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Make AutoBase nicer

This commit is contained in:
Scott Barnes 2024-02-09 11:16:10 -06:00
parent 6cfd2876bd
commit c4bd3099d3
6 changed files with 192 additions and 174 deletions
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173
TeamCode/src/main/java/opmodes/AutoBase.java
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@ -9,10 +9,14 @@ import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation
import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation.Right;
import static org.firstinspires.ftc.teamcode.util.CenterStageCommon.PropLocation.Unknown;
import android.annotation.SuppressLint;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.arcrobotics.ftclib.gamepad.GamepadEx;
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -23,82 +27,60 @@ import org.firstinspires.ftc.teamcode.vision.Detection;
@Config
public abstract class AutoBase extends LinearOpMode {
public static int DEPOSIT_HEIGHT = 100;
public static double SCORING_DURATION_S = 2f; // for spin of axle
public static double APRIL_TAG_RIGHT_DELTA = -8.5;
public static double APRIL_TAG_LEFT_DELTA = 7.0;
protected static double Delay = 5000;
protected AutoConfig config;
protected Robot robot;
protected FtcDashboard dashboard;
protected Telemetry dashboardTelemetry;
protected CenterStageCommon.PropLocation propLocation;
protected final Pose2d initialPosition;
protected final CenterStageCommon.Alliance alliance;
protected final Pose2d parkLeft;
protected final Pose2d parkRight;
protected Pose2d park;
protected int delay = 0;
boolean leftWasPressed = false;
boolean rightWasPressed = false;
boolean upWasPressed = false;
boolean downWasPressed = false;
protected AutoBase(CenterStageCommon.Alliance alliance, Pose2d initialPosition, Pose2d parkLeft, Pose2d parkRight) {
this.alliance = alliance;
this.initialPosition = initialPosition;
this.parkLeft = parkLeft;
this.parkRight = parkRight;
protected AutoBase(AutoConfig config) {
this.config = config;
}
@SuppressLint("DefaultLocale")
@Override
public void runOpMode() {
// Initialize Robot and Dashboard
this.robot = new Robot(hardwareMap, telemetry, initialPosition, alliance);
this.dashboard = FtcDashboard.getInstance();
this.dashboardTelemetry = dashboard.getTelemetry();
this.park = parkLeft;
this.robot = new Robot(hardwareMap, telemetry, this.config.getInitialPosition(), this.config.getAlliance());
GamepadEx controller1 = new GamepadEx(this.gamepad1);
GamepadEx controller2 = new GamepadEx(this.gamepad2);
// Wait for match to start
while (!isStarted() && !isStopRequested()) {
this.robot.update();
controller1.readButtons();
controller2.readButtons();
boolean leftPressed = gamepad1.dpad_left;
boolean rightPressed = gamepad1.dpad_right;
boolean upPressed = gamepad1.dpad_up;
boolean downPressed = gamepad1.dpad_down;
this.telemetry.addData("To select parking location, use the dpad right or left. To add delay, use the dpad up to increase delay, and dpad down to decrease delay", "");
if(leftPressed && !leftWasPressed) {
this.park = parkLeft;
} else if(rightPressed && !rightWasPressed) {
this.park = parkRight;
} else if(upPressed && !upWasPressed) {
this.delay += 1000;
} else if(downPressed && !downWasPressed) {
this.delay -= 1000;
if (controller1.wasJustPressed(GamepadKeys.Button.DPAD_LEFT)
|| controller2.wasJustPressed(GamepadKeys.Button.DPAD_LEFT)) {
this.config.setParkLocation(AutoConfig.ParkLocation.Left);
}
if (controller1.wasJustPressed(GamepadKeys.Button.DPAD_RIGHT)
|| controller2.wasJustPressed(GamepadKeys.Button.DPAD_RIGHT)) {
this.config.setParkLocation(AutoConfig.ParkLocation.Right);
