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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
2 parents 3689abe + afdc852 commit b743970

13 files changed

+60
-47
lines changed

‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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import com.acmerobotics.roadrunner.PoseVelocity2dDual;
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import com.acmerobotics.roadrunner.Time;

‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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public final class MecanumCommandMessage {
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public long timestamp;

‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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import com.acmerobotics.roadrunner.Pose2d;
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‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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public final class TankCommandMessage {
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public long timestamp;

‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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‎roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java

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

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package org.firstinspires.ftc.teamcode.roadrunner.messages;
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package org.roadrunner.core.messages;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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‎roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java

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

‎roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java

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@@ -1,31 +1,23 @@
1-
package org.firstinspires.ftc.teamcode.roadrunner.tuning;
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package org.roadrunner.core.tuning;
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import androidx.annotation.NonNull;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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7-
import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
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import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
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import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
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import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
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import org.roadrunner.core.MecanumDrive;
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import org.roadrunner.core.TankDrive;
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import org.roadrunner.core.ThreeDeadWheelLocalizer;
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import org.roadrunner.core.TwoDeadWheelLocalizer;
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public final class ManualFeedbackTuner extends LinearOpMode {
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public static double DISTANCE = 64;
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@Override
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public void runOpMode() throws InterruptedException {
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if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
18-
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
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if (drive.localizer instanceof TwoDeadWheelLocalizer) {
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if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
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throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
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}
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} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
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if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
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throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
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}
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}
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MecanumDrive drive = getMecanumDrive();
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waitForStart();
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while (opModeIsActive()) {
@@ -36,17 +28,7 @@ public void runOpMode() throws InterruptedException {
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.build());
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}
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} else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
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TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
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41-
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
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if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
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throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
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}
45-
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
46-
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
47-
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
48-
}
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}
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TankDrive drive = getTankDrive();
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waitForStart();
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while (opModeIsActive()) {
@@ -60,4 +42,34 @@ public void runOpMode() throws InterruptedException {
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throw new RuntimeException();
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}
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}
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private @NonNull MecanumDrive getMecanumDrive() {
47+
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
48+
49+
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
50+
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
51+
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
52+
}
53+
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
54+
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
55+
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
56+
}
57+
}
58+
return drive;
59+
}
60+
61+
private @NonNull TankDrive getTankDrive() {
62+
TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
63+
64+
if (drive.localizer instanceof TwoDeadWheelLocalizer) {
65+
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
66+
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
67+
}
68+
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
69+
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
70+
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
71+
}
72+
}
73+
return drive;
74+
}
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}

‎roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java

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package org.firstinspires.ftc.teamcode.roadrunner.tuning;
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package org.roadrunner.core.tuning;
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import com.acmerobotics.roadrunner.Pose2d;
44
import com.acmerobotics.roadrunner.Vector2d;
55
import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
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import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
8+
import org.roadrunner.core.MecanumDrive;
9+
import org.roadrunner.core.TankDrive;
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public final class SplineTest extends LinearOpMode {
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@Override

‎roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java

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package org.firstinspires.ftc.teamcode.roadrunner.tuning;
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package org.roadrunner.core.tuning;
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import com.acmerobotics.dashboard.FtcDashboard;
44
import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
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2222
import com.qualcomm.robotcore.eventloop.opmode.OpModeRegistrar;
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import org.firstinspires.ftc.robotcore.internal.opmode.OpModeMeta;
25-
import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
26-
import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
27-
import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
28-
import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
25+
import org.roadrunner.core.MecanumDrive;
26+
import org.roadrunner.core.TankDrive;
27+
import org.roadrunner.core.ThreeDeadWheelLocalizer;
28+
import org.roadrunner.core.TwoDeadWheelLocalizer;
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import java.util.ArrayList;
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import java.util.Arrays;

‎settings.gradle

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include ':FtcRobotController'
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include ':TeamCode'
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include ':roadrunnerCores'
4+
include ':FtcTeamCodeSample'

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