Replace log() with toDouble()

wheelerrobotics · Nov 26, 2023 · 7ad781b · 7ad781b
1 parent 79d6297
commit 7ad781b
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Showing 4 changed files with 7 additions and 7 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
@@ -291,12 +291,12 @@ public boolean run(@NonNull TelemetryPacket p) {
 
             p.put("x", pose.position.x);
             p.put("y", pose.position.y);
-            p.put("heading (deg)", Math.toDegrees(pose.heading.log()));
+            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
 
             Pose2d error = txWorldTarget.value().minusExp(pose);
             p.put("xError", error.position.x);
             p.put("yError", error.position.y);
-            p.put("headingError (deg)", Math.toDegrees(error.heading.log()));
+            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
 
             // only draw when active; only one drive action should be active at a time
             Canvas c = p.fieldOverlay();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -304,12 +304,12 @@ public boolean run(@NonNull TelemetryPacket p) {
 
             p.put("x", pose.position.x);
             p.put("y", pose.position.y);
-            p.put("heading (deg)", Math.toDegrees(pose.heading.log()));
+            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
 
             Pose2d error = txWorldTarget.value().minusExp(pose);
             p.put("xError", error.position.x);
             p.put("yError", error.position.y);
-            p.put("headingError (deg)", Math.toDegrees(error.heading.log()));
+            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
 
             targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java
@@ -12,7 +12,7 @@ public PoseMessage(Pose2d pose) {
         this.timestamp = System.nanoTime();
         this.x = pose.position.x;
         this.y = pose.position.y;
-        this.heading = pose.heading.log();
+        this.heading = pose.heading.toDouble();
     }
 }
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java
@@ -30,7 +30,7 @@ public void runOpMode() throws InterruptedException {
 
                 telemetry.addData("x", drive.pose.position.x);
                 telemetry.addData("y", drive.pose.position.y);
-                telemetry.addData("heading (deg)", Math.toDegrees(drive.pose.heading.log()));
+                telemetry.addData("heading (deg)", Math.toDegrees(drive.pose.heading.toDouble()));
                 telemetry.update();
             }
         } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
@@ -51,7 +51,7 @@ public void runOpMode() throws InterruptedException {
 
                 telemetry.addData("x", drive.pose.position.x);
                 telemetry.addData("y", drive.pose.position.y);
-                telemetry.addData("heading (deg)", Math.toDegrees(drive.pose.heading.log()));
+                telemetry.addData("heading (deg)", Math.toDegrees(drive.pose.heading.toDouble()));
                 telemetry.update();
             }
         } else {