Add encoder reverse directions to dead wheel localizers

Direction doesn't matter for position regression, but it does matter for `inPerTick`, `lateralInPerTick`. And everything makes more sense if the directions are correct.
wheelerrobotics · Dec 23, 2023 · a890105 · a890105
1 parent ce080b0
commit a890105
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Showing 4 changed files with 11 additions and 2 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -134,7 +134,7 @@ public DriveLocalizer() {
             rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
 
             // TODO: reverse encoders if needed
-            // leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
 
             lastLeftFrontPos = leftFront.getPositionAndVelocity().position;
             lastLeftBackPos = leftBack.getPositionAndVelocity().position;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -150,7 +150,7 @@ public DriveLocalizer() {
             }
 
             // TODO: reverse encoder directions if needed
-            // leftEncs.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
+            //   leftEncs.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
 
             for (Encoder e : leftEncs) {
                 lastLeftPos += e.getPositionAndVelocity().position;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -11,6 +11,7 @@
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 @Config
@@ -37,6 +38,9 @@ public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
         par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
         perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
 
+        // TODO: reverse encoder directions if needed
+        //   par0.setDirection(DcMotorSimple.Direction.REVERSE);
+
         lastPar0Pos = par0.getPositionAndVelocity().position;
         lastPar1Pos = par1.getPositionAndVelocity().position;
         lastPerpPos = perp.getPositionAndVelocity().position;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -12,6 +12,7 @@
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
@@ -42,6 +43,10 @@ public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
         perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
+
+        // TODO: reverse encoder directions if needed
+        //   par.setDirection(DcMotorSimple.Direction.REVERSE);
+
         this.imu = imu;
 
         lastParPos = par.getPositionAndVelocity().position;