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multithreading odometry #51
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sswadkar
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Dec 6, 2023
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sswadkar
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overall looks good, few changes to make before we merge in
| const val FOC_ENABLED = false | ||
| const val MINIMIZE_SKEW = false | ||
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| const val OMOMETRY_UPDATE_FREQUENCY = 250.0 |
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can we add units for frequency? t = 1/f so it should be as something like
inline val Double.hertz: Time
get() = Time(1/this)
src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/drive/Drivetrain.kt
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src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/drive/Drivetrain.kt
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src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/gyro/GyroIOPigeon2.kt
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src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModule.kt
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...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOFalcon.kt
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...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOFalcon.kt
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...ain/kotlin/com/team4099/robot2023/subsystems/drivetrain/swervemodule/SwerveModuleIOFalcon.kt
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...com/team4099/robot2023/subsystems/drivetrain/swervemodule/threads/PhoenixOdometryThread.java
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...om/team4099/robot2023/subsystems/drivetrain/swervemodule/threads/SparkMaxOdometryThread.java
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