v2.0.4

Full Changelog: v2.0.3...v2.0.4

• Shift all tests to a center of (72, 72) instead of (0, 0) for Panels Field Visualization.
• Update Panels from 1.0.7 to 1.0.9

v2.0.3

• 2.0.3 Pedro FTC + 1.0.7 Full Panels gradle updates
• Fix telemetry for Lateral Velocity and Zero Power Acceleration tests to indicate that they will drive left, not right.

v2.0.2

• Upgrade Pedro Library to 2.0.2 (FTC) and Telemetry Module to 1.0.0
• Ensure Drawing Thicknesses Are Greater Than Zero for Improved Visibility
• Enhance Drawing Functionality to Render Complete Ideal Pose and Path
• Migrate Dependency Management from Pedro Maven to Maven Central Repository

v2.0.1

2.0.1 Patch Gradle Update

v2.0.0

Changes

• Single Constants file that uses a builder format.
  • Users can use follower = Constants.createFollower(); or a similar method to create a Follower with a set of constants
  • This means you can have different sets of constants for different opmodes if wanted
• Single Tuning class that handles and contains all of the OpModes with a selector via telemetry output + gamepad control

Example of a Constants class

public class Constants {

    public static FollowerConstants followerConstants = new FollowerConstants()
            .centripetalScaling(0.005)
            .forwardZeroPowerAcceleration(-41.278)
            .lateralZeroPowerAcceleration(-59.7819)
            .translationalPIDFCoefficients(new PIDFCoefficients(0.1,0,0.01,0))
            .headingPIDFCoefficients(new PIDFCoefficients(2,0,0.1,0))
            .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.1,0,0,0.6,0))
            .mass(5);

    public static MecanumConstants driveConstants = new MecanumConstants()
            .xVelocity(57.8741)
            .yVelocity(52.295)
            .maxPower(1)
            .leftFrontMotorName("lf")
            .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE)
            .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
            .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
            .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD)
            .motorCachingThreshold(0.01)
            .useBrakeModeInTeleOp(false);

    public static PinpointConstants pinpointConstants = new PinpointConstants()
            .forwardYPod(-5)
            .strafeXPod(0.5)
            .distanceUnit(DistanceUnit.INCH)
            .hardwareMapName("pinpoint")
            .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
            .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED);

    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);

    public static Follower createFollower(HardwareMap hardwareMap) {
        return new FollowerBuilder(followerConstants, hardwareMap)
                .mecanumDrivetrain(driveConstants)
                .pinpointLocalizer(pinpointConstants)
                .pathConstraints(pathConstraints)
                .build();
    }
}