Add TODO comments

wheelerrobotics · Dec 6, 2023 · 01453c2 · 01453c2
1 parent d586fc3
commit 01453c2
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diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -34,6 +34,7 @@
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
@@ -53,6 +54,8 @@
 public final class MecanumDrive {
     public static class Params {
         // IMU orientation
+        // TODO: fill in these values based on
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
         public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
                 RevHubOrientationOnRobot.LogoFacingDirection.UP;
         public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
@@ -136,6 +139,9 @@ public DriveLocalizer() {
             lastRightFrontPos = rightFront.getPositionAndVelocity().position;
 
             lastHeading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
+
+            // TODO: reverse encoders if needed
+            // leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
         }
 
         @Override
@@ -193,6 +199,8 @@ public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
         leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
         rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
@@ -203,6 +211,11 @@ public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
         rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
+        // TODO: reverse motor directions if needed
+        //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         imu = hardwareMap.get(IMU.class, "imu");
         IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -40,12 +40,12 @@
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.MecanumEncodersMessage;
 import org.firstinspires.ftc.teamcode.messages.PoseMessage;
 import org.firstinspires.ftc.teamcode.messages.TankCommandMessage;
 import org.firstinspires.ftc.teamcode.messages.TankEncodersMessage;
@@ -60,6 +60,8 @@
 public final class TankDrive {
     public static class Params {
         // IMU orientation
+        // TODO: fill in these values based on
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
         public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
                 RevHubOrientationOnRobot.LogoFacingDirection.UP;
         public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
@@ -150,6 +152,9 @@ public DriveLocalizer() {
                 lastRightPos /= rightEncs.size();
                 this.rightEncs = Collections.unmodifiableList(rightEncs);
             }
+
+            // TODO: reverse encoder directions if needed
+            // leftEncs.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
         }
 
         @Override
@@ -205,6 +210,9 @@ public TankDrive(HardwareMap hardwareMap, Pose2d pose) {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
+        // TODO: make sure your config has motors with these names (or change them)
+        //   add additional motors on each side if you have them
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
         rightMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "right"));
 
@@ -215,6 +223,11 @@ public TankDrive(HardwareMap hardwareMap, Pose2d pose) {
             m.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         }
 
+        // TODO: reverse motor directions if needed
+        //   leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         imu = hardwareMap.get(IMU.class, "imu");
         IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -30,6 +30,9 @@ public static class Params {
     private int lastPar0Pos, lastPar1Pos, lastPerpPos;
 
     public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
+        // TODO: make sure your config has **motors** with these names (or change them)
+        //   the encoders should be plugged into the slot matching the named motor
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
         par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
         perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -37,6 +37,9 @@ public static class Params {
     private double lastRawHeadingVel, headingVelOffset;
 
     public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
+        // TODO: make sure your config has **motors** with these names (or change them)
+        //   the encoders should be plugged into the slot matching the named motor
+        //   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")));
         this.imu = imu;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
@@ -31,6 +31,7 @@
 import java.util.List;
 
 public final class TuningOpModes {
+    // TODO: change this to TankDrive.class if you're using tank
     public static final Class<?> DRIVE_CLASS = MecanumDrive.class;
 
     public static final String GROUP = "quickstart";