Rename dead wheel params

wheelerrobotics · Sep 16, 2023 · 2f2c6e6 · 2f2c6e6
1 parent dc1b43e
commit 2f2c6e6
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Showing 2 changed files with 15 additions and 15 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -15,9 +15,9 @@
 @Config
 public final class ThreeDeadWheelLocalizer implements Localizer {
     public static class Params {
-        public double PAR0_Y_TICKS = 0.0;
-        public double PAR1_Y_TICKS = 0.0;
-        public double PERP_X_TICKS = 0.0;
+        public double par0YTicks = 0.0; // y position of the first parallel encoder (in tick units)
+        public double par1YTicks = 0.0; // y position of the second parallel encoder (in tick units)
+        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
     }
 
     public static Params PARAMS = new Params();
@@ -54,17 +54,17 @@ public Twist2dDual<Time> update() {
         Twist2dDual<Time> twist = new Twist2dDual<>(
                 new Vector2dDual<>(
                         new DualNum<Time>(new double[] {
-                                (PARAMS.PAR0_Y_TICKS * par1PosDelta - PARAMS.PAR1_Y_TICKS * par0PosDelta) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
-                                (PARAMS.PAR0_Y_TICKS * par1PosVel.velocity - PARAMS.PAR1_Y_TICKS * par0PosVel.velocity) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
+                                (PARAMS.par0YTicks * par1PosDelta - PARAMS.par1YTicks * par0PosDelta) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
+                                (PARAMS.par0YTicks * par1PosVel.velocity - PARAMS.par1YTicks * par0PosVel.velocity) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
                         }).times(inPerTick),
                         new DualNum<Time>(new double[] {
-                                (PARAMS.PERP_X_TICKS / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS) * (par1PosDelta - par0PosDelta) + perpPosDelta),
-                                (PARAMS.PERP_X_TICKS / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS) * (par1PosVel.velocity - par0PosVel.velocity) + perpPosVel.velocity),
+                                (PARAMS.perpXTicks / (PARAMS.par0YTicks - PARAMS.par1YTicks) * (par1PosDelta - par0PosDelta) + perpPosDelta),
+                                (PARAMS.perpXTicks / (PARAMS.par0YTicks - PARAMS.par1YTicks) * (par1PosVel.velocity - par0PosVel.velocity) + perpPosVel.velocity),
                         }).times(inPerTick)
                 ),
                 new DualNum<>(new double[] {
-                        (par0PosDelta - par1PosDelta) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
-                        (par0PosVel.velocity - par1PosVel.velocity) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
+                        (par0PosDelta - par1PosDelta) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
+                        (par0PosVel.velocity - par1PosVel.velocity) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
                 })
         );
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -19,8 +19,8 @@
 @Config
 public final class TwoDeadWheelLocalizer implements Localizer {
     public static class Params {
-        public double PAR_Y_TICKS = 0.0;
-        public double PERP_X_TICKS = 0.0;
+        public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
+        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
     }
 
     public static Params PARAMS = new Params();
@@ -61,12 +61,12 @@ public Twist2dDual<Time> update() {
         Twist2dDual<Time> twist = new Twist2dDual<>(
                 new Vector2dDual<>(
                         new DualNum<Time>(new double[] {
-                                parPosDelta - PARAMS.PAR_Y_TICKS * headingDelta,
-                                parPosVel.velocity - PARAMS.PAR_Y_TICKS * headingVel,
+                                parPosDelta - PARAMS.parYTicks * headingDelta,
+                                parPosVel.velocity - PARAMS.parYTicks * headingVel,
                         }).times(inPerTick),
                         new DualNum<Time>(new double[] {
-                                perpPosDelta - PARAMS.PERP_X_TICKS * headingDelta,
-                                perpPosVel.velocity - PARAMS.PERP_X_TICKS * headingVel,
+                                perpPosDelta - PARAMS.perpXTicks * headingDelta,
+                                perpPosVel.velocity - PARAMS.perpXTicks * headingVel,
                         }).times(inPerTick)
                 ),
                 new DualNum<>(new double[] {