73 lines
2.9 KiB
Java
73 lines
2.9 KiB
Java
//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 = "AutoSandbox", preselectTeleOp = "MainTeleOp")
|
|
//public class AutoSandbox extends AutoBase {
|
|
// private final Pose2d rendezvous = new Pose2d(12, 48, Math.toRadians(-89));
|
|
//
|
|
// public AutoSandbox() {
|
|
// super(
|
|
// CenterStageCommon.Alliance.Blue,
|
|
// new Pose2d(12, 63, Math.toRadians(-90)),
|
|
// new Pose2d(62, 62));
|
|
// }
|
|
//
|
|
// protected void propLeft() {
|
|
// TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
|
|
// builder.lineToLinearHeading(new Pose2d(36, 25, Math.toRadians(-33)));
|
|
// builder.addDisplacementMarker(10, () -> {
|
|
// this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
|
|
// });
|
|
// this.robot.getDrive().followTrajectorySequence(builder.build());
|
|
//
|
|
// openAndLiftClaw();
|
|
// }
|
|
//
|
|
// protected void propCenter() {
|
|
//
|
|
// TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
|
|
// builder.lineToLinearHeading(new Pose2d(12,48, Math.toRadians(90)));
|
|
// builder.addDisplacementMarker(10, () -> {
|
|
// this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
|
|
// });
|
|
// builder.lineToConstantHeading(new Vector2d(12,12));
|
|
//
|
|
// this.robot.getDrive().followTrajectorySequence(builder.build());
|
|
//
|
|
// openAndLiftClaw();
|
|
//
|
|
//// builder = this.robot.getTrajectorySequenceBuilder();
|
|
//// builder.turn((Math.toRadians(90)));
|
|
//// this.robot.getDrive().followTrajectorySequence(builder.build());
|
|
//
|
|
//
|
|
//// TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
|
|
//// builder.lineToConstantHeading(rendezvous.vec());
|
|
//// builder.addDisplacementMarker(10, () -> {
|
|
//// this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
|
|
//// });
|
|
//// this.robot.getDrive().followTrajectorySequence(builder.build());
|
|
////
|
|
//// openAndLiftClaw();
|
|
// }
|
|
//
|
|
// protected void propRight() {
|
|
// TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
|
|
// builder.lineToLinearHeading(new Pose2d(32, 34, Math.toRadians(0)));
|
|
// builder.lineToConstantHeading(new Vector2d(19, 34));
|
|
// builder.addTemporalMarker(0.5, () -> {
|
|
// this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
|
|
// });
|
|
// this.robot.getDrive().followTrajectorySequence(builder.build());
|
|
//
|
|
// openAndLiftClaw();
|
|
// }
|
|
//} |