DeadReckon and IMU Notes

INITIALIZE

• drivetrain.resetEncoders();

• segment.state = DeadReckonPath.SegmentState.ENCODER_RESET;

ENCODER_RESET

• drivetrain.resetEncoders();

• segment.state = DeadReckonPath.SegmentState.SET_TARGET;

SET_TARGET

• drivetrain.encodersOn();

• setTarget(segment);

  • if segment type is STRAIGHT, DIAGONAL, SIDEWAYS

    • drivetrain.setTargetInches(segment.distance);

      • encoderTarget = (int)(inches * encoderTicksPerInch);

  • if segment type is TURN

    • drivetrain.setTargetRotation(segment.distance);

    • CINDY: DrivetrainBaseImpl.java contains a setTargetRotation(degrees)

• segment.state = DeadReckonPath.SegmentState.CONSUME_SEGMENT;

•