合并拉取请求 #10

修复 roadrunner 的软件包错误，顺便测试基于AndriodStudio的PullRequest
6-BennyLi-9 · Oct 20, 2024 · b743970 · b743970
2 parents 3689abe + afdc852
commit b743970
Show file tree

Hide file tree

Showing 13 changed files with 60 additions and 47 deletions.
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.Time;

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 public final class MecanumCommandMessage {
     public long timestamp;

diff --git a/...runnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java b/...runnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.Pose2d;
 

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 public final class TankCommandMessage {
     public long timestamp;

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java b/roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.messages;
+package org.roadrunner.core.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -8,9 +8,9 @@
 import com.acmerobotics.roadrunner.Vector2d;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.roadrunner.Drawing;
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
+import org.roadrunner.core.Drawing;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
 
 public class LocalizationTest extends LinearOpMode {
     @Override

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java
@@ -1,31 +1,23 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
+
+import androidx.annotation.NonNull;
 
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
+import org.roadrunner.core.ThreeDeadWheelLocalizer;
+import org.roadrunner.core.TwoDeadWheelLocalizer;
 
 public final class ManualFeedbackTuner extends LinearOpMode {
     public static double DISTANCE = 64;
 
     @Override
     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 RuntimeException("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 RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            }
+            MecanumDrive drive = getMecanumDrive();
             waitForStart();
 
             while (opModeIsActive()) {
@@ -36,17 +28,7 @@ public void runOpMode() throws InterruptedException {
                             .build());
             }
         } 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 RuntimeException("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 RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
-                }
-            }
+            TankDrive drive = getTankDrive();
             waitForStart();
 
             while (opModeIsActive()) {
@@ -60,4 +42,34 @@ public void runOpMode() throws InterruptedException {
             throw new RuntimeException();
         }
     }
+
+    private @NonNull MecanumDrive getMecanumDrive() {
+        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 RuntimeException("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 RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+            }
+        }
+        return drive;
+    }
+
+    private @NonNull TankDrive getTankDrive() {
+        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 RuntimeException("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 RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
+            }
+        }
+        return drive;
+    }
 }
diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java
@@ -1,12 +1,12 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
 
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
 
 public final class SplineTest extends LinearOpMode {
     @Override

diff --git a/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java b/roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.roadrunner.tuning;
+package org.roadrunner.core.tuning;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
@@ -22,10 +22,10 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpModeRegistrar;
 
 import org.firstinspires.ftc.robotcore.internal.opmode.OpModeMeta;
-import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
-import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
+import org.roadrunner.core.MecanumDrive;
+import org.roadrunner.core.TankDrive;
+import org.roadrunner.core.ThreeDeadWheelLocalizer;
+import org.roadrunner.core.TwoDeadWheelLocalizer;
 
 import java.util.ArrayList;
 import java.util.Arrays;

diff --git a/settings.gradle b/settings.gradle
@@ -1,3 +1,4 @@
 include ':FtcRobotController'
 include ':TeamCode'
 include ':roadrunnerCores'
+include ':FtcTeamCodeSample'