecanumDrive.class;
 
     public static final String GROUP = "quickstart";