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Updated ftclib.

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Cleaned up the dashboard display code and move to the slow loop.
Moved the steer zero calibration display code to FtcSwerveDrive.
This commit is contained in:
Titan Robotics Club
2024-08-20 16:04:10 -07:00
parent 5749715f28
commit 98b0eb8008
2 changed files with 64 additions and 88 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 0793b9d453...e53d15f41a

90
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -415,6 +415,38 @@ public class FtcTest extends FtcTeleOp
lineNum++, "Drive Accel: (%.1f/%.1f)", acceleration, maxDriveAcceleration); lineNum++, "Drive Accel: (%.1f/%.1f)", acceleration, maxDriveAcceleration);
} }
break; break;
}
if (elapsedTimer != null)
{
elapsedTimer.recordPeriodTime();
robot.dashboard.displayPrintf(
15, "Period: %.3f(%.3f/%.3f)",
elapsedTimer.getAverageElapsedTime(), elapsedTimer.getMinElapsedTime(),
elapsedTimer.getMaxElapsedTime());
}
if (slowPeriodicLoop)
{
if (allowTeleOp())
{
//
// Allow TeleOp to run so we can control the robot in subsystem test or drive speed test modes.
//
super.periodic(elapsedTime, true);
}
switch (testChoices.test)
{
case SENSORS_TEST:
case SUBSYSTEMS_TEST:
doSensorsTest();
break;
case VISION_TEST:
case TUNE_COLORBLOB_VISION:
doVisionTest();
break;
case X_TIMED_DRIVE: case X_TIMED_DRIVE:
case Y_TIMED_DRIVE: case Y_TIMED_DRIVE:
@ -477,69 +509,13 @@ public class FtcTest extends FtcTeleOp
turnPidCtrl.displayPidInfo(lineNum); turnPidCtrl.displayPidInfo(lineNum);
} }
break; break;
}
if (elapsedTimer != null)
{
elapsedTimer.recordPeriodTime();
robot.dashboard.displayPrintf(
15, "Period: %.3f(%.3f/%.3f)",
elapsedTimer.getAverageElapsedTime(), elapsedTimer.getMinElapsedTime(),
elapsedTimer.getMaxElapsedTime());
}
if (slowPeriodicLoop)
{
if (allowTeleOp())
{
//
// Allow TeleOp to run so we can control the robot in subsystem test or drive speed test modes.
//
super.periodic(elapsedTime, true);
}
switch (testChoices.test)
{
case SENSORS_TEST:
case SUBSYSTEMS_TEST:
doSensorsTest();
break;
case VISION_TEST:
case TUNE_COLORBLOB_VISION:
doVisionTest();
break;
case CALIBRATE_SWERVE_STEERING: case CALIBRATE_SWERVE_STEERING:
if (robot.robotDrive != null && (robot.robotDrive instanceof FtcSwerveDrive) && steerCalibrating) if (robot.robotDrive != null && (robot.robotDrive instanceof FtcSwerveDrive) && steerCalibrating)
{ {
FtcSwerveDrive swerveDrive = (FtcSwerveDrive) robot.robotDrive; FtcSwerveDrive swerveDrive = (FtcSwerveDrive) robot.robotDrive;
swerveDrive.runSteeringCalibration(); swerveDrive.runSteeringCalibration();
if (swerveDrive.steerZeroCalibrationCount > 0) swerveDrive.displaySteerZeroCalibration(lineNum);
{
robot.dashboard.displayPrintf(
lineNum++, "Count = %d", swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: lf=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_LEFT_FRONT].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_LEFT_FRONT]
/ swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: rf=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_RIGHT_FRONT].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_RIGHT_FRONT]
/ swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: lb=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_LEFT_BACK].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_LEFT_BACK]
/ swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: rb=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_RIGHT_BACK].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_RIGHT_BACK]
/ swerveDrive.steerZeroCalibrationCount);
}
} }
break; break;
} }