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2 changes: 1 addition & 1 deletion
2
TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/constants/AutoStartPose.kt
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4 changes: 2 additions & 2 deletions
4
TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/constants/PoseStorage.kt
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| @@ -1,7 +1,7 @@ | ||
| package org.firstinspires.ftc.teamcode.constants | ||
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|
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| import com.acmerobotics.roadrunner.geometry.Pose2d | ||
| import com.acmerobotics.roadrunner.Pose2d | ||
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|
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| object PoseStorage { | ||
| var poseEstimate = Pose2d() | ||
| var poseEstimate = Pose2d(0.0, 0.0, 0.0) | ||
| } |
2 changes: 1 addition & 1 deletion
2
...y/roadrunner/AutomaticFeedforwardTuner.kt → ...unner/tuning/AutomaticFeedforwardTuner.kt
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2 changes: 1 addition & 1 deletion
2
...eamcode/legacy/roadrunner/BackAndForth.kt → .../legacy/roadrunner/tuning/BackAndForth.kt
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2 changes: 1 addition & 1 deletion
2
...egacy/roadrunner/DriveVelocityPIDTuner.kt → ...oadrunner/tuning/DriveVelocityPIDTuner.kt
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2 changes: 1 addition & 1 deletion
2
...ode/legacy/roadrunner/FollowerPIDTuner.kt → ...acy/roadrunner/tuning/FollowerPIDTuner.kt
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2 changes: 1 addition & 1 deletion
2
...ode/legacy/roadrunner/LocalizationTest.kt → ...acy/roadrunner/tuning/LocalizationTest.kt
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2 changes: 1 addition & 1 deletion
2
...gacy/roadrunner/ManualFeedforwardTuner.kt → ...adrunner/tuning/ManualFeedforwardTuner.kt
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2 changes: 1 addition & 1 deletion
2
.../legacy/roadrunner/MaxAngularVeloTuner.kt → .../roadrunner/tuning/MaxAngularVeloTuner.kt
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2 changes: 1 addition & 1 deletion
2
...ode/legacy/roadrunner/MaxVelocityTuner.kt → ...acy/roadrunner/tuning/MaxVelocityTuner.kt
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2 changes: 1 addition & 1 deletion
2
...gacy/roadrunner/MotorDirectionDebugger.kt → ...adrunner/tuning/MotorDirectionDebugger.kt
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2 changes: 1 addition & 1 deletion
2
.../teamcode/legacy/roadrunner/SplineTest.kt → ...de/legacy/roadrunner/tuning/SplineTest.kt
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2 changes: 1 addition & 1 deletion
2
.../teamcode/legacy/roadrunner/StrafeTest.kt → ...de/legacy/roadrunner/tuning/StrafeTest.kt
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2 changes: 1 addition & 1 deletion
2
...eamcode/legacy/roadrunner/StraightTest.kt → .../legacy/roadrunner/tuning/StraightTest.kt
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2 changes: 1 addition & 1 deletion
2
...code/legacy/roadrunner/TrackWidthTuner.kt → ...gacy/roadrunner/tuning/TrackWidthTuner.kt
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2 changes: 1 addition & 1 deletion
2
...runner/TrackingWheelForwardOffsetTuner.kt → ...tuning/TrackingWheelForwardOffsetTuner.kt
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2 changes: 1 addition & 1 deletion
2
...nner/TrackingWheelLateralDistanceTuner.kt → ...ning/TrackingWheelLateralDistanceTuner.kt
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2 changes: 1 addition & 1 deletion
2
...tc/teamcode/legacy/roadrunner/TurnTest.kt → ...code/legacy/roadrunner/tuning/TurnTest.kt
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21 changes: 21 additions & 0 deletions
21
...ires/ftc/teamcode/legacy/roadrunner/utils/roadrunner/drive/AprilTagThreeWheelLocalizer.kt
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| package org.firstinspires.ftc.teamcode.legacy.roadrunner.utils.roadrunner.drive | ||
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| //class AprilTagThreeWheelLocalizer( | ||
| // private val odometry: StandardTrackingWheelLocalizer, | ||
| //) : Localizer { | ||
| // private var _poseEstimate: Pose2d = Pose2d() | ||
| // | ||
| // override var poseEstimate: Pose2d | ||
| // get() = _poseEstimate | ||
| // set(value) { | ||
| // _poseEstimate = value | ||
| // } | ||
| // | ||
| // override val poseVelocity: Pose2d? = null | ||
| // | ||
| // override fun update() { | ||
| // // Return a kalman filter that takes the pose estimate from the odometry and april tags to combine | ||
| // odometry.update() | ||
| // TODO("Not yet implemented") | ||
| // } | ||
| //} |