}
this.leftWasPressed = leftPressed;
this.rightWasPressed = rightPressed;
this.upWasPressed = upPressed;
this.downWasPressed = downPressed;
if (controller1.wasJustPressed(GamepadKeys.Button.DPAD_UP)
|| controller2.wasJustPressed(GamepadKeys.Button.DPAD_UP)) {
this.config.increaseDelay();
}
if (controller1.wasJustPressed(GamepadKeys.Button.DPAD_DOWN)
|| controller2.wasJustPressed(GamepadKeys.Button.DPAD_DOWN)) {
this.config.decreaseDelay();
}
this.telemetry.addData("Delay", this.delay);
this.telemetry.addData("Park set to", this.park);
this.telemetry.addLine("Press DPAD_UP to increase delay");
this.telemetry.addLine("Press DPAD_DOWN to decrease delay");
this.telemetry.addLine("Press DPAD_LEFT to park on the left");
this.telemetry.addLine("Press DPAD_RIGHT to park on the right");
this.telemetry.addData("Delay", String.format("%d second(s)", this.config.getDelay() / 1000));
this.telemetry.addData("Park set to", this.config.getParkLocation());
this.sleep(20);
}
if (isStopRequested()) { // remove later if nessacary as recent addition might be interefering
if (isStopRequested()) {
return;
}
// If the prop is visible at this point, then it must be in the center (2) position
determinePropLocation();
switch (this.propLocation) {
CenterStageCommon.PropLocation propLocation = determinePropLocation();
switch (propLocation) {
case Left:
propLeft();
break;
@ -110,9 +92,10 @@ public abstract class AutoBase extends LinearOpMode {
propRight();
break;
}
this.sleep(delay);
this.sleep(this.config.getDelay());
moveBackstage();
prepareToScore();
prepareToScore(propLocation);
scorePreloadedPixel();
park();
}
@ -123,6 +106,8 @@ public abstract class AutoBase extends LinearOpMode {
protected abstract void propRight();
protected void moveBackstage() { }
protected void openAndLiftClaw() {
this.robot.getClaw().openSync();
this.sleep(100);
@ -130,7 +115,7 @@ public abstract class AutoBase extends LinearOpMode {
}
protected void scorePreloadedPixel() {
this.robot.getGantry().setSlideTarget(DEPOSIT_HEIGHT);
this.robot.getGantry().setSlideTarget(AutoConfig.DEPOSIT_HEIGHT);
this.robot.getGantry().armOut();
while (this.robot.getGantry().isIn()) {
this.robot.update();
@ -138,7 +123,7 @@ public abstract class AutoBase extends LinearOpMode {
}
this.robot.getGantry().deposit();
double startTime = this.getRuntime();
while (this.getRuntime() < (startTime + SCORING_DURATION_S)) {
while (this.getRuntime() < (startTime + AutoConfig.SCORING_DURATION_S)) {
this.robot.update();
}
this.robot.getGantry().stop();
@ -146,21 +131,17 @@ public abstract class AutoBase extends LinearOpMode {
this.robot.getGantry().armInSync();
}
protected void prepareToScore() {
protected void prepareToScore(CenterStageCommon.PropLocation propLocation) {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
this.robot.getGantry().armOut();
this.robot.getGantry().setSlideTarget(DEPOSIT_HEIGHT);
this.robot.getGantry().setSlideTarget(AutoConfig.DEPOSIT_HEIGHT);
if (this.alliance == CenterStageCommon.Alliance.Blue) {
builder.lineToLinearHeading(new Pose2d(35, 36, 0));
} else if (this.alliance == CenterStageCommon.Alliance.Red) {
builder.lineToLinearHeading(new Pose2d(35, -35, 0));
}
builder.lineToLinearHeading(new Pose2d(35, Math.copySign(36, this.config.getInitialPosition().getY()), 0));
this.robot.getDrive().followTrajectorySequenceAsync(builder.build());
Pose2d inferredPos = null;
Pose2d inferredPos;
while (this.robot.getDrive().isBusy()) {
this.robot.update();
@ -176,28 +157,24 @@ public abstract class AutoBase extends LinearOpMode {
inferredPos = this.robot.getDrive().getPoseEstimate();
