Updating to use Roadrunner

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

@@ -29,10 +29,13 @@
 
 package org.firstinspires.ftc.teamcode;
 
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
+
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
@@ -79,12 +82,15 @@ public class CometBotsLinearOpMode extends LinearOpMode {
     @Override
     public void runOpMode() {
 
+        // Button A counter to cycle speeds
+        int cntBtnA = 1;
+
         // Initialize the hardware variables. Note that the strings used here must correspond
         // to the names assigned during the robot configuration step on the DS or RC devices.
-        rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
-        rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
-        lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
-        llw = hardwareMap.get(DcMotor.class, "left leg wheel");
+        rhw = hardwareMap.get(DcMotor.class, RT_FRONT);
+        rlw = hardwareMap.get(DcMotor.class, RT_BACK);
+        lhw = hardwareMap.get(DcMotor.class, LT_FRONT);
+        llw = hardwareMap.get(DcMotor.class, LT_BACK);
 
         /*
             Put all motors in an array for easier handling
@@ -116,22 +122,22 @@ public class CometBotsLinearOpMode extends LinearOpMode {
 
             // Combine the joystick requests for each axis-motion to determine each wheel's power.
             // Set up a variable for each drive wheel to save the power level for telemetry.
-            double leftFrontPower  = axial + lateral + yaw;
-            double rightFrontPower = axial - lateral - yaw;
-            double leftBackPower   = axial - lateral + yaw;
-            double rightBackPower  = axial + lateral - yaw;
+            double lftFrntPwr  = axial + lateral + yaw;
+            double rtFrntPwr = axial - lateral - yaw;
+            double ltBckPwr   = axial - lateral + yaw;
+            double rtBckPwr  = axial + lateral - yaw;
 
             // Normalize the values so no wheel power exceeds 100%
             // This ensures that the robot maintains the desired motion.
-            max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
-            max = Math.max(max, Math.abs(leftBackPower));
-            max = Math.max(max, Math.abs(rightBackPower));
+            max = Math.max(Math.abs(lftFrntPwr), Math.abs(rtFrntPwr));
+            max = Math.max(max, Math.abs(ltBckPwr));
+            max = Math.max(max, Math.abs(rtBckPwr));
 
             if (max > 1.0) {
-                leftFrontPower  /= max;
-                rightFrontPower /= max;
-                leftBackPower   /= max;
-                rightBackPower  /= max;
+                lftFrntPwr  /= max;
+                rtFrntPwr /= max;
+                ltBckPwr   /= max;
+                rtBckPwr  /= max;
             }
 
             // This is test code:
@@ -145,22 +151,39 @@ public class CometBotsLinearOpMode extends LinearOpMode {
             // Once the correct motors move in the correct direction re-comment this code.
 
             /*
-            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
-            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
-            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
-            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
+            lftFrntPwr  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
+            ltBckPwr   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
+            rtFrntPwr = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
+            rtBckPwr  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
             */
 
+            lhw.setPower(lftFrntPwr/cntBtnA);
+            rhw.setPower(rtFrntPwr/cntBtnA);
+            llw.setPower(ltBckPwr/cntBtnA);
+            rlw.setPower(rtBckPwr/cntBtnA);
+
             // Send calculated power to wheels
-            lhw.setPower(leftFrontPower);
-            rhw.setPower(rightFrontPower);
-            llw.setPower(leftBackPower);
-            rlw.setPower(rightBackPower);
+            if(gamepad1.left_bumper) {
+                sleep(175);
+                cntBtnA--;
+                if(cntBtnA < 0) {
+                    cntBtnA = 0;
+                }
+            }
+
+            if(gamepad1.right_bumper) {
+                sleep(175);
+                cntBtnA++;
+                if(cntBtnA > 4) {
+                    cntBtnA = 4;
+                }
+            }
 
             // Show the elapsed game time and wheel power.
             telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+            telemetry.addData("Front left/Right", "%4.2f, %4.2f", lftFrntPwr, rtFrntPwr);
+            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", ltBckPwr, rtBckPwr);
+            telemetry.addData("Power Mode", cntBtnA);
             telemetry.update();
         }
     }}

