Merge branch 'V2' of https://github.com/NoozAbooz/210K-HighStakes-2025 …

…into V2
NoozAbooz · Jan 31, 2025 · 2e48f4a · 2e48f4a
2 parents 8d07648 + 1028f3d
commit 2e48f4a
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/include/deviceGlobals.hpp b/include/deviceGlobals.hpp
@@ -32,9 +32,9 @@ inline pros::Rotation verticalEncoder(-1);
 inline pros::Rotation horizontalEncoder(-14);
 //hello world it is 210K secret note iykyk :D
 // horizontal tracking wheel
-inline lemlib::TrackingWheel vertical_tracking_wheel(&verticalEncoder, lemlib::Omniwheel::NEW_275, 0.876);
+inline lemlib::TrackingWheel vertical_tracking_wheel(&verticalEncoder, lemlib::Omniwheel::NEW_275, 0.44);
 // vertical tracking wheel
-inline lemlib::TrackingWheel horizontal_tracking_wheel(&horizontalEncoder, lemlib::Omniwheel::NEW_275, -3.2455);
+inline lemlib::TrackingWheel horizontal_tracking_wheel(&horizontalEncoder, lemlib::Omniwheel::NEW_275, 1.65);
 
 // drivetrain settings
 inline lemlib::Drivetrain drivetrain(&leftDrive, // left motor group
@@ -45,9 +45,9 @@ inline lemlib::Drivetrain drivetrain(&leftDrive, // left motor group
                               2 // chase power is 2. If we had traction wheels, it would have been 8
 );
 // lateral motion controller
-inline lemlib::ControllerSettings lateralController(10, // proportional gain (kP)
+inline lemlib::ControllerSettings lateralController(15, // proportional gain (kP)
                                               0, // integral gain (kI)
-                                              10, // derivative gain (kD)
+                                              0, // derivative gain (kD)
                                               3, // anti windup
                                               1, // small error range, in inches
                                               100, // small error range timeout, in milliseconds
@@ -68,9 +68,9 @@ inline lemlib::ControllerSettings angularController(3, // proportional gain (kP)
 );
 // sensors for odometry
 // note that in this example we use internal motor encoders, so we don't pass vertical tracking wheels
-inline lemlib::OdomSensors sensors(nullptr, // vertical tracking wheel 1, set to nullptr as we don't have one
+inline lemlib::OdomSensors sensors(&vertical_tracking_wheel, // vertical tracking wheel 1, set to nullptr as we don't have one
                             nullptr, // vertical tracking wheel 2, set to nullptr as we don't have one
-                            nullptr, // horizontal tracking wheel 1
+                            &horizontal_tracking_wheel, // horizontal tracking wheel 1
                             nullptr, // horizontal tracking wheel 2, set to nullptr as we don't have a second one
                             &inertial1 // inertial sensor
 );

diff --git a/src/auton/autonomous.cpp b/src/auton/autonomous.cpp
@@ -13,8 +13,8 @@
  */
 
 void testPID() {
-    //chassis.moveToPoint(0, 24, 1000);
-    chassis.turnToHeading(90, 2000);
+    chassis.moveToPoint(0, 24, 1000);
+    //chassis.turnToHeading(90, 2000);
     //chassis.moveToPoint(24, 24, 1000);
 }
 void testBM() {