}
// At this point we know that Y = 38
// For 2 -> Ydelta = 0
// For 3 -> 3 5/8
// For 1 -> - 3 5/8
double delta = 0;
switch (this.propLocation) {
switch (propLocation) {
case Left:
delta = APRIL_TAG_LEFT_DELTA;
delta = AutoConfig.APRIL_TAG_LEFT_DELTA;
break;
case Unknown:
case Center:
delta = 0;
break;
case Right:
delta = APRIL_TAG_RIGHT_DELTA;
delta = AutoConfig.APRIL_TAG_RIGHT_DELTA;
break;
}
builder = this.robot.getDrive().trajectorySequenceBuilder(inferredPos);
Pose2d target = new Pose2d(
60 - SCORING_DISTANCE_FROM_APRIL_TAG - CAMERA_FORWARD_OFFSET_IN, // 60 is the X position of the april tag
36 + delta,
Math.copySign(36, this.config.getInitialPosition().getY()) + delta,
0);
builder.lineToLinearHeading(target);
this.robot.getDrive().followTrajectorySequenceAsync(builder.build());
@ -206,23 +183,8 @@ public abstract class AutoBase extends LinearOpMode {
}
}
protected void moveBackstage() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
if (!this.isBackstage()) {
if (this.alliance == CenterStageCommon.Alliance.Blue) {
builder.lineToSplineHeading(new Pose2d(-40, 60, Math.PI));
builder.lineToLinearHeading(new Pose2d(12, 60, Math.PI));
} else if (this.alliance == CenterStageCommon.Alliance.Red) {
builder.lineToSplineHeading(new Pose2d(-40, -60, Math.PI));
builder.lineToLinearHeading(new Pose2d(12, -60, Math.PI));
}
this.robot.getDrive().followTrajectorySequence(builder.build());
}
}
protected void determinePropLocation() {
this.robot.getClaw().setArmPositionAsync(PICKUP_ARM_MIN); // changed from setArmPositionAsync
protected CenterStageCommon.PropLocation determinePropLocation() {
this.robot.getClaw().setArmPositionAsync(PICKUP_ARM_MIN);
while (!this.robot.getClaw().isArmAtPosition() && !this.robot.getCamera().getProp().isValid()) {
this.robot.update();
@ -231,13 +193,8 @@ public abstract class AutoBase extends LinearOpMode {
sleep(250);
setPropLocationIfVisible(Center, Unknown); //only works if arm is async
if (this.propLocation != Center) {
peekRight();
}
}
protected void peekRight() {
CenterStageCommon.PropLocation propLocation = getPropLocationIfVisible(Center, Unknown);
if (propLocation != Center) {
Pose2d currentPose = this.robot.getDrive().getPoseEstimate();
final double y = currentPose.getY() > 0 ? -5 : 5;
final double z = Math.toRadians(-25);
@ -247,10 +204,13 @@ public abstract class AutoBase extends LinearOpMode {
this.sleep(250);
setPropLocationIfVisible(Right, Left);
propLocation = getPropLocationIfVisible(Right, Left);
}
protected void setPropLocationIfVisible(CenterStageCommon.PropLocation ifVisible, CenterStageCommon.PropLocation ifNotVisible) {
return propLocation;
}
private CenterStageCommon.PropLocation getPropLocationIfVisible(CenterStageCommon.PropLocation ifVisible, CenterStageCommon.PropLocation ifNotVisible) {
float seenCount = 0;
float samples = 10;
for (int i = 0; i < samples; i++) {
@ -260,21 +220,18 @@ public abstract class AutoBase extends LinearOpMode {
}
}
if (seenCount / samples > 0.5) {
this.propLocation = ifVisible;
return ifVisible;
} else {
this.propLocation = ifNotVisible;
return ifNotVisible;
}
}
public void park() {
private void park() {
Pose2d park = this.config.getSelectionParkPosition();
double currentX = this.robot.getDrive().getPoseEstimate().getX();
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.strafeTo(new Vector2d(currentX, park.getY()));
builder.lineToLinearHeading(park);
this.robot.getDrive().followTrajectorySequence(builder.build());
}
protected boolean isBackstage() {
return this.initialPosition.getX() > 0;
}
}

59
TeamCode/src/main/java/opmodes/AutoConfig.java Normal file
