SCDS/FtcTemplate
7
0
Fork 0
mirror of https://github.com/trc492/FtcTemplate.git synced 2025-07-02 21:41:24 -07:00
Code Issues Packages Projects Releases Wiki Activity

Updated ftclib.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

2
TeamCode/src/main/java/ftclib

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

10
TeamCode/src/main/java/teamcode/RobotParams.java
View File

@ -299,9 +299,11 @@ public class RobotParams
odometryType = TrcDriveBase.OdometryType.MotorOdometry; odometryType = TrcDriveBase.OdometryType.MotorOdometry;
// Odometry Wheels // Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelSensorNames = null;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK}; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0}; xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
yOdWheelSensorNames = null;
yOdWheelIndices = new int[] {FtcRobotDrive.INDEX_LEFT_FRONT, FtcRobotDrive.INDEX_RIGHT_FRONT}; 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}; 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}; 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; odometryType = TrcDriveBase.OdometryType.AbsoluteOdometry;
// Odometry Wheels // Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; 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}; xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; 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}; 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}; yOdWheelYOffsets = new double[] {144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};
// Absolute Odometry // Absolute Odometry
@ -449,9 +453,11 @@ public class RobotParams
odometryType = TrcDriveBase.OdometryType.OdometryWheels; odometryType = TrcDriveBase.OdometryType.OdometryWheels;
// Odometry Wheels // Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelSensorNames = null;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK}; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0}; xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
yOdWheelSensorNames = null;
yOdWheelIndices = new int[] {FtcRobotDrive.INDEX_LEFT_FRONT, FtcRobotDrive.INDEX_RIGHT_FRONT}; 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}; 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}; yOdWheelYOffsets = new double[] {144.0 * TrcUtil.INCHES_PER_MM, -12.0 * TrcUtil.INCHES_PER_MM};