# L190

2 file(s) copied, then 8 change(s) in 2 file(s), 20 line(s) of code to write.

## Copies

- `lessons/L190SpeedDriveTrain.java` to `mytry/L190SpeedDriveTrain.java`
- `lessons/L190VelocityDriveOpMode.java` to `mytry/L190VelocityDriveOpMode.java`

## L190SpeedDriveTrain

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L190SpeedDriveTrain.java`

### A change

Delete 0 lines, write 1 line.

```diff
--- before this change
+++ after it
@@ -2,6 +2,7 @@
 
 import org.firstinspires.ftc.teamcode.base.CorbelsMecanum;
 import org.firstinspires.ftc.teamcode.base.RobotHardware;
+import org.firstinspires.ftc.teamcode.pedro.Constants;
 
 /**
  * L190: the drivetrain that asks the wheels for a speed.
```

### A change

Delete 0 lines, write 9 lines.

```diff
--- before this change
+++ after it
@@ -39,5 +39,14 @@
         // When on L190S060, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l190.html#l190s060
         // for what to do here.
+        double[] measured = measuredSpeeds.all();
+        double[] powers = new double[4];
+        for (int i = 0; i < 4; i++) {
+            double feedforward = Constants.powerPerInchPerSecond * wanted[i];
+            double feedback = VELOCITY_KP * (wanted[i] - measured[i]);
+            powers[i] = clampToPower(feedforward + feedback);
+        }
+        setCommandedWheels(powers[FL], powers[FR], powers[BL], powers[BR]);
+        publishWheelSpeeds(wanted, measured);
     }
 }
```

## L190VelocityDriveOpMode

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L190VelocityDriveOpMode.java`

### A change

Delete 0 lines, write 2 lines.

```diff
--- before this change
+++ after it
@@ -8,6 +8,8 @@
 
 import org.firstinspires.ftc.teamcode.base.CorbelsTeleOp;
 import org.firstinspires.ftc.teamcode.base.Tracker;
+import org.firstinspires.ftc.teamcode.base.WheelTargets;
+import org.firstinspires.ftc.teamcode.pedro.Constants;
 
 /**
  * L190: ask the wheels for a speed. Full stick means 40 inches per second, not
```

### A change

Delete 0 lines, write 1 line.

```diff
--- before this change
+++ after it
@@ -44,6 +44,7 @@
     // When on L190S030, see
     // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l190.html#l190s030
     // for what to do here.
+    L190SpeedDriveTrain drivetrain;
 
     // 'public' to match the parent class. 'public' allows access from any code.
     @Override
```

### A change

Delete 0 lines, write 1 line.

```diff
--- before this change
+++ after it
@@ -54,6 +54,7 @@
         // When on L190S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l190.html#l190s040
         // for what to do here.
+        drivetrain = new L190SpeedDriveTrain(hardware);
 
         initAfter();
     }
```

### A change

Delete 1 line, write 1 line.

```diff
--- before this change
+++ after it
@@ -56,7 +56,7 @@
         // for what to do here.
         drivetrain = new L190SpeedDriveTrain(hardware);
 
-        initAfter();
+        initAfter(drivetrain);
     }
 
     // 'public' to match the parent class. 'public' allows access from any code.
```

### A change

Delete 3 lines, write 3 lines.

```diff
--- before this change
+++ after it
@@ -88,9 +88,9 @@
         // When on L190S050, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l190.html#l190s050
         // for what to do here.
-        double forwardInPerS = 0.0;
-        double strafeInPerS = 0.0;
-        double turnRadPerS = 0.0;
+        double forwardInPerS = deadband(-leftStickY, band) * MAX_IPS;
+        double strafeInPerS = deadband(-leftStickX, band) * MAX_IPS;
+        double turnRadPerS = deadband(-rightStickX, band) * MAX_TURN_RADPS;
         Tracker.publish("command/forward_ips", forwardInPerS);
         Tracker.publish("command/left_ips", strafeInPerS);
         Tracker.publish("command/turn_radps", turnRadPerS);
```

### A change

Delete 0 lines, write 2 lines.

```diff
--- before this change
+++ after it
@@ -94,6 +94,8 @@
         Tracker.publish("command/forward_ips", forwardInPerS);
         Tracker.publish("command/left_ips", strafeInPerS);
         Tracker.publish("command/turn_radps", turnRadPerS);
+        double[] target = WheelTargets.forMecanum(forwardInPerS, strafeInPerS, turnRadPerS, Constants.turnRadiusInches);
+        drivetrain.setCommandedWheelSpeeds(target[0], target[1], target[2], target[3]);
     }
 
     // 'public' to match the parent class. 'public' allows access from any code.
```