Require odometry wheel positions to run ManualFeedbackTuner (FIRST-Te…

…ch-Challenge#292)
wheelerrobotics · Nov 13, 2023 · 071e405 · 071e405
1 parent e69e475
commit 071e405
Showing 1 changed file with 19 additions and 1 deletion.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
@@ -14,7 +14,16 @@ public final class ManualFeedbackTuner extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
         if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
             MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
+
+            if (drive.localizer instanceof TwoDeadWheelLocalizer) {
+                if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
+                    throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+                }
+            } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
+                if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
+                    throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+                }
+            }
             waitForStart();
 
             while (opModeIsActive()) {
@@ -27,6 +36,15 @@ public void runOpMode() throws InterruptedException {
         } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
             TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
 
+            if (drive.localizer instanceof TwoDeadWheelLocalizer) {
+                if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
+                    throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+                }
+            } else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
+                if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
+                    throw new AssertionError("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+                }
+            }
             waitForStart();
 
             while (opModeIsActive()) {