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Update FIRST libraries #49

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e642ad1
Updated libraries
buggy213 Sep 11, 2016
4ffa1cb
Fixed build issues
buggy213 Sep 11, 2016
28ec8c8
fixing merging issues
buggy213 Sep 11, 2016
cabb73e
Fixed encodedmotor.java file
buggy213 Sep 11, 2016
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2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ buildscript {
jcenter()
}
dependencies {
classpath 'com.android.tools.build:gradle:1.3.0'
classpath 'com.android.tools.build:gradle:2.1.3'
}
}

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2 changes: 1 addition & 1 deletion ftc-library/build.gradle
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Expand Up @@ -4,7 +4,7 @@ buildscript {
jcenter()
}
dependencies {
classpath 'com.android.tools.build:gradle:1.3.0'
classpath 'com.android.tools.build:gradle:2.1.3'
}
}
android {
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Binary file added ftc-library/libs/RobotCore-release-sources.jar
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Binary file added ftc-library/libs/armeabi-v7a/libVuforia.so
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2 changes: 1 addition & 1 deletion ftc-library/src/main/java/com/lasarobotics/library/sensor/legacy/hitechnic/Gyroscope.java
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Expand Up @@ -73,7 +73,7 @@ public void reset() {
* @return The offset gyroscope rotation in degrees per second
*/
public double getRate() {
return gyroSensor.getRotation() - offset;
return gyroSensor.getHeading() - offset;
}

/**
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9 changes: 5 additions & 4 deletions ftc-library/src/main/java/com/lasarobotics/library/skynet/EncodedMotor.java
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Expand Up @@ -2,11 +2,12 @@

import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.DcMotorImpl;

/**
* Drive encoder support
*/
public class EncodedMotor extends DcMotor {
public class EncodedMotor extends DcMotorImpl {
private boolean isEncoderEnabled = true;
private boolean encodersResetting = false;
private int encoderOffset = 0;
Expand Down Expand Up @@ -65,14 +66,14 @@ public boolean hasReachedPosition(double position) {

public void enableEncoder() {
//This command requires (at least ?) one execution loop to reset the encoders
super.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
super.setMode(RunMode.RUN_WITHOUT_ENCODER);
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@buggy213 Is this supposed to be RUN_WITH_ENCODER?

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yeah, good catch


isEncoderEnabled = true;
}

public void disableEncoder() {
//This command requires (at least ?) one execution loop to reset the encoders
super.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
super.setMode(RunMode.RUN_WITHOUT_ENCODER);

isEncoderEnabled = false;
}
Expand All @@ -97,7 +98,7 @@ public void resetEncoder() {
return;

//This command requires (at least ?) one execution loop to reset the encoders
super.setMode(DcMotorController.RunMode.RESET_ENCODERS);
super.setMode(RunMode.RESET_ENCODERS);

encodersResetting = true;
encoderOffset = -super.getCurrentPosition();
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