ต้นฉบับ

TeamCode/build.gradle

@@ -14,15 +14,30 @@
 // Include common definitions from above.
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
-
+apply plugin: 'org.jetbrains.kotlin.android'
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
 
+
+    compileSdk 35
+    defaultConfig {
+        minSdk 24
+    }
     packagingOptions {
         jniLibs.useLegacyPackaging true
     }
 }
 
 dependencies {
     implementation project(':FtcRobotController')
+    implementation "com.bylazar:fullpanels:1.0.9"
 }
+allprojects {
+    repositories {
+        mavenCentral()
+        google()
+        maven {
+            url = "https://mymaven.bylazar.com/releases"
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java

@@ -1,19 +1,49 @@
 package org.firstinspires.ftc.teamcode.pedroPathing;
 
+
+
 import com.pedropathing.follower.Follower;
 import com.pedropathing.follower.FollowerConstants;
 import com.pedropathing.ftc.FollowerBuilder;
+import com.pedropathing.ftc.drivetrains.MecanumConstants;
+import com.pedropathing.ftc.localization.constants.PinpointConstants;
 import com.pedropathing.paths.PathConstraints;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+
 public class Constants {
-    public static FollowerConstants followerConstants = new FollowerConstants();
+    public static FollowerConstants followerConstants = new FollowerConstants().mass(5);
 
+    public static MecanumConstants driveConstants = new MecanumConstants()
+            .maxPower(1)
+            .rightFrontMotorName("rf")
+            .rightRearMotorName("rr")
+            .leftRearMotorName("lr")
+            .leftFrontMotorName("lf")
+            .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE)
+            .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
+            .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
+            .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD);
     public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);
 
+    public static PinpointConstants localizerConstants = new PinpointConstants()
+            .forwardPodY(0)
+            .strafePodX(0)
+            .distanceUnit(DistanceUnit.INCH)
+            .hardwareMapName("pinpoint")
+            .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
+            .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
+            .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED);
+
     public static Follower createFollower(HardwareMap hardwareMap) {
         return new FollowerBuilder(followerConstants, hardwareMap)
                 .pathConstraints(pathConstraints)
+                .mecanumDrivetrain(driveConstants)
+                .pinpointLocalizer(localizerConstants)
                 .build();
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java

@@ -40,18 +40,18 @@
  * @author Baron Henderson - 20077 The Indubitables
  * @version 1.0, 6/26/2025
  */
-@Configurable
+//@Configurable
 @TeleOp(name = "Tuning", group = "Pedro Pathing")
 public class Tuning extends SelectableOpMode {
     public static Follower follower;
 
-    @IgnoreConfigurable
+    //@IgnoreConfigurable
     static PoseHistory poseHistory;
 
-    @IgnoreConfigurable
+    //@IgnoreConfigurable
     static TelemetryManager telemetryM;
 
-    @IgnoreConfigurable
+    //@IgnoreConfigurable
     static ArrayList<String> changes = new ArrayList<>();
 
     public Tuning() {

build.gradle

@@ -12,6 +12,7 @@ buildscript {
     dependencies {
         // Note for FTC Teams: Do not modify this yourself.
         classpath 'com.android.tools.build:gradle:8.7.0'
+        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:2.0.0"
     }
 }