minor changes

This commit is contained in:
Khosraw Azizi 2022-11-05 13:31:29 -05:00
parent 40e56e25bc
commit bc8eb593e9
7 changed files with 9 additions and 153 deletions

View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CompilerConfiguration">
<bytecodeTargetLevel target="11" />
<bytecodeTargetLevel target="17" />
</component>
</project>

View File

@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
<component name="ProjectRootManager" version="2" languageLevel="JDK_17_PREVIEW" project-jdk-name="Embedded JDK" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>
<component name="ProjectType">

View File

@ -39,7 +39,7 @@ import java.util.ArrayList;
class AprilTagDetectionPipeline extends OpenCvPipeline {
private long nativeApriltagPtr;
private Mat grey = new Mat();
private final Mat grey = new Mat();
private ArrayList<AprilTagDetection> detections = new ArrayList<>();
private ArrayList<AprilTagDetection> detectionsUpdate = new ArrayList<>();
@ -271,7 +271,7 @@ class AprilTagDetectionPipeline extends OpenCvPipeline {
* A simple container to hold both rotation and translation
* vectors, which together form a 6DOF pose.
*/
class Pose {
static class Pose {
Mat rvec;
Mat tvec;

View File

@ -23,9 +23,9 @@ public class AutoRedColorSensor extends LinearOpMode {
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(-34, -60), 0),
new int[]{-34},
new int[]{-40}
new Pose2d(new Vector2d(-34, -60), 0),
new int[]{-34},
new int[]{-40}
);
mecanumDrive.followTrajectory(firstMove);

View File

@ -14,48 +14,20 @@ public class DriveTeleOpv1 extends OpMode {
private DcMotor motorFR, motorFL, motorRR, motorRL;
private double powerFR, powerFL, powerRR, powerRL;
private double drive = 0, strafe = 0, turn = 0;
private final double speed = 1;
/*
private double holdServoPow;
private final double servoSpeedMod = 0.05;
private boolean wasPressingA, wasPressingB, wasPressingX, wasPressingY;
*/
@Override
public void loop() {
takeControllerInput();
drive();
}
private void takeControllerInput() {
drive = -1 * gamepad1.left_stick_y;
strafe = gamepad1.left_stick_x;
turn = gamepad1.right_stick_x;
/*
if (gamepad2.a) {
if (!wasPressingA) {
@ -63,15 +35,11 @@ public class DriveTeleOpv1 extends OpMode {
wasPressingA = true;
} else wasPressingA = false;
holdServoPow = gamepad2.left_stick_x;
*/
}
private void drive() {
powerFR = drive - strafe;
@ -82,6 +50,7 @@ public class DriveTeleOpv1 extends OpMode {
addTurn(turn);
// multiplies by speed
double speed = 1;
powerFR *= speed;
powerFL *= speed;
powerRR *= speed;
@ -104,29 +73,6 @@ public class DriveTeleOpv1 extends OpMode {
powerRL += turn;
}
/*
}
holdServo.setPosition(holdServo.getPosition() + -1 * holdServoPow * servoSpeedMod);
}
else
}
*/
@Override
public void init() {
//initializes the drive motors
@ -152,26 +98,5 @@ public class DriveTeleOpv1 extends OpMode {
motorFL.setPower(0);
motorRR.setPower(0);
motorRL.setPower(0);
/*
holdServo = hardwareMap.get(Servo.class, "holdServo");
holdServo.setPosition(0);
}
*/
}
}

View File

@ -20,19 +20,7 @@ public class DriveTeleOpv2 extends OpMode {
private final double constantSpeedMultChangeMult = 0.25;
private boolean wasPressingDpadUp = false, wasPressingDpadDown = false;
/*
private double holdServoPow;
private final double servoSpeedMod = 0.01;
@ -81,18 +69,8 @@ public class DriveTeleOpv2 extends OpMode {
telemetry.addData("Constant Speed Mult", constantSpeedMult);
speed = lockSpeed ? constantSpeedMult : gamepad1.right_trigger;
/*
*/
}
private void drive() {
powerFR = drive - strafe;
@ -125,34 +103,6 @@ public class DriveTeleOpv2 extends OpMode {
powerRL += turn;
}
/*
}
}
} else {
}
}
*/
@Override
public void init() {
//initializes the drive motors
@ -178,24 +128,5 @@ public class DriveTeleOpv2 extends OpMode {
motorFL.setPower(0);
motorRR.setPower(0);
motorRL.setPower(0);
/*
*/
}
}

View File

@ -14,7 +14,7 @@ buildscript {
google()
}
dependencies {
classpath 'com.android.tools.build:gradle:7.2.2'
classpath 'com.android.tools.build:gradle:7.3.1'
}
}