Documentation and Improvements

[manthey]

In the short term, we should

• Update the README to discuss what success we've had and ask teams to contact us if the code is too obscure.

Eventually, we should improve things:

These are hardware parameters

• hardware motor names for a 4 wheel macanum or omniwheel bot
• For each wheel: FORWARD/REVERSE, pid values, and if each wheel has an encoder
• Do we want to add a robot heading compared to the wheels? (e.g., for omniwheels where the wheels on the sides versus of the corners of the bot)?
• Should we use an imu, and, if so, what name? In the ideal world, we could use multiple imus.
• Do we have odo pods, and, if so what are their encoder names. We have code for 3; if the ideal world, we could handle 2.
• Do we have an OTOS, and, if so, what is its hardware name?
• For wheel-encoder based pathing we have forward, strafe, and turn parameters (3 total).
• For 3-odo pod, we have values for each encoder for each of forward, strafe, and turn (9 total)
• For OTOS, we have the position and orientation (3 parameters)

These are algorithm parameters

• For DriveTo, we have around 16 parameters that can be tuned.

We should add

• Show telemetry for all wheels, odopos, imus, otos. Show robot position, target position, drive speeds
• A clear driveCancel method

We should document

• Possible hardware
• How to calibrate wheel encoders / odopods / imu / otos
• Where we've had issues
• How to integrate (e.g., setTargetPosition, updateDrive, sendTelemetry methods, areWeThereYet property)

Possible:

• Our state machine

Some day:

• Publish javadocs
• Package on jitpack.io or something similar