changed angular velo and acc to degrees

Jarhead20 · Sep 10, 2023 · 908b189 · 908b189
1 parent 7ed8f0b
commit 908b189
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Showing 2 changed files with 10 additions and 11 deletions.
diff --git a/src/main/java/jarhead/DrawPanel.java b/src/main/java/jarhead/DrawPanel.java
@@ -256,7 +256,7 @@ public void paintComponent (Graphics g){
 
     private TrajectorySequence generateTrajectory(NodeManager manager, Node exclude){
         Node node = exclude.shrink(main.scale);
-        TrajectorySequenceBuilder builder = new TrajectorySequenceBuilder(new Pose2d(node.x, node.y, Math.toRadians(-node.robotHeading - 90)), Math.toRadians(-node.splineHeading - 90), new MecanumVelocityConstraint(robot.maxVelo, robot.trackWidth), new ProfileAccelerationConstraint(robot.maxAccel), robot.maxAngVelo, robot.maxAngAccel);
+        TrajectorySequenceBuilder builder = new TrajectorySequenceBuilder(new Pose2d(node.x, node.y, Math.toRadians(-node.robotHeading - 90)), Math.toRadians(-node.splineHeading - 90), new MecanumVelocityConstraint(robot.maxVelo, robot.trackWidth), new ProfileAccelerationConstraint(robot.maxAccel), Math.toRadians(robot.maxAngVelo), Math.toRadians(robot.maxAngAccel));
         builder.setReversed(exclude.reversed);
         for (int i = 0; i < manager.size(); i++) {
             if(exclude.equals(manager.get(i))) continue; //stops empty path segment error

diff --git a/src/main/java/jarhead/ProgramProperties.java b/src/main/java/jarhead/ProgramProperties.java
@@ -51,16 +51,15 @@ private void generateFile(File file) {
             file.createNewFile();
             FileWriter writer = new FileWriter(file, false);
             writer.write(
-                    """
-                            ROBOT_WIDTH=18
-                            ROBOT_LENGTH=18
-                            RESOLUTION=0.1
-                            IMPORT/EXPORT=
-                            TRACK_WIDTH=15
-                            MAX_VELO=60
-                            MAX_ACCEL=60
-                            MAX_ANGULAR_VELO=60
-                            MAX_ANGULAR_ACCEL=60"""
+                    "ROBOT_WIDTH=18\n" +
+                    "ROBOT_LENGTH=18\n" +
+                    "RESOLUTION=0.1\n" +
+                    "IMPORT/EXPORT=\n" +
+                    "TRACK_WIDTH=15\n" +
+                    "MAX_VELO=60\n" +
+                    "MAX_ACCEL=60\n" +
+                    "MAX_ANGULAR_VELO=60\n" +
+                    "MAX_ANGULAR_ACCEL=60"
             );
             writer.close();
             readFile(file);