latest update

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

@@ -1,7 +1,5 @@
 package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.teamcode.MecanumDriveParameters.*;
-
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.dashboard.canvas.Canvas;
@@ -56,23 +54,24 @@ import java.util.List;
 @Config
 public final class MecanumDrive {
     public static class Params {
-
-        /*
-        IMU Orientation
-        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;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+        // IMU orientation
+        // 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.DOWN;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
+                RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
 
         // drive model parameters
-        public double inPerTick = INCHES_PER_TICK_VALUE;
-        public double lateralInPerTick = LATERAL_INCHES_PER_TICK_VALUE;
-        public double trackWidthTicks = TRACK_WIDTH_IN_TICKS_VALUE;
+        //public double inPerTick = 37619.0/112;
+        public double inPerTick = 18760.5/56;
+        public double lateralInPerTick = 293.2046574609792;
+        public double trackWidthTicks = 3968.437903995162;
 
         // feedforward parameters (in tick units)
-        public double kS = KS_VALUE;
-        public double kV = KV_VALUE;
-        public double kA = KA_VALUE;
+        public double kS = 0.7748584778215575;
+        public double kV = 0.0005849868585467051;
+        public double kA = 0;
 
         // path profile parameters (in inches)
         public double maxWheelVel = 50;
@@ -96,18 +95,15 @@ public final class MecanumDrive {
     public static Params PARAMS = new Params();
 
     public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks,
-            PARAMS.inPerTick / PARAMS.lateralInPerTick);
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
 
     public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
             PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-
     public final VelConstraint defaultVelConstraint =
             new MinVelConstraint(Arrays.asList(
                     kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
                     new AngularVelConstraint(PARAMS.maxAngVel)
             ));
-
     public final AccelConstraint defaultAccelConstraint =
             new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
 
@@ -140,7 +136,9 @@ public final class MecanumDrive {
             leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
             rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
             rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
+
             imu = lazyImu.get();
+
         }
 
         @Override
@@ -216,34 +214,34 @@ public final class MecanumDrive {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
-        /*
-        Configure motors definitions
-         */
-        leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
-        leftBack = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
-        rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
-        rightBack = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
+        // 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, "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);
         rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
-        /*
-        Configure motors direction
-         */
+        // 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);
 
-        /*
-        IMU Orientation Application
-        See https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-         */
+
+        // 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(
                 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/MecanumDriveParameters.java

@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-
-public class MecanumDriveParameters {
-
-    // Roadrunner tuning parameters
-    public static final double INCHES_PER_TICK_VALUE = 125.5/42126.8333333;
-    public static final double LATERAL_INCHES_PER_TICK_VALUE = 0.0026542073080477006;
-    public static final double TRACK_WIDTH_IN_TICKS_VALUE = 4012.7667474312616;
-
-    // FeedForward parameters (in tick units)
-    public static final double KS_VALUE = 0.7579547290234911;
-    public static final double KV_VALUE = 0.0005724562271687877;
-    public static final double KA_VALUE = 0;
-
-    // Robot motor configurations
-    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
-    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
-    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
-    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
-}