From 071e405f9236bf4502bc0025fb7f75d293dc8e4c Mon Sep 17 00:00:00 2001
From: j5155 <54331556+j5155@users.noreply.github.com>
Date: Sun, 12 Nov 2023 20:55:25 -0900
Subject: [PATCH] Require odometry wheel positions to run ManualFeedbackTuner
 (#292)

---
 .../teamcode/tuning/ManualFeedbackTuner.java  | 20 ++++++++++++++++++-
 1 file changed, 19 insertions(+), 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
index 10466ccb7be6..469e6a4331b9 100644
--- 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()) {