Use new params

wheelerrobotics · Mar 3, 2024 · 6b35895 · 6b35895
1 parent 03d95d7
commit 6b35895
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Showing 3 changed files with 20 additions and 6 deletions.
diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
@@ -34,5 +34,7 @@ dependencies {
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
     implementation "com.acmerobotics.roadrunner:ftc:0.1.13"
+    implementation "com.acmerobotics.roadrunner:core:1.0.0-beta7"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta7"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -475,10 +475,15 @@ public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
         return new TrajectoryActionBuilder(
                 TurnAction::new,
                 FollowTrajectoryAction::new,
-                beginPose, 1e-6, 0.0,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
                 defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint,
-                0.25, 0.1
+                defaultVelConstraint, defaultAccelConstraint
         );
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -18,12 +18,14 @@
 import com.acmerobotics.roadrunner.PoseVelocity2d;
 import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
 import com.acmerobotics.roadrunner.RamseteController;
 import com.acmerobotics.roadrunner.TankKinematics;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
 import com.acmerobotics.roadrunner.Twist2dDual;
 import com.acmerobotics.roadrunner.Vector2d;
@@ -482,10 +484,15 @@ public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
         return new TrajectoryActionBuilder(
                 TurnAction::new,
                 FollowTrajectoryAction::new,
-                beginPose, 1e-6, 0.0,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
                 defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint,
-                0.25, 0.1
+                defaultVelConstraint, defaultAccelConstraint
         );
     }
 }