From 3e88daee576740b31d5f64b8e91f8ba885e864a6 Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Thu, 28 Sep 2023 20:59:13 -0500 Subject: [PATCH] Got PrototypeBot driving* --- .../timecrafters/CenterStage/Common/PrototypeRobot.java | 7 +++++-- .../CenterStage/Engines/PrototypeRobotEngine.java | 1 + 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java index 25c46ae..7dce93b 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java @@ -37,8 +37,11 @@ public class PrototypeRobot extends Robot { backLeft = new MotorEx(hardwareMap, "backLeft"); //IMU - imu = hardwareMap.get(RevIMU.class, "imu"); - imu.init(new BNO055IMU.Parameters()); + imu = new RevIMU(hardwareMap, "imu"); + BNO055IMU.Parameters parameters = new BNO055IMU.Parameters(); + parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES; + parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC; + imu.init(parameters); // input motors exactly as shown below xDrive = new HDrive(frontLeft, frontRight, diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Engines/PrototypeRobotEngine.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Engines/PrototypeRobotEngine.java index f8ef646..7d2f1b6 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Engines/PrototypeRobotEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Engines/PrototypeRobotEngine.java @@ -12,6 +12,7 @@ public class PrototypeRobotEngine extends CyberarmEngine { @Override public void setup() { this.robot = new PrototypeRobot("Hello World"); + this.robot.setup(); addState(new PrototypeRobotDrivetrainState(robot)); }