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Claw, Gantry, and Lift

This commit is contained in:
Thomas 2023-12-01 17:53:42 -06:00
parent 2b167a78ca
commit 0e47d892cf
2 changed files with 3 additions and 3 deletions
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2
TeamCode/src/main/java/opmodes/AutoBase.java
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@ -53,7 +53,7 @@ public abstract class AutoBase extends LinearOpMode {
this.robot.update(); this.robot.update();
this.sleep(20); this.sleep(20);
} }
this.sleep(5000);
if (isStopRequested()) { if (isStopRequested()) {
return; return;
} }

4
TeamCode/src/main/java/opmodes/RedFrontStage.java
View File

@ -11,7 +11,7 @@ import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "RedFrontStage", preselectTeleOp = "MainTeleOp") @Autonomous(name = "RedFrontStage", preselectTeleOp = "MainTeleOp")
public class RedFrontStage extends AutoBase { public class RedFrontStage extends AutoBase {
private final Pose2d rendezvous = new Pose2d(-36, -11); private final Pose2d rendezvous = new Pose2d(-36, -10);
public RedFrontStage() { public RedFrontStage() {
super( super(
@ -23,7 +23,7 @@ public class RedFrontStage extends AutoBase {
// propLeft will be a reverse of BlueFrontpropRight // propLeft will be a reverse of BlueFrontpropRight
protected void propLeft() { protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder(); TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-54, -17, Math.toRadians(123))); builder.lineToLinearHeading(new Pose2d(-58, -17, Math.toRadians(123)));
builder.addDisplacementMarker(10, () -> { builder.addDisplacementMarker(10, () -> {
this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN); this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
}); });