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Updated ftclib.

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Added OctoQuad support for OdWheels.
This commit is contained in:
Titan Robotics Club
2024-09-17 03:06:16 -07:00
parent b69d78a828
commit 4dce48e5cd
2 changed files with 9 additions and 3 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 08bc2787ee...4ce26319c9

10
TeamCode/src/main/java/teamcode/RobotParams.java
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@ -299,9 +299,11 @@ public class RobotParams
odometryType = TrcDriveBase.OdometryType.MotorOdometry;
// Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelSensorNames = null;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
yOdWheelSensorNames = null;
yOdWheelIndices = new int[] {FtcRobotDrive.INDEX_LEFT_FRONT, FtcRobotDrive.INDEX_RIGHT_FRONT};
yOdWheelXOffsets = new double[] {-144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};
yOdWheelYOffsets = new double[] {144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};
@ -367,10 +369,12 @@ public class RobotParams
odometryType = TrcDriveBase.OdometryType.AbsoluteOdometry;
// Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelSensorNames = new String[] {"xOdWheelSensor"};
xOdWheelIndices = new int[] {0};
xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
yOdWheelIndices = new int[] {FtcRobotDrive.INDEX_LEFT_FRONT, FtcRobotDrive.INDEX_RIGHT_FRONT};
yOdWheelSensorNames = new String[] {"yLeftOdWheelSensor", "yRightOdWheelSensor"};
yOdWheelIndices = new int[] {1, 2};
yOdWheelXOffsets = new double[] {-144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};
yOdWheelYOffsets = new double[] {144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};
// Absolute Odometry
@ -449,9 +453,11 @@ public class RobotParams
odometryType = TrcDriveBase.OdometryType.OdometryWheels;
// Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelSensorNames = null;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
yOdWheelSensorNames = null;
yOdWheelIndices = new int[] {FtcRobotDrive.INDEX_LEFT_FRONT, FtcRobotDrive.INDEX_RIGHT_FRONT};
yOdWheelXOffsets = new double[] {-144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};
yOdWheelYOffsets = new double[] {144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};