Remove unnecessary optimized I2C workarounds

JackJones7 · Oct 20, 2019 · 2d1afc4 · 2d1afc4
1 parent cca8571
commit 2d1afc4
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Showing 3 changed files with 11 additions and 95 deletions.
diff --git a/...ain/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveREVOptimized.java b/...ain/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveREVOptimized.java
@@ -1,25 +1,21 @@
 package org.firstinspires.ftc.teamcode.drive.mecanum;
 
-import android.support.annotation.NonNull;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
 
+import android.support.annotation.NonNull;
 import com.acmerobotics.roadrunner.control.PIDCoefficients;
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
-
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
 import org.firstinspires.ftc.teamcode.util.LynxModuleUtil;
-import org.firstinspires.ftc.teamcode.util.LynxOptimizedI2cFactory;
 import org.openftc.revextensions2.ExpansionHubEx;
 import org.openftc.revextensions2.ExpansionHubMotor;
 import org.openftc.revextensions2.RevBulkData;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
-
 /*
  * Optimized mecanum drive implementation for REV ExHs. The time savings may significantly improve
  * trajectory following performance with moderate additional complexity.
@@ -40,7 +36,7 @@ public SampleMecanumDriveREVOptimized(HardwareMap hardwareMap) {
         // if your motors are split between hubs, **you will need to add another bulk read**
         hub = hardwareMap.get(ExpansionHubEx.class, "hub");
 
-        imu = LynxOptimizedI2cFactory.createLynxEmbeddedImu(hub.getStandardModule(), 0);
+        imu = hardwareMap.get(BNO055IMU.class, "imu");
         BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
         parameters.angleUnit = BNO055IMU.AngleUnit.RADIANS;
         imu.initialize(parameters);

diff --git a/.../src/main/java/org/firstinspires/ftc/teamcode/drive/tank/SampleTankDriveREVOptimized.java b/.../src/main/java/org/firstinspires/ftc/teamcode/drive/tank/SampleTankDriveREVOptimized.java
@@ -1,25 +1,21 @@
 package org.firstinspires.ftc.teamcode.drive.tank;
 
-import android.support.annotation.NonNull;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
 
+import android.support.annotation.NonNull;
 import com.acmerobotics.roadrunner.control.PIDCoefficients;
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
-
+import java.util.Arrays;
+import java.util.List;
 import org.firstinspires.ftc.teamcode.util.LynxModuleUtil;
-import org.firstinspires.ftc.teamcode.util.LynxOptimizedI2cFactory;
 import org.openftc.revextensions2.ExpansionHubEx;
 import org.openftc.revextensions2.ExpansionHubMotor;
 import org.openftc.revextensions2.RevBulkData;
 
-import java.util.Arrays;
-import java.util.List;
-
-import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
-
 /*
  * Optimized tank drive implementation for REV ExHs. The time savings may significantly improve
  * trajectory following performance with moderate additional complexity.
@@ -39,7 +35,7 @@ public SampleTankDriveREVOptimized(HardwareMap hardwareMap) {
         // if your motors are split between hubs, **you will need to add another bulk read**
         hub = hardwareMap.get(ExpansionHubEx.class, "hub");
 
-        imu = LynxOptimizedI2cFactory.createLynxEmbeddedImu(hub.getStandardModule(), 0);
+        imu = hardwareMap.get(BNO055IMU.class, "imu");
         BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
         parameters.angleUnit = BNO055IMU.AngleUnit.RADIANS;
         imu.initialize(parameters);

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxOptimizedI2cFactory.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxOptimizedI2cFactory.java