Pipe feedforward into drive view factory

OpticYeetYT · Oct 10, 2023 · 57db0dc · 57db0dc
1 parent 1b1197d
commit 57db0dc
Showing 1 changed file with 7 additions and 2 deletions.
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
@@ -2,6 +2,7 @@
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
+import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.ftc.AngularRampLogger;
 import com.acmerobotics.roadrunner.ftc.DriveType;
@@ -96,7 +97,9 @@ public static void register(OpModeManager manager) {
                         perpEncs,
                         md.imu,
                         md.voltageSensor,
-                        md.feedforward
+                        new MotorFeedforward(MecanumDrive.PARAMS.kS,
+                                MecanumDrive.PARAMS.kV / MecanumDrive.PARAMS.inPerTick,
+                                MecanumDrive.PARAMS.kA / MecanumDrive.PARAMS.inPerTick)
                 );
             };
         } else if (DRIVE_CLASS.equals(TankDrive.class)) {
@@ -137,7 +140,9 @@ public static void register(OpModeManager manager) {
                         perpEncs,
                         td.imu,
                         td.voltageSensor,
-                        td.feedforward
+                        new MotorFeedforward(TankDrive.PARAMS.kS,
+                                TankDrive.PARAMS.kV / TankDrive.PARAMS.inPerTick,
+                                TankDrive.PARAMS.kA / TankDrive.PARAMS.inPerTick)
                 );
             };
         } else {