From 0db1ccdc53041e60c65328295ee9bbc72a020646 Mon Sep 17 00:00:00 2001
From: 2025246 <rmansfield@creightonprep.org>
Date: Fri, 27 Dec 2024 21:41:10 -0600
Subject: [PATCH] Docs here we come!

---
 TeamCode/src/main/java/baronTest.java         | 27 -------------------
 .../pedroPathing/constants/FConstants.java    | 14 ++++++++--
 .../pedroPathing/constants/LConstants.java    | 14 +++-------
 .../automatic/ForwardVelocityTuner.java       |  1 +
 build.dependencies.gradle                     |  2 +-
 5 files changed, 17 insertions(+), 41 deletions(-)
 delete mode 100644 TeamCode/src/main/java/baronTest.java

diff --git a/TeamCode/src/main/java/baronTest.java b/TeamCode/src/main/java/baronTest.java
deleted file mode 100644
index 66e16216..00000000
--- a/TeamCode/src/main/java/baronTest.java
+++ /dev/null
@@ -1,27 +0,0 @@
-import com.pedropathing.follower.Follower;
-import com.pedropathing.follower.FollowerConstants;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import pedroPathing.constants.FConstants;
-import pedroPathing.constants.LConstants;
-
-@TeleOp(name = "barontest")
-public class baronTest extends OpMode {
-    @Override
-    public void init() {
-        telemetry.addData("Follower Constants Localizer", FollowerConstants.localizers);
-        telemetry.update();
-    }
-
-    @Override
-    public void start() {
-        Follower f = new Follower(hardwareMap, FConstants.class, LConstants.class);
-    }
-
-    @Override
-    public void loop() {
-        telemetry.addData("Follower Constants Localizer", FollowerConstants.localizers);
-        telemetry.update();
-    }
-}
diff --git a/TeamCode/src/main/java/pedroPathing/constants/FConstants.java b/TeamCode/src/main/java/pedroPathing/constants/FConstants.java
index 0ce7f415..ff2424b4 100644
--- a/TeamCode/src/main/java/pedroPathing/constants/FConstants.java
+++ b/TeamCode/src/main/java/pedroPathing/constants/FConstants.java
@@ -1,14 +1,24 @@
 package pedroPathing.constants;
 
-import com.acmerobotics.dashboard.config.Config;
 import com.pedropathing.localization.Localizers;
 import com.pedropathing.follower.FollowerConstants;
+import com.pedropathing.util.CustomPIDFCoefficients;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
-@Config
 public class FConstants {
     static {
         FollowerConstants.mass = 5;
         FollowerConstants.localizers = Localizers.OTOS;
         FollowerConstants.zeroPowerAccelerationMultiplier = 4;
+        FollowerConstants.leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
+        FollowerConstants.leftRearMotorDirection = DcMotorSimple.Direction.REVERSE;
+        FollowerConstants.rightFrontMotorDirection = DcMotorSimple.Direction.FORWARD;
+        FollowerConstants.rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;
+        FollowerConstants.xMovement = 57.8741;
+        FollowerConstants.yMovement = 52.295;
+        FollowerConstants.forwardZeroPowerAcceleration = -41.278;
+        FollowerConstants.lateralZeroPowerAcceleration = -59.7819;
+        FollowerConstants.translationalPIDFCoefficients = new CustomPIDFCoefficients(0.1,0,0.01,0);
+        FollowerConstants.headingPIDFCoefficients = new CustomPIDFCoefficients(2,0,0.1,0);
     }
 }
diff --git a/TeamCode/src/main/java/pedroPathing/constants/LConstants.java b/TeamCode/src/main/java/pedroPathing/constants/LConstants.java
index 74c0dfaa..5a445956 100644
--- a/TeamCode/src/main/java/pedroPathing/constants/LConstants.java
+++ b/TeamCode/src/main/java/pedroPathing/constants/LConstants.java
@@ -1,19 +1,11 @@
 package pedroPathing.constants;
 
-import android.graphics.Path;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.pedropathing.localization.Encoder;
 import com.pedropathing.localization.constants.OTOSConstants;
+import com.qualcomm.hardware.sparkfun.SparkFunOTOS;
 
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import com.qualcomm.hardware.sparkfun.SparkFunOTOS.Pose2D;
-
-@Config
 public class LConstants {
     static {
-        OTOSConstants.offset = new Pose2D(3, 2, (3  *Math.PI) / 2);
+        OTOSConstants.offset = new SparkFunOTOS.Pose2D(3,2,Math.toRadians(270));
+
     }
 }
diff --git a/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardVelocityTuner.java b/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardVelocityTuner.java
index 29f86f7e..bc985f76 100644
--- a/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardVelocityTuner.java
+++ b/TeamCode/src/main/java/pedroPathing/tuners/automatic/ForwardVelocityTuner.java
@@ -105,6 +105,7 @@ public void init() {
         telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
         telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
         telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
+        telemetryA.addData("pose", poseUpdater.getPose());
         telemetryA.update();
 
     }
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
index f6946a7f..b8b7b2fc 100644
--- a/build.dependencies.gradle
+++ b/build.dependencies.gradle
@@ -15,7 +15,7 @@ dependencies {
     implementation 'org.firstinspires.ftc:Hardware:10.1.1'
     implementation 'org.firstinspires.ftc:FtcCommon:10.1.1'
     implementation 'org.firstinspires.ftc:Vision:10.1.1'
-    implementation 'com.pedropathing:pedro:0.0.1-beta8'
+    implementation 'com.pedropathing:pedro:0.0.1-beta12'
     //noinspection GradleDependency
     implementation 'androidx.appcompat:appcompat:1.2.0'
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.16'