Restructured linux to match Windows

2026-01-24 12:39:32 -06:00
parent b1593a4f87
commit fd9c573131
30 changed files with 3120 additions and 1746 deletions
--- a/windows/templates/MecanumDrive.java
+++ b/windows/templates/MecanumDrive.java
@@ -0,0 +1,74 @@
+package robot.hardware;
+
+import robot.subsystems.Drive;
+
+// Uncomment when deploying to robot:
+// import com.qualcomm.robotcore.hardware.DcMotor;
+// import com.qualcomm.robotcore.hardware.HardwareMap;
+// import com.qualcomm.robotcore.hardware.IMU;
+// import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+
+/**
+ * Mecanum drive hardware implementation.
+ * Implements Drive.Hardware interface.
+ * 
+ * DEPLOYMENT NOTE:
+ * Uncomment FTC imports and implementation when ready to deploy.
+ * Keep commented during development/testing on PC.
+ */
+public class MecanumDrive implements Drive.Hardware {
+    
+    // Uncomment when deploying:
+    // private final DcMotor frontLeft;
+    // private final DcMotor frontRight;
+    // private final DcMotor backLeft;
+    // private final DcMotor backRight;
+    // private final IMU imu;
+    
+    public MecanumDrive(/* HardwareMap hardwareMap */) {
+        // Uncomment when deploying:
+        // frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
+        // frontRight = hardwareMap.get(DcMotor.class, "frontRight");
+        // backLeft = hardwareMap.get(DcMotor.class, "backLeft");
+        // backRight = hardwareMap.get(DcMotor.class, "backRight");
+        // imu = hardwareMap.get(IMU.class, "imu");
+        //
+        // // Configure motors
+        // frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        // frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        // backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        // backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+    }
+    
+    @Override
+    public double getHeading() {
+        // Stub for testing - returns 0
+        return 0.0;
+        
+        // Uncomment when deploying:
+        // return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
+    }
+    
+    @Override
+    public void setPowers(double forward, double strafe, double rotate) {
+        // Stub for testing - does nothing
+        
+        // Uncomment when deploying:
+        // // Mecanum drive kinematics
+        // double frontLeftPower = forward + strafe + rotate;
+        // double frontRightPower = forward - strafe - rotate;
+        // double backLeftPower = forward - strafe + rotate;
+        // double backRightPower = forward + strafe - rotate;
+        //
+        // // Normalize powers
+        // double maxPower = Math.max(1.0, Math.max(
+        //     Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower)),
+        //     Math.max(Math.abs(backLeftPower), Math.abs(backRightPower))
+        // ));
+        //
+        // frontLeft.setPower(frontLeftPower / maxPower);
+        // frontRight.setPower(frontRightPower / maxPower);
+        // backLeft.setPower(backLeftPower / maxPower);
+        // backRight.setPower(backRightPower / maxPower);
+    }
+}