TimeCrafters/UltimateGoal
1
0
Fork 0
mirror of https://github.com/TimeCrafters/UltimateGoal.git synced 2025-12-16 06:02:33 +00:00
Code Issues Projects Releases Wiki Activity

Documentation and Mecanum Debugging

Browse Source
This commit is contained in:
Nathaniel Palme
2020-12-08 16:58:20 -06:00
parent 225da7dd95
commit 71816174a1
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
View File

@@ -340,7 +340,9 @@ public class Robot {
driveBackRight.setPower(powerBackRight * BIAS_BACK_RIGHT); driveBackRight.setPower(powerBackRight * BIAS_BACK_RIGHT);
} }
//returns an array of the powers necessary to execute the provided motion. The order of the motors //returns an array of the powers necessary to execute the provided motion. "degreesDirectionMotion"
//is the angle relative to the field that the robot should drive at. "degreesDirectionFace" is
//the angle the robot should face relative to the field. The order of the output powers is
//is ForwardLeft, ForwardRight, BackLeft, BackRight //is ForwardLeft, ForwardRight, BackLeft, BackRight
public double[] getMecanumPowers(float degreesDirectionMotion, double scalar, float degreesDirectionFace) { public double[] getMecanumPowers(float degreesDirectionMotion, double scalar, float degreesDirectionFace) {
double rad = Math.toRadians(getRelativeAngle(degreesDirectionFace,degreesDirectionMotion)); double rad = Math.toRadians(getRelativeAngle(degreesDirectionFace,degreesDirectionMotion));