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Updated ftclib.

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Added OdWheel mappings to RobotInfo.
This commit is contained in:
Titan Robotics Club
2024-09-12 18:00:34 -07:00
parent fa32f5ba34
commit a57c9ff49f
2 changed files with 19 additions and 19 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 67a299f9b5...a461f69cf0

36
TeamCode/src/main/java/teamcode/RobotParams.java
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@ -297,12 +297,12 @@ public class RobotParams
driveMotorInverted = new boolean[] {true, false};
// Odometry Wheels
odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count
xOdWheelOffsetX = 0.0;
xOdWheelOffsetY = -168.0 * TrcUtil.INCHES_PER_MM;
yLeftOdWheelOffsetX = -144.0 * TrcUtil.INCHES_PER_MM;
yLeftOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
yRightOdWheelOffsetX = 144.0 * TrcUtil.INCHES_PER_MM;
yRightOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
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};
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};
// Drive Motor Odometry
yDrivePosScale = 0.02166184604662450653409090909091; // in/count
// Robot Drive Characteristics
@ -362,12 +362,12 @@ public class RobotParams
driveMotorInverted = new boolean[] {true, false, true, false};
// Odometry Wheels
odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count
xOdWheelOffsetX = 0.0;
xOdWheelOffsetY = -168.0 * TrcUtil.INCHES_PER_MM;
yLeftOdWheelOffsetX = -144.0 * TrcUtil.INCHES_PER_MM;
yLeftOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
yRightOdWheelOffsetX = 144.0 * TrcUtil.INCHES_PER_MM;
yRightOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
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};
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};
// Drive Motor Odometry
xDrivePosScale = 0.01924724265461924299065420560748; // in/count
yDrivePosScale = 0.02166184604662450653409090909091; // in/count
@ -431,12 +431,12 @@ public class RobotParams
driveMotorInverted = new boolean[] {true, false, true, false};
// Odometry Wheels
odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count
xOdWheelOffsetX = 0.0;
xOdWheelOffsetY = -168.0 * TrcUtil.INCHES_PER_MM;
yLeftOdWheelOffsetX = -144.0 * TrcUtil.INCHES_PER_MM;
yLeftOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
yRightOdWheelOffsetX = 144.0 * TrcUtil.INCHES_PER_MM;
yRightOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
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};
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};
// Drive Motor Odometry
xDrivePosScale = 0.01924724265461924299065420560748; // in/count
yDrivePosScale = 0.01924724265461924299065420560748; // in/count