fixed a little bug in game piece simulation

Shenzhen-Robotics-Alliance · Sep 20, 2024 · 4958924 · 4958924
1 parent 33a0d19
commit 4958924
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Showing 4 changed files with 2 additions and 6 deletions.
diff --git a/...5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java b/...5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java
@@ -54,8 +54,6 @@ public interface HolonomicDriveSubsystem extends Subsystem {
      */
     default void addVisionMeasurement(Pose2d visionPose, double timestamp, Matrix<N3, N1> measurementStdDevs) {}
 
-    default double getPreviousVisionMeasurementTimeStamp() {return -1;}
-
     /**
      * @return the measured(actual) velocities of the chassis, robot-relative
      * */

diff --git a/...on/src/main/java/frc/robot/utils/CompetitionFieldUtils/Objects/GamePieceInSimulation.java b/...on/src/main/java/frc/robot/utils/CompetitionFieldUtils/Objects/GamePieceInSimulation.java
@@ -33,7 +33,7 @@ public GamePieceInSimulation(Translation2d initialPosition, Convex shape, double
         super();
         BodyFixture bodyFixture = super.addFixture(shape);
         bodyFixture.setFriction(EDGE_COEFFICIENT_OF_FRICTION);
-        bodyFixture.setFriction(EDGE_COEFFICIENT_OF_RESTITUTION);
+        bodyFixture.setRestitution(EDGE_COEFFICIENT_OF_RESTITUTION);
         bodyFixture.setDensity(mass / shape.getArea());
         super.setMass(MassType.NORMAL);
 

diff --git a/src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java
@@ -54,8 +54,6 @@ public interface HolonomicDriveSubsystem extends Subsystem {
      */
     default void addVisionMeasurement(Pose2d visionPose, double timestamp, Matrix<N3, N1> measurementStdDevs) {}
 
-    default double getPreviousVisionMeasurementTimeStamp() {return -1;}
-
     /**
      * @return the measured(actual) velocities of the chassis, robot-relative
      * */

diff --git a/src/main/java/frc/robot/utils/CompetitionFieldUtils/Objects/GamePieceInSimulation.java b/src/main/java/frc/robot/utils/CompetitionFieldUtils/Objects/GamePieceInSimulation.java
@@ -33,7 +33,7 @@ public GamePieceInSimulation(Translation2d initialPosition, Convex shape, double
         super();
         BodyFixture bodyFixture = super.addFixture(shape);
         bodyFixture.setFriction(EDGE_COEFFICIENT_OF_FRICTION);
-        bodyFixture.setFriction(EDGE_COEFFICIENT_OF_RESTITUTION);
+        bodyFixture.setRestitution(EDGE_COEFFICIENT_OF_RESTITUTION);
         bodyFixture.setDensity(mass / shape.getArea());
         super.setMass(MassType.NORMAL);
-Original file line number
+Diff line change
@@ Expand Up / @@ -54,8 +54,6 @@ public interface HolonomicDriveSubsystem extends Subsystem { @@
          */
         default void addVisionMeasurement(Pose2d visionPose, double timestamp, Matrix<N3, N1> measurementStdDevs) {}
-        default double getPreviousVisionMeasurementTimeStamp() {return -1;}
         /**
          * @return the measured(actual) velocities of the chassis, robot-relative
          * */
@@ Expand Down @@