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

@@ -0,0 +1,132 @@
+/* Copyright (c) 2021 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.LT_BACK;
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.LT_FRONT;
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.RT_BACK;
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.RT_FRONT;
+
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+
+/*
+ * This file contains an example of a Linear "OpMode".
+ * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
+ * The names of OpModes appear on the menu of the FTC Driver Station.
+ * When a selection is made from the menu, the corresponding OpMode is executed.
+ *
+ * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
+ * This code will work with either a Mecanum-Drive or an X-Drive train.
+ * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
+ * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
+ *
+ * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
+ *
+ * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
+ * Each motion axis is controlled by one Joystick axis.
+ *
+ * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
+ * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
+ * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
+ *
+ * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
+ * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
+ * the direction of all 4 motors (see code below).
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
+ */
+
+@TeleOp(name="CometBots Mecanum Drive Demo", group = "[14493] CometBots")
+public class CometBotsMecanumDriveMode extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor rhw = null;
+    private DcMotor rlw = null;
+    private DcMotor lhw = null;
+    private DcMotor llw = null;
+
+    @Override
+    public void runOpMode() {
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,Math.toRadians(90)));
+
+        // Button A counter to cycle speeds
+        int cntBtnA = 1;
+
+        // Initialize the hardware variables. Note that the strings used here must correspond
+        // to the names assigned during the robot configuration step on the DS or RC devices.
+        rhw = hardwareMap.get(DcMotor.class, RT_FRONT);
+        rlw = hardwareMap.get(DcMotor.class, RT_BACK);
+        lhw = hardwareMap.get(DcMotor.class, LT_FRONT);
+        llw = hardwareMap.get(DcMotor.class, LT_BACK);
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important especially when dealing with functions
+            that set direction
+        */
+        DcMotor[] motors = {rhw, rlw, lhw, llw};
+
+        /*
+            Initialize all wheels forward using motors a
+        */
+        MovementLibrary.setDirectionForward(motors);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+            drive.setDrivePowers(
+                new PoseVelocity2d(
+                    new Vector2d(
+                        gamepad1.right_stick_x,
+                        gamepad1.right_stick_y
+                    ),
+                -gamepad1.right_stick_x
+                )
+            );
+            drive.updatePoseEstimate();
+        }
+    }}

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

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.Vector2d;
+
+public final class Drawing {
+    private Drawing() {}
+
+
+    public static void drawRobot(Canvas c, Pose2d t) {
+        final double ROBOT_RADIUS = 9;
+
+        c.setStrokeWidth(1);
+        c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
+
+        Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
+        Vector2d p1 = t.position.plus(halfv);
+        Vector2d p2 = p1.plus(halfv);
+        c.strokeLine(p1.x, p1.y, p2.x, p2.y);
+    }
+}

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

@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.roadrunner.Time;
+import com.acmerobotics.roadrunner.Twist2dDual;
+
+public interface Localizer {
+    Twist2dDual<Time> update();
+}

