From d70f1e87a10379b7fd4ba958579a6792bbdde808 Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Sat, 21 Jan 2023 21:14:13 -0600 Subject: [PATCH] Minor corrections --- .../timecrafters/minibots/cyberarm/chiron/Robot.java | 2 +- .../cyberarm/chiron/tasks/FieldLocalizer.java | 12 ++++++------ .../cyberarm/chiron/tasks/field_localizer/Field.java | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java index 071dc75..02c21c3 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java @@ -62,7 +62,7 @@ public class Robot { this.fieldLocalizer.standardSetup(); radius = tuningConfig("field_localizer_robot_radius").value(); - diameter = ((double)tuningConfig("field_localizer_robot_radius").value()) * 2; + diameter = radius * 2; imuAngleOffset = hardwareConfig("imu_angle_offset").value(); diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/FieldLocalizer.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/FieldLocalizer.java index ceed20b..2b8fc3a 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/FieldLocalizer.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/FieldLocalizer.java @@ -22,7 +22,7 @@ public class FieldLocalizer extends CyberarmState { private final double twoSqrtTwo = 2.0 / Math.sqrt(2.0); - private double wheelDisplacementPerEncoderTick = 1; // FIXME + private double wheelDisplacementPerEncoderTickInInches = 1; // FIXME // Use this constructor to preserve displacement between opmodes public FieldLocalizer() { @@ -63,7 +63,7 @@ public class FieldLocalizer extends CyberarmState { deltaXRotation = 0; deltaYRotation = 0; - // Preserve field position, of argument-less construction is used + // Preserve field position, if argument-less constructor is used lastX = FieldLocalizer.posX; lastY = FieldLocalizer.posY; @@ -106,10 +106,10 @@ public class FieldLocalizer extends CyberarmState { deltaBackLeft = robot.backLeftDrive.getCurrentPosition() - lastBackLeft; deltaBackRight = robot.backRightDrive.getCurrentPosition() - lastBackRight; - displacementFrontLeft = deltaFrontLeft * wheelDisplacementPerEncoderTick; - displacementFrontRight = deltaFrontRight * wheelDisplacementPerEncoderTick; - displacementBackLeft = deltaBackLeft * wheelDisplacementPerEncoderTick; - displacementBackRight = deltaBackRight * wheelDisplacementPerEncoderTick; + displacementFrontLeft = deltaFrontLeft * wheelDisplacementPerEncoderTickInInches; + displacementFrontRight = deltaFrontRight * wheelDisplacementPerEncoderTickInInches; + displacementBackLeft = deltaBackLeft * wheelDisplacementPerEncoderTickInInches; + displacementBackRight = deltaBackRight * wheelDisplacementPerEncoderTickInInches; displacementAverage = (displacementFrontLeft + displacementFrontRight + displacementBackLeft + displacementBackRight) / 4.0; // motor count diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/field_localizer/Field.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/field_localizer/Field.java index 281befd..6c54ad2 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/field_localizer/Field.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/tasks/field_localizer/Field.java @@ -15,7 +15,7 @@ public class Field { } private void populateField() { - // ORIGIN is field CENTER point with RED alliance on the RIGHT + // ORIGIN is field CENTER point with RED alliance on the RIGHT (i.e. Audience overhead perspective) // Ground Junctions double posX = -48;