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This is the new code with updated values for the new intake ramp with the new arm and hopper.

This commit is contained in:
ImposterVarunoverlord 2023-11-29 19:18:13 -06:00
parent a13a1d584b
commit 2076df39e3
2 changed files with 9 additions and 7 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
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@ -42,9 +42,9 @@ public class Arm {
public static double doorOpenpos = 0.5; public static double doorOpenpos = 0.5;
public static double doorClosePos = 0.85; 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 armScore = 1;
public static double wristStart = 0.735; public static double wristStart = 0.9;
public static double wristScore = 0.98; public static double wristScore = 0.98;
public void setArmPos(Position pos) { public void setArmPos(Position pos) {

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java
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@ -16,16 +16,17 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
Pose2d start = new Pose2d(-24, 61.5, Math.toRadians(-90)); Pose2d start = new Pose2d(-24, 61.5, Math.toRadians(-90));
// Pose2d dropLeft = new Pose2d(24, 60, Math.toRadians(-90)); // Pose2d dropLeft = new Pose2d(24, 60, Math.toRadians(-90));
Pose2d dropMiddle = new Pose2d(-24, 40.5, Math.toRadians(-180)); Pose2d dropMiddle = new Pose2d(-36, 40.5, Math.toRadians(-90));
// Pose2d dropRight = new Pose2d(24, 60, Math.toRadians(-90)); //
Pose2d nine = new Pose2d(-36, 40.5, Math.toRadians(-180));
Pose2d stack1 = new Pose2d(-68, 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)); Pose2d alimb = new Pose2d(60, 40.5, Math.toRadians(-180));
@ -41,6 +42,7 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
.lineToLinearHeading(stack1) .lineToLinearHeading(stack1)
.build(); .build();
Trajectory back_to_mid= drive.trajectoryBuilder(stack1) Trajectory back_to_mid= drive.trajectoryBuilder(stack1)
.lineToLinearHeading(dropMiddle2) .lineToLinearHeading(dropMiddle2)
.build(); .build();