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

@@ -0,0 +1,502 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.*;
+        import com.acmerobotics.roadrunner.AngularVelConstraint;
+import com.acmerobotics.roadrunner.DualNum;
+import com.acmerobotics.roadrunner.HolonomicController;
+import com.acmerobotics.roadrunner.MecanumKinematics;
+import com.acmerobotics.roadrunner.MinVelConstraint;
+import com.acmerobotics.roadrunner.MotorFeedforward;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.Time;
+import com.acmerobotics.roadrunner.TimeTrajectory;
+import com.acmerobotics.roadrunner.TimeTurn;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.VelConstraint;
+import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
+import com.acmerobotics.roadrunner.ftc.Encoder;
+import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.LazyImu;
+import com.acmerobotics.roadrunner.ftc.LynxFirmware;
+import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+import com.acmerobotics.roadrunner.ftc.RawEncoder;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
+import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
+import org.firstinspires.ftc.teamcode.messages.MecanumLocalizerInputsMessage;
+import org.firstinspires.ftc.teamcode.messages.PoseMessage;
+
+import java.lang.Math;
+import java.util.Arrays;
+import java.util.LinkedList;
+import java.util.List;
+
+@Config
+public final class MecanumDrive {
+    public static class Params {
+        // 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.FORWARD;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
+                RevHubOrientationOnRobot.UsbFacingDirection.UP;
+
+        // drive model parameters
+        public double inPerTick = 119/5924.5;
+        public double lateralInPerTick = 124/6930.5;
+        public double trackWidthTicks = 1131;
+
+        // feedforward parameters (in tick units)
+        public double kS = 0.7476;
+        public double kV = 0.0043736;
+        public double kA = 00055;
+
+        // path profile parameters (in inches)
+        public double maxWheelVel = 50;
+        public double minProfileAccel = -30;
+        public double maxProfileAccel = 50;
+
+        // turn profile parameters (in radians)
+        public double maxAngVel = Math.PI; // shared with path
+        public double maxAngAccel = Math.PI;
+
+        // path controller gains
+        public double axialGain = 4.125;
+        public double lateralGain = 4.125;
+        public double headingGain = 4.25; // shared with turn
+
+        public double axialVelGain = 0.0;
+        public double lateralVelGain = 0.0;
+        public double headingVelGain = 0.0; // shared with turn
+    }
+
+    public static Params PARAMS = new Params();
+
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            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);
+
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+
+    public final VoltageSensor voltageSensor;
+
+    public final LazyImu lazyImu;
+
+    public final Localizer localizer;
+    public Pose2d pose;
+
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+
+    public class DriveLocalizer implements Localizer {
+        public final Encoder leftFront, leftBack, rightBack, rightFront;
+        public final IMU imu;
+
+        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
+        private Rotation2d lastHeading;
+        private boolean initialized;
+
+        public DriveLocalizer() {
+            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
+            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();
+
+            // TODO: reverse encoders if needed
+            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        }
+
+        @Override
+        public Twist2dDual<Time> update() {
+            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
+            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
+            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
+            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
+
+            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
+
+            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
+                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
+
+            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
+
+            if (!initialized) {
+                initialized = true;
+
+                lastLeftFrontPos = leftFrontPosVel.position;
+                lastLeftBackPos = leftBackPosVel.position;
+                lastRightBackPos = rightBackPosVel.position;
+                lastRightFrontPos = rightFrontPosVel.position;
+
+                lastHeading = heading;
+
+                return new Twist2dDual<>(
+                        Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
+                        DualNum.constant(0.0, 2)
+                );
+            }
+
+            double headingDelta = heading.minus(lastHeading);
+            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
+                    new DualNum<Time>(new double[]{
+                            (leftFrontPosVel.position - lastLeftFrontPos),
+                            leftFrontPosVel.velocity,
+                    }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (leftBackPosVel.position - lastLeftBackPos),
+                            leftBackPosVel.velocity,
+                    }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightBackPosVel.position - lastRightBackPos),
+                            rightBackPosVel.velocity,
+                    }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightFrontPosVel.position - lastRightFrontPos),
+                            rightFrontPosVel.velocity,
+                    }).times(PARAMS.inPerTick)
+            ));
+
+            lastLeftFrontPos = leftFrontPosVel.position;
+            lastLeftBackPos = leftBackPosVel.position;
+            lastRightBackPos = rightBackPosVel.position;
+            lastRightFrontPos = rightFrontPosVel.position;
+
+            lastHeading = heading;
+
+            return new Twist2dDual<>(
+                    twist.line,
+                    DualNum.cons(headingDelta, twist.angle.drop(1))
+            );
+        }
+    }
+
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        this.pose = pose;
+
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // 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, LT_FRONT);
+        leftBack = hardwareMap.get(DcMotorEx.class, LT_BACK);
+        rightBack = hardwareMap.get(DcMotorEx.class, RT_BACK);
+        rightFront = hardwareMap.get(DcMotorEx.class, RT_FRONT);
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important especially when dealing with functions
+            that set direction
+        */
+        DcMotor[] motors = {rightFront, rightBack, leftFront, leftBack};
+
+        /*
+            Initialize all wheels forward using motors a
+        */
+        MovementLibrary.setDirectionForward(motors);
