From 42246e0296bed7e9a6e7fbffa7fabb67a3b1a8bd Mon Sep 17 00:00:00 2001 From: Ryan Brott Date: Sun, 15 Oct 2023 09:10:55 -0700 Subject: [PATCH] Drive view use feedforward factory (fixes #258) --- TeamCode/build.gradle | 2 +- .../org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index e7c525d6ba0a..63e325cf54cd 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -33,6 +33,6 @@ dependencies { implementation project(':FtcRobotController') annotationProcessor files('lib/OpModeAnnotationProcessor.jar') - implementation "com.acmerobotics.roadrunner:ftc:0.1.7" + implementation "com.acmerobotics.roadrunner:ftc:0.1.8" implementation "com.acmerobotics.dashboard:dashboard:0.4.13" } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java index eae05fc93045..32b949aff935 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java @@ -97,7 +97,7 @@ public static void register(OpModeManager manager) { perpEncs, md.imu, md.voltageSensor, - new MotorFeedforward(MecanumDrive.PARAMS.kS, + () -> new MotorFeedforward(MecanumDrive.PARAMS.kS, MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick, MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick) ); @@ -140,7 +140,7 @@ public static void register(OpModeManager manager) { perpEncs, td.imu, td.voltageSensor, - new MotorFeedforward(TankDrive.PARAMS.kS, + () -> new MotorFeedforward(TankDrive.PARAMS.kS, TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick, TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick) );