Pathfinder basic #27
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Pathfinder basic #27
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billwpierce
added
enhancement
NikhilSuresh24
requested changes
Feb 18, 2019
| @@ -54,6 +54,8 @@ | |||
| public static final double INCHES_PER_TICK = Metrics.Wheel.CIRCUMFERENCE_INCHES | |||
| / Metrics.Wheel.TICKS_PER_REVOLUTION; | |||
| } | |||
| public static final double ROBOT_WIDTH_INCHES = -1; // TODO: set | |||
| public static final double ROBOT_WIDTH_METERS = ROBOT_WIDTH_INCHES * 0.0254; // TODO: set | |||
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Make the 0.0254 a constant METERS_PER_INCH
| import jaci.pathfinder.modifiers.TankModifier; | ||
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| public class PathfinderBasic extends Command { | ||
| double leftDistanceOffset = RobotMap.Component.leftWheelEncoder.getDistance(); |
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these offsets should be done in the constructor
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or maybe just not initialized up here
| double leftDistanceOffset = RobotMap.Component.leftWheelEncoder.getDistance(); | ||
| double rightDistanceOffset = RobotMap.Component.rightWheelEncoder.getDistance(); | ||
| Trajectory.Config config = new Trajectory.Config(Trajectory.FitMethod.HERMITE_CUBIC, Trajectory.Config.SAMPLES_HIGH, | ||
| 0.05, 1.7, 2.0, 60.0); |
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extract these magic numbers to consts
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Also make them settable through a constructor or methods
| Trajectory trajectory; | ||
| TankModifier modifier; | ||
| DistanceFollower leftTrajectory; | ||
| DistanceFollower rightTrajectory; |
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give all of these things access modifiers
| } | ||
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| // Called once after isFinished returns true | ||
| @Override |
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remove end and interrupted if not being used
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| @Override | ||
| protected void initialize() { | ||
| leftDistanceOffset = RobotMap.Component.leftWheelEncoder.getDistance(); |
| modifier = new TankModifier(trajectory).modify(RobotMap.Metrics.ROBOT_WIDTH_METERS); | ||
| leftTrajectory = new DistanceFollower(modifier.getLeftTrajectory()); | ||
| rightTrajectory = new DistanceFollower(modifier.getRightTrajectory()); | ||
| leftTrajectory.configurePIDVA(0.0, 0.0, 0.0, 0.0, 0.0); // TODO: set these PIDVA values |
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also make these settable through a constructor or method
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Basic Pathfinder code