Drive view use feedforward factory (fixes FIRST-Tech-Challenge#258)

wheelerrobotics · Oct 15, 2023 · 42246e0 · 42246e0
1 parent 57db0dc
commit 42246e0
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git 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
@@ -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)
                 );