SCDS/FtcTemplate
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Updated ftclib, trclib.
Reorganized params.
This commit is contained in:
Titan Robotics Club
2024-10-31 04:18:59 -07:00
parent 84f73042b6
commit ecfed76c1e
11 changed files with 636 additions and 587 deletions
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10
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -37,7 +37,7 @@ import ftclib.driverio.FtcMenu;
import ftclib.driverio.FtcValueMenu;
import ftclib.robotcore.FtcPidCoeffCache;
import ftclib.vision.FtcLimelightVision;
import teamcode.vision.Vision;
import teamcode.subsystems.Vision;
import trclib.command.CmdDriveMotorsTest;
import trclib.command.CmdPidDrive;
import trclib.command.CmdTimedDrive;
@ -126,6 +126,7 @@ public class FtcTest extends FtcTeleOp
// Drive Speed Test.
private double maxDriveVelocity = 0.0;
private double maxDriveAcceleration = 0.0;
private double maxTurnVelocity = 0.0;
private double prevTime = 0.0;
private double prevVelocity = 0.0;
// Swerve Steering Calibration.
@ -395,12 +396,19 @@ public class FtcTest extends FtcTeleOp
maxDriveAcceleration = acceleration;
}
if (velPose.angle > maxTurnVelocity)
{
maxTurnVelocity = velPose.angle;
}
prevTime = currTime;
prevVelocity = velocity;
robot.dashboard.displayPrintf(lineNum++, "Drive Vel: (%.1f/%.1f)", velocity, maxDriveVelocity);
robot.dashboard.displayPrintf(
lineNum++, "Drive Accel: (%.1f/%.1f)", acceleration, maxDriveAcceleration);
robot.dashboard.displayPrintf(
lineNum++, "Turn Vel: (%.1f/%.1f)", velPose.angle, maxTurnVelocity);
}
break;
}