Created odometry for Drivetrain.java

[ngarnsworthy]

Before issuing a pull request:

• Ensure all constants are in the Constants class
• Update the backup OpMode if needed
• Update README.md

[Copilot]

Pull Request Overview

This PR adds odometry functionality to the Drivetrain subsystem, enabling the robot to track its position on the field using wheel encoders and a gyroscope.

Key Changes:

• Added MecanumDriveOdometry with gyroscope integration to track robot pose
• Updated Drivetrain constructor to require a GyroEx parameter
• Added kinematics constants for mecanum drive wheel positions

Reviewed Changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 8 comments.

File	Description
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Drivetrain.java	Integrated odometry tracking with encoder readings, gyroscope input, and periodic pose updates
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java	Instantiated RevIMU gyroscope and passed it to the Drivetrain constructor
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java	Added wheel location constants and MecanumDriveKinematics for odometry calculations

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[Copilot]

Missing space after method name - should be periodic() { for consistency with Java style conventions.

Suggested change

	public void periodic(){
	public void periodic() {

[Copilot]

Missing space after getPose() and before {. Should be formatted as public Pose2d getPose() { return pose; } or split across multiple lines for consistency.

Suggested change

	public Pose2d getPose() {return pose;}
	public Pose2d getPose() { return pose; }

[Copilot]

This import is unused and should be removed.

Suggested change

import com.arcrobotics.ftclib.kinematics.HolonomicOdometry;

[Copilot]

These imports are unused and should be removed.

Suggested change

import com.qualcomm.robotcore.hardware.IntegratingGyroscope;

[Copilot]

The pose field is not initialized and will be null until periodic() is called. This will cause a NullPointerException if getPose() is called before the first periodic() execution. Consider initializing it in the constructor: pose = new Pose2d(0.0, 0.0, new Rotation2d());

[Copilot]

The width variable is defined but never used. The wheel locations use hardcoded values (0.381) instead. Consider using width/2 consistently:

new Translation2d(length/2, width/2);   // frontLeft
new Translation2d(length/2, -width/2);  // frontRight
new Translation2d(-length/2, width/2);  // backLeft
new Translation2d(-length/2, -width/2); // backRight

This ensures consistency and makes the code easier to maintain if the robot dimensions change.

Suggested change

	new Translation2d(length/2, 0.381);
	public static final Translation2d frontRightLocation =
	new Translation2d(length/2, -0.381);
	public static final Translation2d backLeftLocation =
	new Translation2d(-length/2, 0.381);
	public static final Translation2d backRightLocation =
	new Translation2d(-length/2, -0.381);
	new Translation2d(length/2, width/2);
	public static final Translation2d frontRightLocation =
	new Translation2d(length/2, -width/2);
	public static final Translation2d backLeftLocation =
	new Translation2d(-length/2, width/2);
	public static final Translation2d backRightLocation =
	new Translation2d(-length/2, -width/2);

[Copilot]

This import is unused and should be removed.

Suggested change

import com.qualcomm.robotcore.hardware.IntegratingGyroscope;

[Copilot]

Extra space before double - should be a single space for consistency.

Suggested change

	private static final double width = 0.3444875;
	private static final double width = 0.3444875;

[Copilot]

Pull Request Overview

Copilot reviewed 4 out of 4 changed files in this pull request and generated 4 comments.

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[Copilot]

The pose field is not initialized in the constructor, which means it will be null until the first periodic() call. This could cause a NullPointerException if getPose() is called before periodic() runs. Initialize pose in the constructor with the initial pose value: this.pose = new Pose2d(0.0, 0.0, new Rotation2d());

[Copilot]

The time calculation System.currentTimeMillis()/1000.0 performs integer division before converting to double, potentially losing precision. Use System.currentTimeMillis()/1000.0 which should work, but consider using System.nanoTime() for better precision: System.nanoTime() / 1e9 or explicitly cast to double: (double)System.currentTimeMillis() / 1000.0

[Copilot]

The import com.qualcomm.robotcore.hardware.IntegratingGyroscope is unused and should be removed.

Suggested change

import com.qualcomm.robotcore.hardware.IntegratingGyroscope;

[Copilot]

Extra space between final and double should be removed for consistency with the line above.