+
+        // 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();
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public final class FollowTrajectoryAction implements Action {
+        public final TimeTrajectory timeTrajectory;
+        private double beginTs = -1;
+
+        private final double[] xPoints, yPoints;
+
+        public FollowTrajectoryAction(TimeTrajectory t) {
+            timeTrajectory = t;
+
+            List<Double> disps = com.acmerobotics.roadrunner.Math.range(
+                    0, t.path.length(),
+                    Math.max(2, (int) Math.ceil(t.path.length() / 2)));
+            xPoints = new double[disps.size()];
+            yPoints = new double[disps.size()];
+            for (int i = 0; i < disps.size(); i++) {
+                Pose2d p = t.path.get(disps.get(i), 1).value();
+                xPoints[i] = p.position.x;
+                yPoints[i] = p.position.y;
+            }
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket p) {
+            double t;
+            if (beginTs < 0) {
+                beginTs = Actions.now();
+                t = 0;
+            } else {
+                t = Actions.now() - beginTs;
+            }
+
+            if (t >= timeTrajectory.duration) {
+                leftFront.setPower(0);
+                leftBack.setPower(0);
+                rightBack.setPower(0);
+                rightFront.setPower(0);
+
+                return false;
+            }
+
+            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            PoseVelocity2dDual<Time> command = new HolonomicController(
+                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
+                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
+            )
+                    .compute(txWorldTarget, pose, robotVelRobot);
+            driveCommandWriter.write(new DriveCommandMessage(command));
+
+            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
+            double voltage = voltageSensor.getVoltage();
+
+            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
+                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
+            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
+            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
+            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
+            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
+            mecanumCommandWriter.write(new MecanumCommandMessage(
+                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
+            ));
+
+            leftFront.setPower(leftFrontPower);
+            leftBack.setPower(leftBackPower);
+            rightBack.setPower(rightBackPower);
+            rightFront.setPower(rightFrontPower);
+
+            p.put("x", pose.position.x);
+            p.put("y", pose.position.y);
+            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
+
+            Pose2d error = txWorldTarget.value().minusExp(pose);
+            p.put("xError", error.position.x);
+            p.put("yError", error.position.y);
+            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
+
+            // only draw when active; only one drive action should be active at a time
+            Canvas c = p.fieldOverlay();
+            drawPoseHistory(c);
+
+            c.setStroke("#4CAF50");
+            Drawing.drawRobot(c, txWorldTarget.value());
+
+            c.setStroke("#3F51B5");
+            Drawing.drawRobot(c, pose);
+
+            c.setStroke("#4CAF50FF");
+            c.setStrokeWidth(1);
+            c.strokePolyline(xPoints, yPoints);
+
+            return true;
+        }
+
+        @Override
+        public void preview(Canvas c) {
+            c.setStroke("#4CAF507A");
+            c.setStrokeWidth(1);
+            c.strokePolyline(xPoints, yPoints);
+        }
+    }
+
+    public final class TurnAction implements Action {
+        private final TimeTurn turn;
+
+        private double beginTs = -1;
+
+        public TurnAction(TimeTurn turn) {
+            this.turn = turn;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket p) {
+            double t;
+            if (beginTs < 0) {
+                beginTs = Actions.now();
+                t = 0;
+            } else {
+                t = Actions.now() - beginTs;
+            }
+
+            if (t >= turn.duration) {
+                leftFront.setPower(0);
+                leftBack.setPower(0);
+                rightBack.setPower(0);
+                rightFront.setPower(0);
+
+                return false;
+            }
+
+            Pose2dDual<Time> txWorldTarget = turn.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            PoseVelocity2dDual<Time> command = new HolonomicController(
+                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
+                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
+            )
+                    .compute(txWorldTarget, pose, robotVelRobot);
+            driveCommandWriter.write(new DriveCommandMessage(command));
+
+            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
+            double voltage = voltageSensor.getVoltage();
+            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
+                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
+            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
+            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
+            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
+            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
+            mecanumCommandWriter.write(new MecanumCommandMessage(
+                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
+            ));
+
+            leftFront.setPower(feedforward.compute(wheelVels.leftFront) / voltage);
+            leftBack.setPower(feedforward.compute(wheelVels.leftBack) / voltage);
+            rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
+            rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
+
+            Canvas c = p.fieldOverlay();
+            drawPoseHistory(c);
+
+            c.setStroke("#4CAF50");
+            Drawing.drawRobot(c, txWorldTarget.value());
+
+            c.setStroke("#3F51B5");
+            Drawing.drawRobot(c, pose);
+
+            c.setStroke("#7C4DFFFF");
+            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
+
+            return true;
+        }
+
+        @Override
+        public void preview(Canvas c) {
+            c.setStroke("#7C4DFF7A");
+            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
+        }
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        Twist2dDual<Time> twist = localizer.update();
+        pose = pose.plus(twist.value());
+
+        poseHistory.add(pose);
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(pose));
+
+        return twist.velocity().value();
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/Constants.java

