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I updated the drive path for BlueRightAuto_Drivepathonly_

This commit is contained in:
ImposterVarunoverlord 2023-11-30 00:41:04 -06:00
parent 2076df39e3
commit 4ea48d6479
1 changed files with 11 additions and 15 deletions
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26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java
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@ -38,29 +38,24 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
.lineToLinearHeading(dropMiddle)
.build();
Trajectory stack= drive.trajectoryBuilder(dropMiddle)
Trajectory mid_drop = drive.trajectoryBuilder(dropMiddle)
.lineToLinearHeading(nine)
.build();
Trajectory stack = drive.trajectoryBuilder(nine)
.lineToLinearHeading(stack1)
.build();
Trajectory back_to_mid= drive.trajectoryBuilder(stack1)
Trajectory back_to_mid = drive.trajectoryBuilder(start)
.lineToLinearHeading(dropMiddle2)
.build();
Trajectory front_gate= drive.trajectoryBuilder(dropMiddle2)
Trajectory front_gate = drive.trajectoryBuilder(dropMiddle2)
.lineToLinearHeading(bmid)
.build();
Trajectory front_gate_pt_2= drive.trajectoryBuilder(bmid)
.lineToLinearHeading(bmid2)
.build();
Trajectory about_to_score= drive.trajectoryBuilder(bmid2)
Trajectory front_gate_pt_2 = drive.trajectoryBuilder(bmid2)
.lineToLinearHeading(alimb)
.build();
Trajectory about_to_score = drive.trajectoryBuilder(alimb)
.lineToLinearHeading(score)
.build();
// the scorePurple. should be whatever the start pose2d thing was
Trajectory scoreYellow = drive.trajectoryBuilder(scorePurple.end())
.lineToLinearHeading(score)
@ -71,6 +66,7 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
if(isStopRequested()) return;
// add this per trajectories
drive.followTrajectory(scorePurple);
drive.followTrajectory(mid_drop);
drive.followTrajectory(stack);
drive.followTrajectory(back_to_mid);
drive.followTrajectory(front_gate);