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@ -0,0 +1,59 @@
package opmodes;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
@AllArgsConstructor
@NoArgsConstructor
@Builder
@Data
public class AutoConfig {
public static int DEPOSIT_HEIGHT = 100;
public static double SCORING_DURATION_S = 2f;
public static double APRIL_TAG_RIGHT_DELTA = -8.5;
public static double APRIL_TAG_LEFT_DELTA = 7.0;
private Pose2d initialPosition;
private Pose2d leftParkPosition;
private Pose2d rightParkPosition;
private ParkLocation parkLocation = ParkLocation.Left;
private long delay;
public Pose2d getSelectionParkPosition() {
return this.parkLocation == ParkLocation.Left
? this.leftParkPosition
: this.rightParkPosition;
}
protected CenterStageCommon.Alliance getAlliance() {
if (this.initialPosition == null) {
throw new RuntimeException("Thou fool! Thou must set the initial position!");
}
return this.getInitialPosition().getY() > 0
? CenterStageCommon.Alliance.Blue
: CenterStageCommon.Alliance.Red;
}
public void increaseDelay() {
this.delay += 1000;
}
public void decreaseDelay() {
this.delay -= 1000;
}
protected boolean isBackstage() {
return this.initialPosition.getX() > 0;
}
public enum ParkLocation {
Left,
Right
}
}

24
TeamCode/src/main/java/opmodes/BlueBackStage.java
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@ -1,29 +1,25 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "BlueBackStage", preselectTeleOp = "MainTeleOp")
public class BlueBackStage extends AutoBase {
public BlueBackStage() {
super(
CenterStageCommon.Alliance.Blue,
new Pose2d(12, 63, Math.toRadians(90)),
new Pose2d(62, 62),
new Pose2d(62, 12, Math.toRadians(0)));
super(AutoConfig.builder()
.initialPosition(new Pose2d(12, 63, Math.toRadians(90)))
.leftParkPosition(new Pose2d(62, 62))
.rightParkPosition(new Pose2d(62, 12, Math.toRadians(0)))
.parkLocation(AutoConfig.ParkLocation.Right)
.build());
}
@Override
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(17.3, 41.6, Math.toRadians(108.25)));
this.robot.getDrive().followTrajectorySequence(builder.build());
@ -35,17 +31,17 @@ public class BlueBackStage extends AutoBase {
this.robot.getDrive().followTrajectorySequence(builder.build());
}
@Override
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(12, 42, initialPosition.getHeading()));
builder.lineToLinearHeading(new Pose2d(12, 42, this.config.getInitialPosition().getHeading()));
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
@Override
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(18.25, 32, Math.toRadians(0)));
this.robot.getDrive().followTrajectorySequence(builder.build());

32
TeamCode/src/main/java/opmodes/BlueFrontStage.java
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@ -1,28 +1,24 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "BlueFrontStage", preselectTeleOp = "MainTeleOp")
public class BlueFrontStage extends AutoBase {
public BlueFrontStage() {
super(
CenterStageCommon.Alliance.Blue,
new Pose2d(-36, 63, Math.toRadians(90)),
new Pose2d(62, 62),
new Pose2d(62, 12, Math.toRadians(0)));
super(AutoConfig.builder()
.initialPosition(new Pose2d(-36, 63, Math.toRadians(90)))
.leftParkPosition(new Pose2d(62, 62))
.rightParkPosition(new Pose2d(62, 12, Math.toRadians(0)))
.parkLocation(AutoConfig.ParkLocation.Left)
.build());
}
@Override
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-43.5, 31.5, Math.toRadians(180)));
this.robot.getDrive().followTrajectorySequence(builder.build());
@ -30,21 +26,29 @@ public class BlueFrontStage extends AutoBase {
openAndLiftClaw();
}
@Override
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-36, 42, initialPosition.getHeading()));