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...org/firstinspires/ftc/teamcode/legacy/roadrunner/utils/roadrunner/drive/DriveConstants.kt
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| package org.firstinspires.ftc.teamcode.legacy.roadrunner.utils.roadrunner.drive | ||
|
|
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| /* | ||
| * Constants shared between multiple drive types. | ||
| * | ||
| * Constants generated by LearnRoadRunner.com/drive-constants | ||
| * | ||
| * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final | ||
| * fields may also be edited through the dashboard (connect to the robot's WiFi network and | ||
| * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you | ||
| * adjust them in the dashboard; **config variable changes don't persist between app restarts**. | ||
| * | ||
| * These are not the only parameters; some are located in the localizer classes, drive base classes, | ||
| * and op modes themselves. | ||
| */ | ||
|
|
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| //@Config | ||
| //object DriveConstants { | ||
| // /* | ||
| // * These are motor constants that should be listed online for your motors. | ||
| // */ | ||
| // const val TICKS_PER_REV = 383.6 | ||
| // const val MAX_RPM = 435.0 | ||
| // | ||
| // /* | ||
| // * Set RUN_USING_ENCODER to true to enable built-in hub velocity control using drive encoders. | ||
| // * Set this flag to false if drive encoders are not present and an alternative localization | ||
| // * method is in use (e.g., tracking wheels). | ||
| // * | ||
| // * If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients | ||
| // * from DriveVelocityPIDTuner. | ||
| // */ | ||
| // const val RUN_USING_ENCODER = false | ||
| // var MOTOR_VELO_PID = PIDFCoefficients( | ||
| // 0.0, 0.0, 0.0, | ||
| // getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV) | ||
| // ) | ||
| // | ||
| // /* | ||
| // * These are physical constants that can be determined from your robot (including the track | ||
| // * width; it will be tune empirically later although a rough estimate is important). Users are | ||
| // * free to chose whichever linear distance unit they would like so long as it is consistently | ||
| // * used. The default values were selected with inches in mind. Road runner uses radians for | ||
| // * angular distances although most angular parameters are wrapped in Math.toRadians() for | ||
| // * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO. | ||
| // */ | ||
| // var WHEEL_RADIUS = 1.88976 // in` | ||
| // var GEAR_RATIO = 1.0 // output (wheel) speed / input (motor) speed | ||
| // @JvmField | ||
| // var TRACK_WIDTH = 13.94 // in | ||
| // | ||
| // /* | ||
| // * These are the feedforward parameters used to model the drive motor behavior. If you are using | ||
| // * the built-in velocity PID, *these values are fine as is*. However, if you do not have drive | ||
| // * motor encoders or have elected not to use them for velocity control, these values should be | ||
| // * empirically tuned. | ||
| // */ | ||
| // @JvmField | ||
| // var kV = 0.0144 | ||
| // @JvmField | ||
| // var kA = 0.0015 | ||
| // @JvmField | ||
| // var kStatic = 0.012 | ||
| // | ||
| // /* | ||
| // * These values are used to generate the trajectories for you robot. To ensure proper operation, | ||
| // * the constraints should never exceed ~80% of the robot's actual capabilities. While Road | ||
| // * Runner is designed to enable faster autonomous motion, it is a good idea for testing to start | ||
| // * small and gradually increase them later after everything is working. All distance units are | ||
| // * inches. | ||
| // */ | ||
| // /* | ||
| // * Note from LearnRoadRunner.com: | ||
| // * The velocity and acceleration constraints were calculated based on the following equation: | ||
| // * ((MAX_RPM / 60) * GEAR_RATIO * WHEEL_RADIUS * 2 * Math.PI) * 0.85 | ||
| // * Resulting in 73.17330064499293 in/s. | ||
| // * This is only 85% of the theoretical maximum velocity of the bot, following the recommendation above. | ||
| // * This is capped at 85% because there are a number of variables that will preve nt your bot from actually | ||
| // * reaching this maximum velocity: voltage dropping over the game, bot weight, general mechanical inefficiencies, etc. | ||
| // * However, you can push this higher yourself if you'd like. Perhaps raise it to 90-95% of the theoretically | ||
| // * max velocity. The theoretically maximum velocity is 86.08623605293286 in/s. | ||
| // * Just make sure that your bot can actually reach this maximum velocity. Path following will be detrimentally | ||
| // * affected if it is aiming for a velocity not actually possible. | ||
| // * | ||
| // * The maximum acceleration is somewhat arbitrary and it is recommended that you tweak this yourself based on | ||
| // * actual testing. Just set it at a reasonable value and keep increasing until your path following starts | ||
