latest update

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

@@ -58,18 +58,19 @@ 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.LEFT;
 
         // drive model parameters
-        public double inPerTick = 1;
+        //public double inPerTick = 37619.0/112;
-        public double lateralInPerTick = inPerTick;
+        public double inPerTick = 18760.5/56;
-        public double trackWidthTicks = 0;
+        public double lateralInPerTick = 293.2046574609792;
+        public double trackWidthTicks = 3968.437903995162;
 
         // feedforward parameters (in tick units)
-        public double kS = 0;
+        public double kS = 0.7748584778215575;
-        public double kV = 0;
+        public double kV = 0.0005849868585467051;
         public double kA = 0;
 
         // path profile parameters (in inches)
@@ -138,8 +139,6 @@ public final class MecanumDrive {
 
             imu = lazyImu.get();
 
-            // TODO: reverse encoders if needed
-            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
         }
 
         @Override
@@ -217,10 +216,10 @@ 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");
+        leftFront = hardwareMap.get(DcMotorEx.class, "Drive front lt");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
+        leftBack = hardwareMap.get(DcMotorEx.class, "Drive back lt");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
+        rightBack = hardwareMap.get(DcMotorEx.class, "Drive back rt");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
+        rightFront = hardwareMap.get(DcMotorEx.class, "Drive front rt");
 
         leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -229,6 +228,11 @@ 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
@@ -237,7 +241,7 @@ public final class MecanumDrive {
 
         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")));
+        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder left")));
-        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
+        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder right")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
+        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "encoder back")));
 
         // TODO: reverse encoder directions if needed
         //   par0.setDirection(DcMotorSimple.Direction.REVERSE);