Update values for Competition robot

README.md

@@ -2,3 +2,11 @@
 
 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

@@ -1,5 +1,8 @@
 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;
@@ -58,18 +61,24 @@ 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.RIGHT;
 
         // drive model parameters
-        public double inPerTick = 1;
-        public double lateralInPerTick = inPerTick;
-        public double trackWidthTicks = 0;
+        public double inPerTick = 125.5/42126.8333333;
+        public double lateralInPerTick = 0.0026542073080477006;
+        public double trackWidthTicks = 4012.7667474312616;
+
+        public double par0Yticks = -2097.77;
+
+        public double par1ticks = -2097.77;
+
+        public double perpXTicks = -2497.77;
 
         // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
+        public double kS = 0.7579547290234911;
+        public double kV = 0.0005724562271687877;
         public double kA = 0;
 
         // path profile parameters (in inches)
@@ -217,10 +226,10 @@ public final class MecanumDrive {
 
         // TODO: make sure your config has motors with these names (or change them)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
+        leftFront = hardwareMap.get(DcMotorEx.class, "Drive front lt");
+        leftBack = hardwareMap.get(DcMotorEx.class, "Drive back lt");
+        rightBack = hardwareMap.get(DcMotorEx.class, "Drive back rt");
+        rightFront = hardwareMap.get(DcMotorEx.class, "Drive front rt");
 
         leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -229,15 +238,17 @@ public final class MecanumDrive {
 
         // TODO: reverse motor directions if needed
         //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        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, "imu", new RevHubOrientationOnRobot(
+        lazyImu = new LazyImu(hardwareMap, "adaimu", new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
 
         voltageSensor = hardwareMap.voltageSensor.iterator().next();
 
-        localizer = new DriveLocalizer();
+        localizer =new ThreeDeadWheelLocalizer(hardwareMap, PARAMS.inPerTick);
 
         FlightRecorder.write("MECANUM_PARAMS", PARAMS);
     }

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

@@ -38,9 +38,9 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
         // TODO: make sure your config has **motors** with these names (or change them)
         //   the encoders should be plugged into the slot matching the named motor
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
-        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
+        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder left")));
+        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder right")));
+        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder back")));
 
         // TODO: reverse encoder directions if needed
         //   par0.setDirection(DcMotorSimple.Direction.REVERSE);

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

@@ -33,6 +33,7 @@ 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";