Vision49/Constants.java at main · Niconut/Vision49 · GitHub

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package org.firstinspires.ftc.teamcode.pedroPathing;


import com.pedropathing.follower.Follower;
import com.pedropathing.follower.FollowerConstants;
import com.pedropathing.ftc.FollowerBuilder;
import com.pedropathing.ftc.drivetrains.MecanumConstants;
import com.pedropathing.ftc.localization.constants.PinpointConstants;
import com.pedropathing.paths.PathConstraints;
import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;


import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;


public class Constants {
    public static FollowerConstants followerConstants = new FollowerConstants()
            .forwardZeroPowerAcceleration(-24.667070883046957)
            .lateralZeroPowerAcceleration(-55.781291998825026)
            .useSecondaryTranslationalPIDF(true)
            .useSecondaryHeadingPIDF(true)
            .useSecondaryDrivePIDF(true)
            .mass(10);


    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);
    public static MecanumConstants driveConstants = new MecanumConstants()
            .maxPower(1)
            .xVelocity(75.85668849194144)
            .yVelocity(58.173999696265994D)
            .rightFrontMotorName("rfmotor2")
            .rightRearMotorName("rbmotor3")
            .leftRearMotorName("lbmotor1")
            .leftFrontMotorName("lfmotor0")
            .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE)
            .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
            .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
            .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD);


    public static PinpointConstants localizerConstants = new PinpointConstants()
            .forwardPodY(-3.17)
            .strafePodX(-3.75)
            .distanceUnit(DistanceUnit.INCH)
            .hardwareMapName("pinpoint")
            .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
            .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED)
            .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD);
    public static Follower createFollower(HardwareMap hardwareMap) {
        return new FollowerBuilder(followerConstants, hardwareMap)
                .pathConstraints(pathConstraints)
                .mecanumDrivetrain(driveConstants)
                .pinpointLocalizer(localizerConstants)
                .build();
    }
}