builder.lineToLinearHeading(new Pose2d(-36, 42, this.config.getInitialPosition().getHeading()));
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
@Override
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-39.34, 40.45, Math.toRadians(64.3)));
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
@Override
protected void moveBackstage() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToSplineHeading(new Pose2d(-40, 60, Math.PI));
builder.lineToLinearHeading(new Pose2d(12, 60, Math.PI));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
}

22
TeamCode/src/main/java/opmodes/RedBackStage.java
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@ -1,27 +1,25 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "RedBackStage", preselectTeleOp = "MainTeleOp")
public class RedBackStage extends AutoBase {
public RedBackStage() {
super(
CenterStageCommon.Alliance.Red,
new Pose2d(12, -63, Math.toRadians(-90)),
new Pose2d(61, -12),
new Pose2d(62, -62));
super(AutoConfig.builder()
.initialPosition(new Pose2d(12, -63, Math.toRadians(-90)))
.leftParkPosition(new Pose2d(61, -12))
.rightParkPosition(new Pose2d(62, -62))
.parkLocation(AutoConfig.ParkLocation.Left)
.build());
}
@Override
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(18.25, -33.5, Math.toRadians(0)));
this.robot.getDrive().followTrajectorySequence(builder.build());
@ -29,17 +27,17 @@ public class RedBackStage extends AutoBase {
openAndLiftClaw();
}
@Override
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(12, -42, initialPosition.getHeading()));
builder.lineToLinearHeading(new Pose2d(12, -42, this.config.getInitialPosition().getHeading()));
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
@Override
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(15.9, -41.35, Math.toRadians(244.15)));
this.robot.getDrive().followTrajectorySequence(builder.build());

32
TeamCode/src/main/java/opmodes/RedFrontStage.java
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@ -1,28 +1,24 @@
package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "RedFrontStage", preselectTeleOp = "MainTeleOp")
public class RedFrontStage extends AutoBase {
public RedFrontStage() {
super(
CenterStageCommon.Alliance.Red,
new Pose2d(-36, -63, Math.toRadians(-90)),
new Pose2d(61, -12),
new Pose2d(62, -62));
super(AutoConfig.builder()
.initialPosition(new Pose2d(-36, -63, Math.toRadians(-90)))
.leftParkPosition(new Pose2d(61, -12))
.rightParkPosition(new Pose2d(62, -62))
.parkLocation(AutoConfig.ParkLocation.Right)
.build());
}
@Override
protected void propLeft() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-40.46, -41.93, Math.toRadians(291.8)));
this.robot.getDrive().followTrajectorySequence(builder.build());
@ -30,21 +26,29 @@ public class RedFrontStage extends AutoBase {
openAndLiftClaw();
}
@Override
protected void propCenter() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-36, -42, initialPosition.getHeading()));
builder.lineToLinearHeading(new Pose2d(-36, -42, this.config.getInitialPosition().getHeading()));
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
@Override
protected void propRight() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(new Pose2d(-41.82, -33.68, Math.toRadians(180)));
this.robot.getDrive().followTrajectorySequence(builder.build());
openAndLiftClaw();
}
@Override
protected void moveBackstage() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToSplineHeading(new Pose2d(-40, -60, Math.PI));
builder.lineToLinearHeading(new Pose2d(12, -60, Math.PI));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
}