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Updated ftclib.

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Separated out the odo wheel scale to per axis.
This commit is contained in:
Titan Robotics Club
2024-09-14 23:04:40 -07:00
parent fb3ec9efe3
commit cf342f5e38
2 changed files with 4 additions and 4 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: a461f69cf0...82c7841751

6
TeamCode/src/main/java/teamcode/RobotParams.java
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@ -296,7 +296,7 @@ public class RobotParams
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"}; driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"};
driveMotorInverted = new boolean[] {true, false}; driveMotorInverted = new boolean[] {true, false};
// Odometry Wheels // 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}; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0}; xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
@ -361,7 +361,7 @@ public class RobotParams
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"}; driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
driveMotorInverted = new boolean[] {true, false, true, false}; driveMotorInverted = new boolean[] {true, false, true, false};
// Odometry Wheels // 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}; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0}; xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};
@ -430,7 +430,7 @@ public class RobotParams
driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"}; driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
driveMotorInverted = new boolean[] {true, false, true, false}; driveMotorInverted = new boolean[] {true, false, true, false};
// Odometry Wheels // 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}; xOdWheelIndices = new int[] {FtcRobotDrive.INDEX_RIGHT_BACK};
xOdWheelXOffsets = new double[] {0.0}; xOdWheelXOffsets = new double[] {0.0};
xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM}; xOdWheelYOffsets = new double[] {-168.0 * TrcUtil.INCHES_PER_MM};