测试

6-BennyLi-9 · Aug 23, 2024 · 38018c1 · 38018c1
1 parent 17f5b3e
commit 38018c1
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Showing 4 changed files with 14 additions and 4 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/DeadWheelEncoders.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/DeadWheelEncoders.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.Hardwares.basic;
 
-import static org.firstinspires.ftc.teamcode.Params.*;
+import static org.firstinspires.ftc.teamcode.Params.AxialPosition;
+import static org.firstinspires.ftc.teamcode.Params.LateralPosition;
 
 import androidx.annotation.NonNull;
 
@@ -60,7 +61,11 @@ public void update(){
 
 				AxialTicks=(left.position+right.position)/2.0;
 				TurningTicks=(right.position-left.position)/2.0;
-				LateralTicks=middle.position-TurningTicks*vI;
+				if(AxialPosition==0){
+					LateralTicks=middle.position;
+				}else{
+					LateralTicks=middle.position-TurningTicks*vI;
+				}
 				break;
 		}
 	}

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Params.java
@@ -5,12 +5,12 @@ 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;
+	public static double TurningDegPerTick = 0.01339983622422392615201369761;
 	/**
 	 * 每Tick机器所平移的距离
 	 * @see org.firstinspires.ftc.teamcode.RIC_tuning.LateralInchPerTickTest
 	 */
-	public static double LateralInchPerTick=0;
+	public static double LateralInchPerTick=0.001135933358576296857251041272;
 	/**
 	 * 每Tick机器所前进的距离
 	 * @see org.firstinspires.ftc.teamcode.RIC_tuning.AxialInchPerTickTest

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LocalizationTest.java
@@ -22,6 +22,9 @@ public void whileActivating() {
 		robot.update();
 		drive.update();
 		robot.client.changeDate("POSITION",drive.localizer.getCurrentPose().toString());
+		robot.client.changeDate("X",drive.localizer.getCurrentPose().position.x);
+		robot.client.changeDate("Y",drive.localizer.getCurrentPose().position.y);
+		robot.client.changeDate("HEADING",Math.toDegrees(drive.localizer.getCurrentPose().heading.toDouble()));
 
 		robot.operateThroughGamePad(gamepad1,gamepad2);
 	}

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/TurningDegPerTickTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/TurningDegPerTickTest.java
@@ -1,10 +1,12 @@
 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.Annotation.TuningOpModes;
 import org.firstinspires.ftc.teamcode.utils.AutonomousProgramTemplate;
 
+@TeleOp(name = "TurningDegPerTickTest",group = "tune")
 @TuningOpModes
 public class TurningDegPerTickTest extends AutonomousProgramTemplate {
 	@Override