karx/FreeOfCharge2022-23
1
1
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

all my homies hate roadrunner

Browse source
This commit is contained in:
Yash Karandikar 2022-11-07 21:53:50 -06:00
parent 97bf2a6caa
commit 5ec14a3fc7
4 changed files with 40 additions and 74 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

29
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java
View file

@ -1,34 +1,25 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous
public class AutoBlueSubstationParkingBehavior extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
waitForStart();
// init move to default terminal
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, 60), Math.toRadians(270)),
new int[]{-34, 1},
new int[]{60, 60}
);
mecanumDrive.followTrajectory(endpos);
movementAPI.move(90, 0.7);
api.pause(0.7);
movementAPI.stop();
}
}

29
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java
View file

@ -1,34 +1,25 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous
public class AutoBlueTerminalParkingBehavior extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
waitForStart();
// init move to default terminal
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, 60), Math.toRadians(270)),
new int[]{-34, -70},
new int[]{60, 60}
);
mecanumDrive.followTrajectory(endpos);
movementAPI.move(-90, 0.7);
api.pause(0.7);
movementAPI.stop();
}
}

29
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java
View file

@ -1,34 +1,25 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous
public class AutoRedSubstationParkingBehavior extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
waitForStart();
// init move to default terminal
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, -60), Math.toRadians(90)),
new int[]{-34, 1},
new int[]{-60, -60}
);
mecanumDrive.followTrajectory(endpos);
movementAPI.move(-90, 0.7);
api.pause(0.7);
movementAPI.stop();
}
}

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java
View file

@ -1,34 +1,27 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoRedTerminalParkingBehavior extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
DcMotor rl = hardwareMap.get(DcMotor.class, "rearLeft");
DcMotor rr = hardwareMap.get(DcMotor.class, "rearRight");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api, fl, fr, rl, rr);
waitForStart();
// init move to default terminal
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, -60), Math.toRadians(90)),
new int[]{-34, -70},
new int[]{-60, -60}
);
mecanumDrive.followTrajectory(endpos);
movementAPI.move(90, 0.7);
api.pause(0.7);
movementAPI.stop();
}
}