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Updated ftclib.

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Updated trclib.
Added SwerveDrive steer encoder inverted constants.
This commit is contained in:
Titan Robotics Club
2024-08-14 19:25:44 -07:00
parent 8243d67d4e
commit 39301f7e8f
4 changed files with 14 additions and 3 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 8b7f3f5d49...da540d600b

6
TeamCode/src/main/java/teamcode/RobotParams.java
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@ -213,6 +213,12 @@ public class RobotParams
// DriveBase subsystem.
//
public static DriveOrientation DEF_DRIVE_ORIENTATION = DriveOrientation.FIELD;
public static final boolean LFSTEER_ENC_INVERTED = false;
public static final boolean RFSTEER_ENC_INVERTED = false;
public static final boolean LBSTEER_ENC_INVERTED = false;
public static final boolean RBSTEER_ENC_INVERTED = false;
public static final double LFSTEER_ZERO_POS = 0.474812;
public static final double RFSTEER_ZERO_POS = 0.467663;
public static final double LBSTEER_ZERO_POS = 0.541338;

7
TeamCode/src/main/java/teamcode/drivebases/SwerveDrive.java
View File

@ -35,6 +35,7 @@ import ftclib.sensor.FtcAnalogEncoder;
import teamcode.RobotParams;
import trclib.drivebase.TrcSwerveDriveBase;
import trclib.drivebase.TrcSwerveModule;
import trclib.motor.TrcMotor;
import trclib.pathdrive.TrcPidDrive;
import trclib.pathdrive.TrcPurePursuitDrive;
import trclib.robotcore.TrcDbgTrace;
@ -52,6 +53,9 @@ public class SwerveDrive extends RobotDrive
private final String[] steerEncoderNames = {
RobotParams.HWNAME_LFSTEER_ENCODER, RobotParams.HWNAME_RFSTEER_ENCODER,
RobotParams.HWNAME_LBSTEER_ENCODER, RobotParams.HWNAME_RBSTEER_ENCODER};
private final boolean[] steerEncoderInverted = {
RobotParams.LFSTEER_ENC_INVERTED, RobotParams.RFSTEER_ENC_INVERTED,
RobotParams.LBSTEER_ENC_INVERTED, RobotParams.RBSTEER_ENC_INVERTED};
public double[] zeroPositions = {
RobotParams.LFSTEER_ZERO_POS, RobotParams.RFSTEER_ZERO_POS,
RobotParams.LBSTEER_ZERO_POS, RobotParams.RBSTEER_ZERO_POS};
@ -184,7 +188,8 @@ public class SwerveDrive extends RobotDrive
for (int i = 0; i < servoNames.length; i++)
{
servos[i] = new FtcCRServo(servoNames[i], encoders[i]);
servos[i] = new FtcCRServo(
servoNames[i], new TrcMotor.ExternalSensors().setEncoder(encoders[i], steerEncoderInverted[i]));
if (RobotParams.Preferences.swerveDualServoSteering)
{
FtcCRServo slaveServo = new FtcCRServo(servoNames[i] + ".slave", null);

2
TeamCode/src/main/java/trclib

Submodule TeamCode/src/main/java/trclib updated: 3e05ff3d86...4500d4be24