From cf342f5e38a4b83f312d6bb1552c6a63be169ce4 Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Sat, 14 Sep 2024 23:04:40 -0700 Subject: [PATCH] Updated ftclib. Separated out the odo wheel scale to per axis. --- TeamCode/src/main/java/ftclib | 2 +- TeamCode/src/main/java/teamcode/RobotParams.java | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib index a461f69..82c7841 160000 --- a/TeamCode/src/main/java/ftclib +++ b/TeamCode/src/main/java/ftclib @@ -1 +1 @@ -Subproject commit a461f69cf02bc4092100a12679ca594a5409c1b2 +Subproject commit 82c7841751610a18be487ad94767a182fd2c25c5 diff --git a/TeamCode/src/main/java/teamcode/RobotParams.java b/TeamCode/src/main/java/teamcode/RobotParams.java index 4d30f0e..1711157 100644 --- a/TeamCode/src/main/java/teamcode/RobotParams.java +++ b/TeamCode/src/main/java/teamcode/RobotParams.java @@ -296,7 +296,7 @@ public class RobotParams driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"}; driveMotorInverted = new boolean[] {true, false}; // Odometry Wheels - odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count + odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK}; xOdWheelXOffsets = new double[] {0.0}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; @@ -361,7 +361,7 @@ public class RobotParams driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"}; driveMotorInverted = new boolean[] {true, false, true, false}; // Odometry Wheels - odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count + odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK}; xOdWheelXOffsets = new double[] {0.0}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; @@ -430,7 +430,7 @@ public class RobotParams driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"}; driveMotorInverted = new boolean[] {true, false, true, false}; // Odometry Wheels - odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; // 0.00105687652708656383937269814237 in/count + odWheelXScale = odWheelYScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK}; xOdWheelXOffsets = new double[] {0.0}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};