Merge pull request #17 from monkbroc/motor-direction

Extract motor direction to constants so they are set in one place
Pedro-Pathing · Dec 15, 2024 · f8ae3cc · f8ae3cc
2 parents 9264472 + a0b3b76
commit f8ae3cc
Show file tree

Hide file tree

Showing 7 changed files with 54 additions and 29 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
@@ -10,6 +10,10 @@
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.secondaryDrivePIDFFeedForward;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.secondaryHeadingPIDFFeedForward;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.secondaryTranslationalPIDFFeedForward;
@@ -23,7 +27,6 @@
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
@@ -165,10 +168,10 @@ public void initialize() {
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
-
-        // TODO: Make sure that this is the direction your motors need to be reversed in.
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(leftFrontMotorDirection);
+        leftRear.setDirection(leftRearMotorDirection);
+        rightFront.setDirection(rightFrontMotorDirection);
+        rightRear.setDirection(rightRearMotorDirection);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 

diff --git a/...ava/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LocalizationTest.java b/...ava/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LocalizationTest.java
@@ -4,6 +4,10 @@
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -12,7 +16,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -57,9 +60,10 @@ public void init() {
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
-
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(leftFrontMotorDirection);
+        leftRear.setDirection(leftRearMotorDirection);
+        rightFront.setDirection(rightFrontMotorDirection);
+        rightRear.setDirection(rightRearMotorDirection);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 

diff --git a/...e/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java b/...e/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.tuning;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@@ -28,6 +29,11 @@ public class FollowerConstants {
     public static String rightFrontMotorName = "rightFront";
     public static String rightRearMotorName = "rightRear";
 
+    public static DcMotorSimple.Direction leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
+    public static DcMotorSimple.Direction rightFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
+    public static DcMotorSimple.Direction leftRearMotorDirection = DcMotorSimple.Direction.FORWARD;
+    public static DcMotorSimple.Direction rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;
+
     // This section is for setting the actual drive vector for the front left wheel, if the robot
     // is facing a heading of 0 radians with the wheel centered at (0,0)
     private static double xMovement = 81.34056;

diff --git a/...rc/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardVelocityTuner.java b/...rc/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardVelocityTuner.java
@@ -4,6 +4,10 @@
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -12,7 +16,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -71,10 +74,10 @@ public void init() {
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
-
-        // TODO: Make sure that this is the direction your motors need to be reversed in.
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(leftFrontMotorDirection);
+        leftRear.setDirection(leftRearMotorDirection);
+        rightFront.setDirection(rightFrontMotorDirection);
+        rightRear.setDirection(rightRearMotorDirection);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 

diff --git a/...org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardZeroPowerAccelerationTuner.java b/...org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardZeroPowerAccelerationTuner.java
@@ -4,6 +4,10 @@
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -12,7 +16,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -74,10 +77,10 @@ public void init() {
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
-
-        // TODO: Make sure that this is the direction your motors need to be reversed in.
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(leftFrontMotorDirection);
+        leftRear.setDirection(leftRearMotorDirection);
+        rightFront.setDirection(rightFrontMotorDirection);
+        rightRear.setDirection(rightRearMotorDirection);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 

diff --git a/...org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java b/...org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
@@ -4,6 +4,10 @@
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -12,7 +16,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -74,10 +77,10 @@ public void init() {
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
-
-        // TODO: Make sure that this is the direction your motors need to be reversed in.
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(leftFrontMotorDirection);
+        leftRear.setDirection(leftRearMotorDirection);
+        rightFront.setDirection(rightFrontMotorDirection);
+        rightRear.setDirection(rightRearMotorDirection);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 

diff --git a/...src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/StrafeVelocityTuner.java b/...src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/StrafeVelocityTuner.java
@@ -4,6 +4,10 @@
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorDirection;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorDirection;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -12,7 +16,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -71,10 +74,10 @@ public void init() {
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
-
-        // TODO: Make sure that this is the direction your motors need to be reversed in.
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(leftFrontMotorDirection);
+        leftRear.setDirection(leftRearMotorDirection);
+        rightFront.setDirection(rightFrontMotorDirection);
+        rightRear.setDirection(rightRearMotorDirection);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);