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Fixed NetworkAlerts

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This commit is contained in:
thenetworkgrinch
2024-01-17 09:17:39 -06:00
parent f16ca43981
commit 1ca3db242c
19 changed files with 510 additions and 108 deletions
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19
swervelib/parser/SwerveDriveConfiguration.java
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@@ -89,7 +89,22 @@ public class SwerveDriveConfiguration
*/
public double getDriveBaseRadiusMeters()
{
Translation2d furthestModule = moduleLocationsMeters[0];
return Math.abs(Math.sqrt(Math.pow(furthestModule.getX(), 2) + Math.pow(furthestModule.getY(), 2)));
//Find Center of Robot by adding all module offsets together. Should be zero, but incase it isn't
Translation2d centerOfModules = moduleLocationsMeters[0].plus(moduleLocationsMeters[1])
.plus(moduleLocationsMeters[2])
.plus(moduleLocationsMeters[3]);
//Find Largest Radius by checking the distance to the center point
double largestRadius = centerOfModules.getDistance(moduleLocationsMeters[0]);
for (int i = 1; i < moduleLocationsMeters.length; i++)
{
if (largestRadius < centerOfModules.getDistance(moduleLocationsMeters[i]))
{
largestRadius = centerOfModules.getDistance(moduleLocationsMeters[i]);
}
}
//Return Largest Radius
return largestRadius;
}
}