Pedro Tuning Tue Oct 28 08:29:18 PM EDT 2025

Author: AshOnDiscord

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicDrive.kt

@@ -41,10 +41,10 @@ class BasicDrive : LinearOpMode() {
         hubs = hardwareMap.getAll(LynxModule::class.java) as MutableList<LynxModule>
         hubs.forEach { it.bulkCachingMode = LynxModule.BulkCachingMode.AUTO }
 
-        val br = hardwareMap["m0"] as DcMotorEx
-        val fl = hardwareMap["m3"] as DcMotorEx
-        val bl = hardwareMap["m2"] as DcMotorEx
-        val fr = hardwareMap["m1"] as DcMotorEx
+        val br = hardwareMap["m3"] as DcMotorEx // m3
+        val fl = hardwareMap["m0"] as DcMotorEx // m0
+        val bl = hardwareMap["m1"] as DcMotorEx // m1
+        val fr = hardwareMap["m2"] as DcMotorEx // m2
 
         val odom = hardwareMap["odom"] as GoBildaPinpointDriver
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Pedro/Constants.java

@@ -5,30 +5,47 @@
 import com.pedropathing.follower.FollowerConstants;
 import com.pedropathing.ftc.FollowerBuilder;
 import com.pedropathing.ftc.drivetrains.MecanumConstants;
+import com.pedropathing.ftc.localization.constants.PinpointConstants;
 import com.pedropathing.paths.PathConstraints;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 
 public class Constants {
     public static FollowerConstants followerConstants = new FollowerConstants()
             .mass(12);
 
     public static MecanumConstants driveConstants = new MecanumConstants()
             .maxPower(1)
-            .rightFrontMotorName("m1")
-            .rightRearMotorName("m0")
-            .leftFrontMotorName("m3")
-            .leftRearMotorName("m2")
+            .rightFrontMotorName("m2")
+            .rightRearMotorName("m3")
+            .leftFrontMotorName("m0")
+            .leftRearMotorName("m1")
             .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE)
             .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
             .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
-            .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD);
+            .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD)
+            .xVelocity(147.58413)
+            .yVelocity(131.245);
 
     public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);
 
+    public static PinpointConstants localizerConstants = new PinpointConstants()
+            .hardwareMapName("odom")
+            .distanceUnit(DistanceUnit.INCH)
+            .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
+            .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED)
+            .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED)
+            .forwardPodY(-6.375)
+            .strafePodX(1.44);
+
+
+
     public static Follower createFollower(HardwareMap hardwareMap) {
         return new FollowerBuilder(followerConstants, hardwareMap)
                 .pathConstraints(pathConstraints)
+                .pinpointLocalizer(localizerConstants)
                 .mecanumDrivetrain(driveConstants)
                 .build();
     }