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reverse voltage #49

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Merged
BaronClaps merged 1 commit into from
Jan 3, 2026
Merged

reverse voltage #49

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34 changes: 22 additions & 12 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
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Original file line number Diff line number Diff line change
Expand Up @@ -749,25 +749,28 @@ private enum State {
RECORD,
DONE
}

private static class BrakeRecord {
double timeMs;
Pose pose;
double velocity;

BrakeRecord(double timeMs, Pose pose, double velocity) {
this.timeMs = timeMs;
this.pose = pose;
this.velocity = velocity;
}
}

private double lastDriveSign = 1.0;
private static final int BRAKE_PULSE_MS = 150;

private State state = State.START_MOVE;

private final ElapsedTime timer = new ElapsedTime();

private int iteration = 0;

private Vector startPosition;
private double measuredVelocity;

Expand Down Expand Up @@ -813,12 +816,14 @@ public void loop() {
state = State.DONE;
break;
}

double currentPower = TEST_POWERS[iteration];
follower.setMaxPower(currentPower);
if (iteration % 2 != 0) {
lastDriveSign = -1.0;
follower.setTeleOpDrive(-1, 0, 0, true);
} else {
lastDriveSign = 1.0;
follower.setTeleOpDrive(1, 0, 0, true);
}

Expand All @@ -837,7 +842,8 @@ public void loop() {
}

case APPLY_BRAKE: {
stopRobot();
double reversePower = -lastDriveSign * follower.constants.predictiveBrakingCoefficients.maximumBrakingPower;
follower.setTeleOpDrive(reversePower, 0, 0, true);

timer.reset();
state = State.WAIT_BRAKE_TIME;
Expand All @@ -848,9 +854,13 @@ public void loop() {
double t = timer.milliseconds();
Pose currentPose = follower.getPose();
double currentVelocity = follower.getVelocity().getMagnitude();

brakeData.add(new BrakeRecord(t, currentPose, currentVelocity));


if (t >= BRAKE_PULSE_MS) {
stopRobot();
}

if (timer.milliseconds() >= BRAKE_WAIT_MS || follower.getVelocity().getMagnitude() <= .05) {
state = State.RECORD;
}
Expand All @@ -864,8 +874,8 @@ public void loop() {
velocityToBrakingDistance.add(new double[]{measuredVelocity, brakingDistance});

telemetryM.debug("Test " + iteration,
String.format("v=%.3f d=%.3f", measuredVelocity,
brakingDistance));
String.format("v=%.3f d=%.3f", measuredVelocity,
brakingDistance));
telemetryM.update(telemetry);

iteration++;
Expand All @@ -889,9 +899,9 @@ public void loop() {
for (BrakeRecord record : brakeData) {
Pose p = record.pose;
telemetryM.debug(String.format("t=%.0f ms, x=%.2f, y=%.2f, θ=%.2f, v=%.2f",
record.timeMs, p.getX(), p.getY(),
p.getHeading(),
record.velocity));
record.timeMs, p.getX(), p.getY(),
p.getHeading(),
record.velocity));
}
telemetryM.update();
break;
Expand Down