From a57c9ff49f7f072444ef6307a4684e2d39f5c20f Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Thu, 12 Sep 2024 18:00:34 -0700 Subject: [PATCH] Updated ftclib. Added OdWheel mappings to RobotInfo. --- TeamCode/src/main/java/ftclib | 2 +- .../src/main/java/teamcode/RobotParams.java | 36 +++++++++---------- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib index 67a299f..a461f69 160000 --- a/TeamCode/src/main/java/ftclib +++ b/TeamCode/src/main/java/ftclib @@ -1 +1 @@ -Subproject commit 67a299f9b5c67a8250707aac1ccfdd1c65f2a6ef +Subproject commit a461f69cf02bc4092100a12679ca594a5409c1b2 diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java index ed3a28c..4d30f0e 100644 --- a/TeamCode/src/main/java/teamcode/RobotParams.java +++ b/TeamCode/src/main/java/teamcode/RobotParams.java @@ -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