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| - (rotationalComponentState.speedMetersPerSecond | ||
| * rotationalComponentState.angle.getSin()); | ||
| } | ||
| double xTransComponentAverage = Arrays.stream(xTransComponents).average().getAsDouble(); |
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i think its more correct to find the avg and std dev of the speed of each module, rather than the components, but idt it makes a huge difference at the end of the day.
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| boolean[] result = new boolean[4]; | ||
| for (int i = 0; i <= moduleStates.length; i++) { | ||
| // If the measurement deviates by more than 2 standard deviations assume it's skidding (TODO: TUNE) |
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it could be worth setting up a way to see how off one module needs to be for this to take effect, either with a desmos project or running some test values through this method
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Lyssia-Seiden
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Mar 29, 2025
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Currently, if it detects a skidding module, it will set that module's delta position to the average of the other modules.