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This commit is contained in:
ImposterVarunoverlord 2024-01-11 16:43:56 -06:00
parent eb96826eb1
commit b546a7ad0b
3 changed files with 16 additions and 16 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
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@ -22,7 +22,7 @@ public class Arm {
private double armTempPos;
private double doorPos;
private double wristPos;
public static double ARM_KP = 0.1;
public static double ARM_KP = 0.12;
public static double doorOpenPos = 0.3;
public static double doorClosePos = 0.61;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java
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@ -24,7 +24,7 @@ public class Slides {
public static int targetMax = 830;
public static int down = 0;
public static int mini_tier1 = 155;
public static int mini_tier1 = 165;
public static int tier1 = 350;
public static int tier2 = 500;
public static int tier3 = 760;

28
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java
View File

@ -14,26 +14,26 @@ import org.firstinspires.ftc.teamcode.roadrunner.trajectorysequence.TrajectorySe
@Config
@Autonomous(name = "Red Backstage Auto", group = "Competition", preselectTeleOp = "Main TeleOp")
public class RedBackStageAuto extends AutoBase {
public static final Pose2d DROP_1 = new Pose2d(12, -33.5, Math.toRadians(90));
public static final Pose2d DROP_2 = new Pose2d(12, -33.5, Math.toRadians(90));
public static final Pose2d DROP_1 = new Pose2d(12, -33.3, Math.toRadians(180));
public static final Pose2d DROP_2 = new Pose2d(12, -33.2, Math.toRadians(90));
public static final Pose2d ALINE = new Pose2d(12,-37.5, Math.toRadians(90));
public static final Pose2d DROP_3 = new Pose2d(12, -33.5, Math.toRadians(90));
public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(54.2, -29, Math.toRadians(180));
public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(54.2, -34, Math.toRadians(180));
public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(54.2, -35, Math.toRadians(180));
public static final Pose2d DROP_3 = new Pose2d(12, -33.2, Math.toRadians(0));
public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(52.2, -27.5, Math.toRadians(181));
public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(52, -32.5, Math.toRadians(181));
public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(52.2, -35.5, Math.toRadians(181));
public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(54, -27, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(51.2, -35, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(54, -27, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(51.2, -29, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(54, -27, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(51.2, -29, Math.toRadians(187));
public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(12, -9);//-36
public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(12, -8.5);//-36
public static final Pose2d STACK_LOCATION = new Pose2d(-55.3, -12, Math.toRadians(180));
public static final Pose2d STACK_LOCATION = new Pose2d(-56.6, -12, Math.toRadians(180));
@Override
public void createTrajectories() {
@ -74,7 +74,7 @@ public class RedBackStageAuto extends AutoBase {
case 2:
// intake
if (getRuntime() < macroTime + 0.3) {
robot.intake.setDcMotor(-0.2);
robot.intake.setDcMotor(-0.21);
}
// if intake is done move on
else {
@ -127,7 +127,7 @@ public class RedBackStageAuto extends AutoBase {
break;
//First 2 pixels off the stack are intaken by this
case 6:
robot.intake.setDcMotor(0.46);
robot.intake.setDcMotor(0.49);
robot.intake.setpos(STACK5);
macroTime = getRuntime();
macroState++;
@ -189,7 +189,7 @@ public class RedBackStageAuto extends AutoBase {
break;
//Geting the 2nd and 3rd pixel
case 12:
robot.intake.setDcMotor(0.46);
robot.intake.setDcMotor(0.49);
robot.intake.setpos(STACK3);
macroTime = getRuntime();
macroState++;