Update swerve code #66
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jishnusen
suggested changes
Mar 19, 2020
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| import com.team254.lib.geometry.State; | ||
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| public interface ICurvature<S> extends State<S> { |
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You can use 254's ICurvature
| @@ -0,0 +1,9 @@ | |||
| package com.team1323.lib.geometry; | |||
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| public interface IPose2d<S> extends IRotation2d<S>, ITranslation2d<S> { | |||
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These should be IUnwrappable...
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| // Swerve Module Wheel Offsets (Rotation encoder values when the wheels are | ||
| // facing 0 degrees) | ||
| public static final int kFrontRightEncoderStartingPos = Settings.kIsUsingCompBot ? -1403 - 1024 : 1740 - 1024; |
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We are only going to have 1 bot, just make these constants, and leave them as zeroes with a TODO for calibration
Shuzhengz
approved these changes
Mar 25, 2020
jishnusen
suggested changes
Apr 10, 2020
| @@ -336,6 +341,11 @@ public synchronized void updatePose(Rotation2d robotHeading){ | |||
| estimatedRobotPose = robotPose; | |||
| previousEncDistance = currentEncDistance; | |||
| } | |||
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| public synchronized void resetOffsetFromAbsoluteEncoder() { | |||
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Just use: resetRotationToAbsolute
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| public synchronized void resetOffsetFromAbsoluteEncoder() { | ||
| double absoluteEncoderAngle = (mAbsoluteEncoder.getOutputScaleFactor() / mAbsoluteEncoder.getOutputRaw()) * 360.0; | ||
| encoderOffset += absoluteEncoderAngle; |
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Don’t modify this, see how the original function resets the original encoder converted + encoderOffset
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