Update the Quickstart to v1.0.3 of Pedro:

BaronClaps · BaronClaps · commit 2f914c2e3f45 · 2024-12-31T18:24:47.000-06:00
- Update dependency to 1.0.3
- Update the Tuners and Examples to match the new method of updating the Constants.

Note: Now users will have to call `Constants.setConstants(FConstants.class, LConstants.class);` before initalizing their follower (`follower = new Follower(hardwareMap);`).
diff --git a/TeamCode/src/main/java/pedroPathing/examples/Circle.java b/TeamCode/src/main/java/pedroPathing/examples/Circle.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -42,7 +43,8 @@ public class Circle extends OpMode {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        follower = new Follower(hardwareMap);
 
         circle = follower.pathBuilder()
                 .addPath(new BezierCurve(new Point(0,0, Point.CARTESIAN), new Point(RADIUS,0, Point.CARTESIAN), new Point(RADIUS, RADIUS, Point.CARTESIAN)))
diff --git a/TeamCode/src/main/java/pedroPathing/examples/ExampleBucketAuto.java b/TeamCode/src/main/java/pedroPathing/examples/ExampleBucketAuto.java
@@ -7,6 +7,7 @@
 import com.pedropathing.pathgen.Path;
 import com.pedropathing.pathgen.PathChain;
 import com.pedropathing.pathgen.Point;
+import com.pedropathing.util.Constants;
 import com.pedropathing.util.Timer;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import  com.qualcomm.robotcore.eventloop.opmode.OpMode;
@@ -264,7 +265,8 @@ public void init() {
         opmodeTimer = new Timer();
         opmodeTimer.resetTimer();
 
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        follower = new Follower(hardwareMap);
         follower.setStartingPose(startPose);
         buildPaths();
     }
diff --git a/TeamCode/src/main/java/pedroPathing/examples/ExampleFieldCentricTeleop.java b/TeamCode/src/main/java/pedroPathing/examples/ExampleFieldCentricTeleop.java
@@ -2,6 +2,7 @@
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.localization.Pose;
+import com.pedropathing.util.Constants;
 import  com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
@@ -23,7 +24,8 @@ public class ExampleFieldCentricTeleop extends OpMode {
     /** This method is call once when init is played, it initializes the follower **/
     @Override
     public void init() {
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        follower = new Follower(hardwareMap);
         follower.setStartingPose(startPose);
     }
 
diff --git a/TeamCode/src/main/java/pedroPathing/examples/ExampleRobotCentricTeleop.java b/TeamCode/src/main/java/pedroPathing/examples/ExampleRobotCentricTeleop.java
@@ -1,7 +1,10 @@
 package pedroPathing.examples;
 
+import android.provider.SyncStateContract;
+
 import com.pedropathing.follower.Follower;
 import com.pedropathing.localization.Pose;
+import com.pedropathing.util.Constants;
 import  com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
@@ -23,7 +26,8 @@ public class ExampleRobotCentricTeleop extends OpMode {
     /** This method is call once when init is played, it initializes the follower **/
     @Override
     public void init() {
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class,LConstants.class);
+        follower = new Follower(hardwareMap);
         follower.setStartingPose(startPose);
     }
 
diff --git a/TeamCode/src/main/java/pedroPathing/examples/Triangle.java b/TeamCode/src/main/java/pedroPathing/examples/Triangle.java
@@ -7,6 +7,7 @@
 import com.pedropathing.pathgen.BezierLine;
 import com.pedropathing.pathgen.PathChain;
 import com.pedropathing.pathgen.Point;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -57,7 +58,8 @@ public void loop() {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        follower = new Follower(hardwareMap);
         follower.setStartingPose(startPose);
 
         triangle = follower.pathBuilder()
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/ForwardVelocityTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/ForwardVelocityTuner.java
@@ -12,6 +12,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -71,7 +72,8 @@ public class ForwardVelocityTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/ForwardZeroPowerAccelerationTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/ForwardZeroPowerAccelerationTuner.java
@@ -13,6 +13,7 @@
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.pedropathing.follower.FollowerConstants;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -75,7 +76,8 @@ public class ForwardZeroPowerAccelerationTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/LateralZeroPowerAccelerationTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/LateralZeroPowerAccelerationTuner.java
@@ -13,6 +13,7 @@
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.pedropathing.follower.FollowerConstants;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -75,7 +76,8 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/StrafeVelocityTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/automatic/StrafeVelocityTuner.java
@@ -13,6 +13,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -72,7 +73,8 @@ public class StrafeVelocityTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
         leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/ForwardTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/ForwardTuner.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -42,7 +43,8 @@ public class ForwardTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/LateralTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/LateralTuner.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -42,7 +43,8 @@ public class LateralTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/LocalizationTest.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/LocalizationTest.java
@@ -12,6 +12,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -54,7 +55,8 @@ public class LocalizationTest extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/TurnTuner.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/localization/TurnTuner.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -42,7 +43,8 @@ public class TurnTuner extends OpMode {
      */
     @Override
     public void init() {
-        poseUpdater = new PoseUpdater(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        poseUpdater = new PoseUpdater(hardwareMap);
 
         dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
 
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/pid/CurvedBackAndForth.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/pid/CurvedBackAndForth.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -48,7 +49,8 @@ public class CurvedBackAndForth extends OpMode {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        follower = new Follower(hardwareMap);
 
         forwards = new Path(new BezierCurve(new Point(0,0, Point.CARTESIAN), new Point(Math.abs(DISTANCE),0, Point.CARTESIAN), new Point(Math.abs(DISTANCE),DISTANCE, Point.CARTESIAN)));
         backwards = new Path(new BezierCurve(new Point(Math.abs(DISTANCE),DISTANCE, Point.CARTESIAN), new Point(Math.abs(DISTANCE),0, Point.CARTESIAN), new Point(0,0, Point.CARTESIAN)));
diff --git a/TeamCode/src/main/java/pedroPathing/tuners_tests/pid/StraightBackAndForth.java b/TeamCode/src/main/java/pedroPathing/tuners_tests/pid/StraightBackAndForth.java
@@ -3,6 +3,7 @@
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.util.Constants;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -48,7 +49,8 @@ public class StraightBackAndForth extends OpMode {
      */
     @Override
     public void init() {
-        follower = new Follower(hardwareMap, FConstants.class, LConstants.class);
+        Constants.setConstants(FConstants.class, LConstants.class);
+        follower = new Follower(hardwareMap);
 
         forwards = new Path(new BezierLine(new Point(0,0, Point.CARTESIAN), new Point(DISTANCE,0, Point.CARTESIAN)));
         forwards.setConstantHeadingInterpolation(0);
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
@@ -16,7 +16,7 @@ dependencies {
     implementation 'org.firstinspires.ftc:Hardware:10.1.1'
     implementation 'org.firstinspires.ftc:FtcCommon:10.1.1'
     implementation 'org.firstinspires.ftc:Vision:10.1.1'
-    implementation 'com.pedropathing:pedro:1.0.2'
+    implementation 'com.pedropathing:pedro:1.0.3'
 
     //noinspection GradleDependency
     implementation 'androidx.appcompat:appcompat:1.2.0'
