添加 InPerTick 的测量程序

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java

@@ -3,14 +3,17 @@
 public final class Params {
 	/**
 	 * 每Tick机器所旋转的角度
+	 * @see org.firstinspires.ftc.teamcode.RIC_tuning.TurningDegPerTickTest
 	 */
 	public static double TurningDegPerTick = 0;
 	/**
 	 * 每Tick机器所平移的距离
+	 * @see org.firstinspires.ftc.teamcode.RIC_tuning.LateralInchPerTickTest
 	 */
 	public static double LateralInchPerTick=0;
 	/**
 	 * 每Tick机器所前进的距离
+	 * @see org.firstinspires.ftc.teamcode.RIC_tuning.AxialInchPerTickTest
 	 */
 	public static double AxialInchPerTick=0;
 	/**

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/AxialInchPerTickTest.java

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.RIC_tuning;
+
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.AutonomousProgramTemplate;
+
+@TeleOp(name = "AxialInchPerTickTest",group = "tune")
+public class AxialInchPerTickTest extends AutonomousProgramTemplate {
+	@Override
+	public void runOpMode() {
+		Init(new Pose2d(0,0,0));
+		robot.client.addData("Ticks","WAITING FOR REQUEST");
+
+		if(!WaitForStartRequest())return;
+
+		while (!isStopRequested()){
+			robot.update();
+			robot.client.changeDate("Ticks",String.valueOf(robot.classic.encoders.LateralTicks));
+		}
+	}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LateralInchPerTickTest.java

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.RIC_tuning;
+
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.AutonomousProgramTemplate;
+
+@TeleOp(name = "LateralInchPerTickTest",group = "tune")
+public class LateralInchPerTickTest extends AutonomousProgramTemplate {
+	@Override
+	public void runOpMode() {
+		Init(new Pose2d(0,0,0));
+		robot.client.addData("Ticks","WAITING FOR REQUEST");
+
+		if(!WaitForStartRequest())return;
+
+		while (!isStopRequested()){
+			robot.update();
+			robot.client.changeDate("Ticks",String.valueOf(robot.classic.encoders.LateralTicks));
+		}
+	}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/TurningDegPerTickTest.java

@@ -0,0 +1,20 @@
+package org.firstinspires.ftc.teamcode.RIC_tuning;
+
+import com.acmerobotics.roadrunner.Pose2d;
+
+import org.firstinspires.ftc.teamcode.utils.AutonomousProgramTemplate;
+
+public class TurningDegPerTickTest extends AutonomousProgramTemplate {
+	@Override
+	public void runOpMode() {
+		Init(new Pose2d(0,0,0));
+		robot.client.addData("Ticks","WAITING FOR REQUEST");
+
+		if(!WaitForStartRequest())return;
+
+		while (!isStopRequested()){
+			robot.update();
+			robot.client.changeDate("Ticks",String.valueOf(robot.classic.encoders.TurningTicks));
+		}
+	}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java

@@ -112,6 +112,7 @@ public void update()  {
 
 		sensors.update();
 		servos.update();
+		encoders.update();
 		if(RuntimeOption.driverUsingAxisPowerInsteadOfCurrentPower) {
 			motors.update(sensors.FirstAngle);
 		}else{