From 2076df39e3b92f81f9316efb753367034098726c Mon Sep 17 00:00:00 2001 From: ImposterVarunoverlord Date: Wed, 29 Nov 2023 19:18:13 -0600 Subject: [PATCH] This is the new code with updated values for the new intake ramp with the new arm and hopper. --- .../org/firstinspires/ftc/teamcode/hardware/Arm.java | 4 ++-- .../autonomous/BlueRightAuto_Drivepathonly_.java | 12 +++++++----- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java index 838b8f6..25ea42f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java @@ -42,9 +42,9 @@ public class Arm { public static double doorOpenpos = 0.5; public static double doorClosePos = 0.85; - public static double armStart = 0.325; + public static double armStart = 0.22; public static double armScore = 1; - public static double wristStart = 0.735; + public static double wristStart = 0.9; public static double wristScore = 0.98; public void setArmPos(Position pos) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java index d2e127f..79b3f88 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java @@ -16,16 +16,17 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode { Pose2d start = new Pose2d(-24, 61.5, Math.toRadians(-90)); // Pose2d dropLeft = new Pose2d(24, 60, Math.toRadians(-90)); - Pose2d dropMiddle = new Pose2d(-24, 40.5, Math.toRadians(-180)); -// Pose2d dropRight = new Pose2d(24, 60, Math.toRadians(-90)); + Pose2d dropMiddle = new Pose2d(-36, 40.5, Math.toRadians(-90)); +// + Pose2d nine = new Pose2d(-36, 40.5, Math.toRadians(-180)); Pose2d stack1 = new Pose2d(-68, 40.5, Math.toRadians(-180)); - Pose2d dropMiddle2 = new Pose2d(-24, 40.5, Math.toRadians(-180)); + Pose2d dropMiddle2 = new Pose2d(-36, 40.5, Math.toRadians(-180)); - Pose2d bmid = new Pose2d(-24, 5, Math.toRadians(-180)); + Pose2d bmid = new Pose2d(-36, 5, Math.toRadians(-180)); - Pose2d bmid2 = new Pose2d(24, 5, Math.toRadians(-180)); + Pose2d bmid2 = new Pose2d(36, 5, Math.toRadians(-180)); Pose2d alimb = new Pose2d(60, 40.5, Math.toRadians(-180)); @@ -41,6 +42,7 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode { .lineToLinearHeading(stack1) .build(); + Trajectory back_to_mid= drive.trajectoryBuilder(stack1) .lineToLinearHeading(dropMiddle2) .build();