| // * to degrade. As of now, it simply mirrors the velocity, resulting in 73.17330064499293 in/s/s | ||
| // * | ||
| // * Maximum Angular Velocity is calculated as: maximum velocity / trackWidth * (180 / Math.PI) but capped at 360°/s. | ||
| // * You are free to raise this on your own if you would like. It is best determined through experimentation. | ||
| // | ||
| // */ | ||
| // @JvmField | ||
| // var MAX_VEL = 30.0 | ||
| // @JvmField | ||
| // var MAX_ACCEL = 30.0 | ||
| // @JvmField | ||
| // var MAX_ANG_VEL = Math.toRadians(170.0) | ||
| // @JvmField | ||
| // var MAX_ANG_ACCEL = Math.toRadians(170.0) | ||
| // fun encoderTicksToInches(ticks: Double): Double { | ||
| // return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV | ||
| // } | ||
| // | ||
| // fun rpmToVelocity(rpm: Double): Double { | ||
| // return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0 | ||
| // } | ||
| // | ||
| // fun getMotorVelocityF(ticksPerSecond: Double): Double { | ||
| // // see https://docs.google.com/document/d/1tyWrXDfMidwYyP_5H4mZyVgaEswhOC35gvdmP-V-5hA/edit#heading=h.61g9ixenznbx | ||
| // return 32767 / ticksPerSecond | ||
| // } | ||
| //} |
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81
...s/ftc/teamcode/legacy/roadrunner/utils/roadrunner/drive/StandardTrackingWheelLocalizer.kt
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| @@ -0,0 +1,81 @@ | ||
| package org.firstinspires.ftc.teamcode.legacy.roadrunner.utils.roadrunner.drive | ||
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| /* | ||
| * Sample tracking wheel localizer implementation assuming the standard configuration: | ||
| * | ||
| * /--------------\ | ||
| * | ____ | | ||
| * | ---- | | ||
| * | || || | | ||
| * | || || | | ||
| * | | | ||
| * | | | ||
| * \--------------/ | ||
| * | ||
| */ | ||
| //@Config | ||
| //class StandardTrackingWheelLocalizer(hardwareMap: HardwareMap) : ThreeTrackingWheelLocalizer( | ||
| // listOf( | ||
| // Pose2d(0.0, LATERAL_DISTANCE / 2, 0.0), // left | ||
| // Pose2d(0.0, -LATERAL_DISTANCE / 2, 0.0), // right | ||
| // Pose2d(FORWARD_OFFSET, 0.0, Math.toRadians(90.0)) // front | ||
| // ) | ||
| //) { | ||
| // private val leftEncoder: Encoder | ||
| // private val rightEncoder: Encoder | ||
| // private val strafeEncoder: Encoder | ||
| // | ||
| // init { | ||
| // leftEncoder = Encoder( | ||
| // hardwareMap.get( | ||
| // DcMotorEx::class.java, ControlBoard.ODO_LEFT_ENCODER.deviceName | ||
| // ) | ||
| // ) | ||
| // | ||
| // | ||
| // rightEncoder = Encoder( | ||
| // hardwareMap.get( | ||
| // DcMotorEx::class.java, ControlBoard.ODO_RIGHT_ENCODER.deviceName | ||
| // ) | ||
| // ) | ||
| // strafeEncoder = Encoder( | ||
| // hardwareMap.get( | ||
| // DcMotorEx::class.java, ControlBoard.ODO_STRAFE_ENCODER.deviceName | ||
| // ) | ||
| // ) | ||
| //// strafeEncoder.direction = Encoder.Direction.REVERSE | ||
| // } | ||
| // | ||
| // override fun getWheelPositions() = listOf( | ||
| // encoderTicksToInches(leftEncoder.currentPosition.toDouble()) * X_MULTIPLIER, | ||
| // encoderTicksToInches(rightEncoder.currentPosition.toDouble()) * X_MULTIPLIER, | ||
| // encoderTicksToInches(strafeEncoder.currentPosition.toDouble()) * Y_MULTIPLIER | ||
| // ) | ||
| // | ||
| // override fun getWheelVelocities() = listOf( | ||
| // encoderTicksToInches(leftEncoder.correctedVelocity) * X_MULTIPLIER, | ||
| // encoderTicksToInches(rightEncoder.correctedVelocity) * X_MULTIPLIER, | ||
| // encoderTicksToInches(strafeEncoder.correctedVelocity) * Y_MULTIPLIER | ||
| // ) | ||
| // | ||
| // companion object { | ||
| // val TICKS_PER_REV = 2000.0 | ||
| // val WHEEL_RADIUS = 0.944882 // in | ||
| // val GEAR_RATIO = 1.0 // output (wheel) speed / input (encoder) speed | ||
| // | ||
| // @JvmField | ||
| // var LATERAL_DISTANCE = 15.45 // in; distance between the left and right wheels | ||
| // | ||
| // @JvmField | ||
| // var FORWARD_OFFSET = -2.1 // in; offset of the lateral wheel | ||
| // | ||
| // @JvmField | ||
| // var X_MULTIPLIER = 0.9944039016245 // Multiplier in the X direction | ||
| // @JvmField | ||
| // var Y_MULTIPLIER = 0.99960646480333// Multiplier in the Y direction | ||
| // fun encoderTicksToInches(ticks: Double): Double { | ||
| // return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV | ||
| // } | ||
| // } | ||
| //} |
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.../teamcode/legacy/roadrunner/utils/roadrunner/trajectorysequence/EmptySequenceException.kt
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| @@ -0,0 +1,3 @@ | ||
| package org.firstinspires.ftc.teamcode.legacy.roadrunner.utils.roadrunner.trajectorysequence | ||
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| //class EmptySequenceException : RuntimeException() |
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