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This commit is contained in:
ImposterVarunoverlord 2023-11-30 19:47:38 -06:00
parent 4ea48d6479
commit afc4ae7316
3 changed files with 17 additions and 15 deletions
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6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
View File

@ -39,12 +39,12 @@ public class Arm {
setWristPos(Position.INTAKE);
}
public static double doorOpenpos = 0.5;
public static double doorOpenpos = 0.1;
public static double doorClosePos = 0.85;
public static double armStart = 0.22;
public static double armStart = 0.15;
public static double armScore = 1;
public static double wristStart = 0.9;
public static double wristStart = 0.93;
public static double wristScore = 0.98;
public void setArmPos(Position pos) {

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
View File

@ -71,7 +71,7 @@ public class Robot {
break;
//Ind_sleeper
case(1):
if (runTime > macroStartTime + 2) {
if (runTime > macroStartTime + 1) {
macroState ++;
}
break;

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueRightAuto_Drivepathonly_.java
View File

@ -13,14 +13,14 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
public void runOpMode() throws InterruptedException {
SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
// add more trajectories here
Pose2d start = new Pose2d(-24, 61.5, Math.toRadians(-90));
Pose2d start = new Pose2d(-36, 61.5, Math.toRadians(-90));
// Pose2d dropLeft = 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 nine = new Pose2d(-36, 40.5, Math.toRadians(-180));
Pose2d stack1 = new Pose2d(-68, 40.5, Math.toRadians(-180));
Pose2d stack1 = new Pose2d(-50, 40.5, Math.toRadians(-180));
Pose2d dropMiddle2 = new Pose2d(-36, 40.5, Math.toRadians(-180));
@ -28,9 +28,9 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
Pose2d bmid2 = new Pose2d(36, 5, Math.toRadians(-180));
Pose2d alimb = new Pose2d(60, 40.5, Math.toRadians(-180));
Pose2d alimb = new Pose2d(54, 40.5, Math.toRadians(-180));
Pose2d score = new Pose2d(60, 36, Math.toRadians(180));
Pose2d score = new Pose2d(54, 36, Math.toRadians(180));
drive.setPoseEstimate(start);
// add this per trajectories
@ -39,18 +39,18 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
.build();
Trajectory mid_drop = drive.trajectoryBuilder(dropMiddle)
.lineToLinearHeading(nine)
.build();
Trajectory stack = drive.trajectoryBuilder(nine)
.lineToLinearHeading(stack1)
.build();
Trajectory back_to_mid = drive.trajectoryBuilder(start)
Trajectory back_to_mid = drive.trajectoryBuilder(stack1)
.lineToLinearHeading(dropMiddle2)
.build();
Trajectory front_gate = drive.trajectoryBuilder(dropMiddle2)
.lineToLinearHeading(bmid)
.build();
Trajectory front_gate_pt_2 = drive.trajectoryBuilder(bmid2)
Trajectory front_gate_pt_2 = drive.trajectoryBuilder(bmid)
.lineToLinearHeading(bmid2)
.build();
Trajectory front_gate_pt_3 = drive.trajectoryBuilder(bmid2)
.lineToLinearHeading(alimb)
.build();
Trajectory about_to_score = drive.trajectoryBuilder(alimb)
@ -66,11 +66,13 @@ public class BlueRightAuto_Drivepathonly_ extends LinearOpMode {
if(isStopRequested()) return;
// add this per trajectories
drive.followTrajectory(scorePurple);
drive.turn(-90);
drive.followTrajectory(mid_drop);
drive.followTrajectory(stack);
// drive.followTrajectory(stack);
drive.followTrajectory(back_to_mid);
drive.followTrajectory(front_gate);
drive.followTrajectory(front_gate_pt_2);
drive.followTrajectory(front_gate_pt_3);
drive.followTrajectory(about_to_score);
drive.followTrajectory(scoreYellow);
}