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Updated trclib.

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Updated ftclib.
Added support for SparkFun OTOS odometry sensor.
This commit is contained in:
Titan Robotics Club
2024-09-16 17:25:22 -07:00
parent cf342f5e38
commit b69d78a828
4 changed files with 26 additions and 9 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 82c7841751...08bc2787ee

22
TeamCode/src/main/java/teamcode/RobotParams.java
View File

@ -31,7 +31,9 @@ import org.openftc.easyopencv.OpenCvCameraRotation;
import ftclib.drivebase.FtcRobotDrive;
import ftclib.drivebase.FtcSwerveDrive;
import ftclib.motor.FtcMotorActuator.MotorType;
import ftclib.sensor.FtcSparkFunOtos;
import trclib.dataprocessor.TrcUtil;
import trclib.drivebase.TrcDriveBase;
import trclib.drivebase.TrcDriveBase.DriveOrientation;
import trclib.driverio.TrcGameController.DriveMode;
import trclib.pathdrive.TrcPose2D;
@ -152,7 +154,6 @@ public class RobotParams
public static final boolean showVisionStat = false;
// Drive Base
public static final boolean useDriveBase = false;
public static final boolean useExternalOdometry = false;
// Subsystems
public static final boolean useSubsystems = false;
} //class Preferences
@ -295,6 +296,7 @@ public class RobotParams
driveMotorType = MotorType.DcMotor;
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"};
driveMotorInverted = new boolean[] {true, false};
odometryType = TrcDriveBase.OdometryType.MotorOdometry;
// Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
@ -303,6 +305,8 @@ public class RobotParams
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};
// Absolute Odometry
absoluteOdometry = null;
// Drive Motor Odometry
yDrivePosScale = 0.02166184604662450653409090909091; // in/count
// Robot Drive Characteristics
@ -360,6 +364,7 @@ public class RobotParams
driveMotorType = MotorType.DcMotor;
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
driveMotorInverted = new boolean[] {true, false, true, false};
odometryType = TrcDriveBase.OdometryType.AbsoluteOdometry;
// Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
@ -368,6 +373,18 @@ public class RobotParams
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};
// Absolute Odometry
if (odometryType == TrcDriveBase.OdometryType.AbsoluteOdometry)
{
FtcSparkFunOtos.Config otosConfig = new FtcSparkFunOtos.Config()
.setOffset(0.0, 0.0, 0.0)
.setScale(1.0, 1.0);
absoluteOdometry = new FtcSparkFunOtos("SparkfunOtos", otosConfig);
}
else
{
absoluteOdometry = null;
}
// Drive Motor Odometry
xDrivePosScale = 0.01924724265461924299065420560748; // in/count
yDrivePosScale = 0.02166184604662450653409090909091; // in/count
@ -429,6 +446,7 @@ public class RobotParams
driveMotorType = MotorType.DcMotor;
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
driveMotorInverted = new boolean[] {true, false, true, false};
odometryType = TrcDriveBase.OdometryType.OdometryWheels;
// Odometry Wheels
odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;
xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
@ -437,6 +455,8 @@ public class RobotParams
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};
// Absolute Odometry
absoluteOdometry = null;
// Drive Motor Odometry
xDrivePosScale = 0.01924724265461924299065420560748; // in/count
yDrivePosScale = 0.01924724265461924299065420560748; // in/count

9
TeamCode/src/main/java/teamcode/subsystems/RobotBase.java
View File

@ -50,21 +50,18 @@ public class RobotBase
case DifferentialRobot:
robotInfo = new RobotParams.DifferentialParams();
robotDrive = RobotParams.Preferences.useDriveBase?
new FtcDifferentialDrive(robotInfo, RobotParams.Preferences.useExternalOdometry): null;
robotDrive = RobotParams.Preferences.useDriveBase? new FtcDifferentialDrive(robotInfo): null;
break;
case MecanumRobot:
robotInfo = new RobotParams.MecanumParams();
robotDrive = RobotParams.Preferences.useDriveBase?
new FtcMecanumDrive(robotInfo, RobotParams.Preferences.useExternalOdometry): null;
robotDrive = RobotParams.Preferences.useDriveBase? new FtcMecanumDrive(robotInfo): null;
break;
case SwerveRobot:
robotInfo = new RobotParams.SwerveParams();
robotDrive = RobotParams.Preferences.useDriveBase?
new FtcSwerveDrive(
(RobotParams.SwerveParams) robotInfo, RobotParams.Preferences.useExternalOdometry): null;
new FtcSwerveDrive((RobotParams.SwerveParams) robotInfo): null;
break;
default:

2
TeamCode/src/main/java/trclib

Submodule TeamCode/src/main/java/trclib updated: 9413c20e34...315029e439