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Simplify method signature

This commit is contained in:
Scott Barnes 2023-11-17 14:13:43 -06:00
parent 506069cc64
commit a335c50c9b
1 changed files with 2 additions and 3 deletions
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5
TeamCode/src/main/java/opmodes/AutoBase.java
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@ -23,7 +23,6 @@ import org.firstinspires.ftc.teamcode.vision.Detection;
public abstract class AutoBase extends LinearOpMode { public abstract class AutoBase extends LinearOpMode {
public static int DEPOSIT_HEIGHT = 100; public static int DEPOSIT_HEIGHT = 100;
public static int SCORING_DURATION_MS = 5000; public static int SCORING_DURATION_MS = 5000;
protected Robot robot; protected Robot robot;
protected FtcDashboard dashboard; protected FtcDashboard dashboard;
protected Telemetry dashboardTelemetry; protected Telemetry dashboardTelemetry;
@ -68,7 +67,7 @@ public abstract class AutoBase extends LinearOpMode {
} }
moveToBackstage(); moveToBackstage();
prepareToScore(2); prepareToScore();
scorePreloadedPixel(); scorePreloadedPixel();
// TODO Tommy: Park // TODO Tommy: Park
@ -86,7 +85,7 @@ public abstract class AutoBase extends LinearOpMode {
this.robot.getGantry().stop(); this.robot.getGantry().stop();
} }
private void prepareToScore(int tagId) { private void prepareToScore() {
double distance = this.robot.getCamera().getDistanceToAprilTag(2, 25, 5); double distance = this.robot.getCamera().getDistanceToAprilTag(2, 25, 5);
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder(); TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.forward(distance - SCORING_DISTANCE_FROM_APRIL_TAG); builder.forward(distance - SCORING_DISTANCE_FROM_APRIL_TAG);