@@ -4,4 +4,9 @@ public class Constants {
 
     public static double CB_BASE_SPEED = 0.2;
 
+    public static String RT_FRONT = "right hand wheel";
+    public static String LT_FRONT = "left hand wheel";
+    public static String RT_BACK = "right leg wheel";
+    public static String LT_BACK = "left leg wheel";
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java

@@ -12,21 +12,21 @@ public class MovementLibrary {
 
     public static void setLeftSideForward(DcMotor[] motors) {
         motors[2].setDirection(DcMotor.Direction.FORWARD);
-        motors[3].setDirection(DcMotor.Direction.REVERSE);
+        motors[3].setDirection(DcMotor.Direction.FORWARD);
     }
 
     public static void setRightSideForward(DcMotor[] motors) {
-        motors[0].setDirection(DcMotor.Direction.REVERSE);
+        motors[0].setDirection(DcMotor.Direction.FORWARD);
         motors[1].setDirection(DcMotor.Direction.FORWARD);
     }
 
     public static void setLeftSideBackward(DcMotor[] motors) {
         motors[2].setDirection(DcMotor.Direction.REVERSE);
-        motors[3].setDirection(DcMotor.Direction.FORWARD);
+        motors[3].setDirection(DcMotor.Direction.REVERSE);
     }
 
     public static void setRightSideBackward(DcMotor[] motors) {
-        motors[0].setDirection(DcMotor.Direction.FORWARD);
+        motors[0].setDirection(DcMotor.Direction.REVERSE);
         motors[1].setDirection(DcMotor.Direction.REVERSE);
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/DriveCommandMessage.java

@@ -0,0 +1,24 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
+import com.acmerobotics.roadrunner.Time;
+
+public final class DriveCommandMessage {
+    public long timestamp;
+    public double forwardVelocity;
+    public double forwardAcceleration;
+    public double lateralVelocity;
+    public double lateralAcceleration;
+    public double angularVelocity;
+    public double angularAcceleration;
+
+    public DriveCommandMessage(PoseVelocity2dDual<Time> poseVelocity) {
+        this.timestamp = System.nanoTime();
+        this.forwardVelocity = poseVelocity.linearVel.x.get(0);
+        this.forwardAcceleration = poseVelocity.linearVel.x.get(1);
+        this.lateralVelocity = poseVelocity.linearVel.y.get(0);
+        this.lateralAcceleration = poseVelocity.linearVel.y.get(1);
+        this.angularVelocity = poseVelocity.angVel.get(0);
+        this.angularAcceleration = poseVelocity.angVel.get(1);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumCommandMessage.java

@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+public final class MecanumCommandMessage {
+    public long timestamp;
+    public double voltage;
+    public double leftFrontPower;
+    public double leftBackPower;
+    public double rightBackPower;
+    public double rightFrontPower;
+
+    public MecanumCommandMessage(double voltage, double leftFrontPower, double leftBackPower, double rightBackPower, double rightFrontPower) {
+        this.timestamp = System.nanoTime();
+        this.voltage = voltage;
+        this.leftFrontPower = leftFrontPower;
+        this.leftBackPower = leftBackPower;
+        this.rightBackPower = rightBackPower;
+        this.rightFrontPower = rightFrontPower;
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumLocalizerInputsMessage.java

@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+public final class MecanumLocalizerInputsMessage {
+    public long timestamp;
+    public PositionVelocityPair leftFront;
+    public PositionVelocityPair leftBack;
+    public PositionVelocityPair rightBack;
+    public PositionVelocityPair rightFront;
+    public double yaw;
+    public double pitch;
+    public double roll;
+
+    public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
+        this.timestamp = System.nanoTime();
+        this.leftFront = leftFront;
+        this.leftBack = leftBack;
+        this.rightBack = rightBack;
+        this.rightFront = rightFront;
+        {
+            this.yaw = angles.getYaw(AngleUnit.RADIANS);
+            this.pitch = angles.getPitch(AngleUnit.RADIANS);
+            this.roll = angles.getRoll(AngleUnit.RADIANS);
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java

@@ -0,0 +1,17 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.Pose2d;
+
+public final class PoseMessage {
+    public long timestamp;
+    public double x;
+    public double y;
+    public double heading;
+
+    public PoseMessage(Pose2d pose) {
+        this.timestamp = System.nanoTime();
+        this.x = pose.position.x;
+        this.y = pose.position.y;
+        this.heading = pose.heading.toDouble();
+    }
+}