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Use Robot#ticksToUnit in FieldLocalizer

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Cyberarm
2023-01-22 09:11:56 -06:00
parent afebf84273
commit 7448deb2fc
1 changed files with 4 additions and 1 deletions
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5
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/FieldLocalizer.java
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@@ -3,6 +3,7 @@ package org.timecrafters.minibots.cyberarm.chiron.tasks;
import com.acmerobotics.roadrunner.geometry.Vector2d; import com.acmerobotics.roadrunner.geometry.Vector2d;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.timecrafters.minibots.cyberarm.chiron.Robot; import org.timecrafters.minibots.cyberarm.chiron.Robot;
import org.timecrafters.minibots.cyberarm.chiron.tasks.field_localizer.Field; import org.timecrafters.minibots.cyberarm.chiron.tasks.field_localizer.Field;
import org.timecrafters.minibots.cyberarm.chiron.tasks.field_localizer.Obstacle; import org.timecrafters.minibots.cyberarm.chiron.tasks.field_localizer.Obstacle;
@@ -22,7 +23,7 @@ public class FieldLocalizer extends CyberarmState {
private final double twoSqrtTwo = 2.0 / Math.sqrt(2.0); private final double twoSqrtTwo = 2.0 / Math.sqrt(2.0);
private double wheelDisplacementPerEncoderTickInInches = 1; // FIXME private double wheelDisplacementPerEncoderTickInInches;
// Use this constructor to preserve displacement between opmodes // Use this constructor to preserve displacement between opmodes
public FieldLocalizer() { public FieldLocalizer() {
@@ -36,6 +37,8 @@ public class FieldLocalizer extends CyberarmState {
public void standardSetup() { public void standardSetup() {
field = new Field(robot); field = new Field(robot);
wheelDisplacementPerEncoderTickInInches = robot.ticksToUnit(DistanceUnit.INCH, 1);
lastFrontLeft = 0; lastFrontLeft = 0;
lastFrontRight = 0; lastFrontRight = 0;
lastBackLeft = 0; lastBackLeft = 0;