I got it working. It will take more docs, but we got this.

Pedro-Pathing · Dec 28, 2024 · 3c93145 · 3c93145
1 parent 04f6d91
commit 3c93145
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Showing 14 changed files with 15 additions and 14 deletions.
diff --git a/TeamCode/src/main/java/baronTest.java b/TeamCode/src/main/java/baronTest.java
@@ -16,7 +16,7 @@ public void init() {
 
     @Override
     public void start() {
-        Follower f = new Follower(hardwareMap);
+        Follower f = new Follower(hardwareMap, FConstants.class, LConstants.class);
     }
 
     @Override

diff --git a/TeamCode/src/main/java/pedroPathing/constants/LConstants.java b/TeamCode/src/main/java/pedroPathing/constants/LConstants.java
@@ -14,6 +14,6 @@
 @Config
 public class LConstants {
     static {
-        OTOSConstants.offset = new Pose2D(3, 2, Math.PI / 2);
+        OTOSConstants.offset = new Pose2D(3, 2, (3  *Math.PI) / 2);
     }
 }
diff --git a/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardVelocityTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardVelocityTuner.java
@@ -73,7 +73,7 @@ public class ForwardVelocityTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardZeroPowerAccelerationTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardZeroPowerAccelerationTuner.java
@@ -75,7 +75,7 @@ public class ForwardZeroPowerAccelerationTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/automatic/LateralZeroPowerAccelerationTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/automatic/LateralZeroPowerAccelerationTuner.java
@@ -75,7 +75,7 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/automatic/StrafeVelocityTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/automatic/StrafeVelocityTuner.java
@@ -72,7 +72,7 @@ public class StrafeVelocityTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/localization/ForwardTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/localization/ForwardTuner.java
@@ -42,7 +42,7 @@ public class ForwardTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/localization/LateralTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/localization/LateralTuner.java
@@ -42,7 +42,7 @@ public class LateralTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/localization/LocalizationTest.java b/TeamCode/src/main/java/pedroPathing/tuners/localization/LocalizationTest.java
@@ -54,7 +54,7 @@ public class LocalizationTest extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/localization/TurnTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/localization/TurnTuner.java
@@ -42,7 +42,7 @@ public class TurnTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap);
+        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/pid/Circle.java b/TeamCode/src/main/java/pedroPathing/tuners/pid/Circle.java
@@ -43,7 +43,7 @@ public class Circle extends OpMode {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap);
+        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
 
         circle = follower.pathBuilder()
                 .addPath(new BezierCurve(new Point(0,0, Point.CARTESIAN), new Point(RADIUS,0, Point.CARTESIAN), new Point(RADIUS, RADIUS, Point.CARTESIAN)))

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/pid/CurvedBackAndForth.java b/TeamCode/src/main/java/pedroPathing/tuners/pid/CurvedBackAndForth.java
@@ -48,7 +48,7 @@ public class CurvedBackAndForth extends OpMode {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap);
+        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
 
         forwards = new Path(new BezierCurve(new Point(0,0, Point.CARTESIAN), new Point(Math.abs(DISTANCE),0, Point.CARTESIAN), new Point(Math.abs(DISTANCE),DISTANCE, Point.CARTESIAN)));
         backwards = new Path(new BezierCurve(new Point(Math.abs(DISTANCE),DISTANCE, Point.CARTESIAN), new Point(Math.abs(DISTANCE),0, Point.CARTESIAN), new Point(0,0, Point.CARTESIAN)));

diff --git a/TeamCode/src/main/java/pedroPathing/tuners/pid/StraightBackAndForth.java b/TeamCode/src/main/java/pedroPathing/tuners/pid/StraightBackAndForth.java
@@ -48,7 +48,7 @@ public class StraightBackAndForth extends OpMode {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap);
+        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
 
         forwards = new Path(new BezierLine(new Point(0,0, Point.CARTESIAN), new Point(DISTANCE,0, Point.CARTESIAN)));
         forwards.setConstantHeadingInterpolation(0);

diff --git a/build.dependencies.gradle b/build.dependencies.gradle
@@ -15,7 +15,8 @@ dependencies {
     implementation 'org.firstinspires.ftc:Hardware:10.1.1'
     implementation 'org.firstinspires.ftc:FtcCommon:10.1.1'
     implementation 'org.firstinspires.ftc:Vision:10.1.1'
-    implementation 'com.pedropathing:pedro:0.0.1-beta5'
+    implementation 'com.pedropathing:pedro:0.0.1-beta8'
+    //noinspection GradleDependency
     implementation 'androidx.appcompat:appcompat:1.2.0'
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.16'
 }