SCDS/FtcTemplate
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Syncd latest fixes in PurePursuitDrive.

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Updated trclib, ftclib.
This commit is contained in:
Titan Robotics Club
2025-01-08 20:30:15 -08:00
parent 194ad0b280
commit bcc3343a1c
4 changed files with 7 additions and 5 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: b6050bf677...2114117db4

4
TeamCode/src/main/java/teamcode/FtcTest.java
View File

@ -320,7 +320,9 @@ public class FtcTest extends FtcTeleOp
// Set the current position as the absolute field origin so the path can be an absolute path.
TrcPose2D startPose = new TrcPose2D(0.0, 0.0, 0.0);
robot.robotDrive.driveBase.setFieldPosition(startPose);
robot.robotDrive.purePursuitDrive.start(startPose, false, new TrcPose2D(0.0, 48.0, 90.0));
robot.robotDrive.purePursuitDrive.start(
false, robot.robotInfo.profiledMaxVelocity, robot.robotInfo.profiledMaxAcceleration,
robot.robotInfo.profiledMaxDeceleration, new TrcPose2D(0.0, 48.0, 90.0));
}
break;
}

4
TeamCode/src/main/java/teamcode/subsystems/RobotBase.java
View File

@ -101,8 +101,8 @@ public class RobotBase
profiledMaxAcceleration = robotMaxAcceleration;
profiledMaxTurnRate = robotMaxTurnRate;
// DriveBase PID Parameters
drivePidTolerance = 1.0;
turnPidTolerance = 1.0;
drivePidTolerance = 2.0;
turnPidTolerance = 2.0;
yDrivePidCoeffs = new TrcPidController.PidCoefficients(0.06, 0.0, 0.002, 0.0, 0.0);
yDrivePidPowerLimit = 1.0;
yDriveMaxPidRampRate = null;

2
TeamCode/src/main/java/trclib

Submodule TeamCode/src/main/java/trclib updated: dbb9ebd708...080603b0b3