Update to include javadocs

Pedro-Pathing · Dec 28, 2024 · f9582db · f9582db
1 parent 0db1ccd
commit f9582db
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Showing 3 changed files with 13 additions and 4 deletions.
diff --git a/TeamCode/src/main/java/pedroPathing/constants/FConstants.java b/TeamCode/src/main/java/pedroPathing/constants/FConstants.java
@@ -2,23 +2,28 @@
 
 import com.pedropathing.localization.Localizers;
 import com.pedropathing.follower.FollowerConstants;
+import com.pedropathing.util.CustomFilteredPIDFCoefficients;
 import com.pedropathing.util.CustomPIDFCoefficients;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 public class FConstants {
     static {
-        FollowerConstants.mass = 5;
         FollowerConstants.localizers = Localizers.OTOS;
-        FollowerConstants.zeroPowerAccelerationMultiplier = 4;
         FollowerConstants.leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
         FollowerConstants.leftRearMotorDirection = DcMotorSimple.Direction.REVERSE;
         FollowerConstants.rightFrontMotorDirection = DcMotorSimple.Direction.FORWARD;
         FollowerConstants.rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;
+        FollowerConstants.mass = 5;
         FollowerConstants.xMovement = 57.8741;
         FollowerConstants.yMovement = 52.295;
         FollowerConstants.forwardZeroPowerAcceleration = -41.278;
         FollowerConstants.lateralZeroPowerAcceleration = -59.7819;
+        FollowerConstants.zeroPowerAccelerationMultiplier = 4;
         FollowerConstants.translationalPIDFCoefficients = new CustomPIDFCoefficients(0.1,0,0.01,0);
         FollowerConstants.headingPIDFCoefficients = new CustomPIDFCoefficients(2,0,0.1,0);
+        FollowerConstants.drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(0.1,0,0,0.6,0);
+        FollowerConstants.centripetalScaling = 0.0005;
+
+
     }
 }
diff --git a/TeamCode/src/main/java/pedroPathing/constants/LConstants.java b/TeamCode/src/main/java/pedroPathing/constants/LConstants.java
@@ -9,3 +9,7 @@ public class LConstants {
 
     }
 }
+
+
+
+
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
@@ -1,6 +1,6 @@
 repositories {
     mavenCentral()
-    google() // Needed for androidx
+    google()
 
     maven { url = 'https://maven.brott.dev/' }
     maven { url="https://maven.pedropathing.com/" }
@@ -15,7 +15,7 @@ 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-beta12'
+    implementation 'com.pedropathing:pedro:0.0.1-beta13'
     //noinspection GradleDependency
     implementation 'androidx.appcompat:appcompat:1.2.0'
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.16'