11/1/24 - Harshini

drivebase is driving properly now and nothing is inverted!! (finally)
technototes · Nov 2, 2024 · 9dcd290 · 9dcd290
1 parent e8d6746
commit 9dcd290
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Showing 4 changed files with 10 additions and 3 deletions.
diff --git a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/DrivebaseSubsystem.java b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/DrivebaseSubsystem.java
@@ -7,6 +7,7 @@
 import com.acmerobotics.roadrunner.geometry.Pose2d;
 import com.acmerobotics.roadrunner.localization.TwoTrackingWheelLocalizer;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.technototes.library.hardware.motor.EncodedMotor;
 import com.technototes.library.hardware.sensor.IMU;
@@ -162,6 +163,7 @@ public DrivebaseSubsystem(
         rl2 = rl;
         rr2 = rr;
         speed = DriveConstants.SLOW_MOTOR_SPEED;
+
     }
 
     public void fast() {

diff --git a/.../src/main/java/org/firstinspires/ftc/twenty403/commands/driving/JoystickDriveCommand.java b/.../src/main/java/org/firstinspires/ftc/twenty403/commands/driving/JoystickDriveCommand.java
@@ -89,9 +89,8 @@ public void execute() {
             // The math & signs looks wonky, because this makes things field-relative
             // (Remember that "3 O'Clock" is zero degrees)
             // We are making this change for the omni wheels on 20403
-            // We are making the orientation of the joystick's x negative to accommodate for the new direction of the wheels..
             double yvalue = -y.getAsDouble();
-            double xvalue = -x.getAsDouble() *-1.0;
+            double xvalue = -x.getAsDouble();
             if (straightDrive != null) {
                 if (straightDrive.getAsDouble() > TRIGGER_THRESHOLD) {
                     if (Math.abs(yvalue) > Math.abs(xvalue)) xvalue = 0;

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/JustDrivingTeleOp.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/JustDrivingTeleOp.java
@@ -15,7 +15,7 @@
 import org.firstinspires.ftc.twenty403.controls.OperatorController;
 import org.firstinspires.ftc.twenty403.helpers.StartingPosition;
 
-@TeleOp(name = "Dual Driving")
+@TeleOp(name = "Just Driving")
 @SuppressWarnings("unused")
 public class JustDrivingTeleOp extends CommandOpMode {
 

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/DrivebaseSubsystem.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/DrivebaseSubsystem.java
@@ -6,6 +6,7 @@
 import com.acmerobotics.roadrunner.localization.TwoTrackingWheelLocalizer;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.technototes.library.hardware.motor.EncodedMotor;
 import com.technototes.library.hardware.sensor.IMU;
@@ -178,6 +179,11 @@ public DrivebaseSubsystem(
         // This is already handled in the parent class constructor (super)
         // setLocalizer(l);
         setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
+        fl.setDirection(DcMotorSimple.Direction.FORWARD);
+        rl.setDirection(DcMotorSimple.Direction.FORWARD);
+        rr.setDirection(DcMotorSimple.Direction.REVERSE);
+        fr.setDirection(DcMotorSimple.Direction.REVERSE);
     }
 
     @Override