minor changes
This commit is contained in:
parent
40e56e25bc
commit
bc8eb593e9
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@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="CompilerConfiguration">
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<bytecodeTargetLevel target="11" />
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<bytecodeTargetLevel target="17" />
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</component>
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</project>
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@ -1,7 +1,7 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ExternalStorageConfigurationManager" enabled="true" />
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<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
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<component name="ProjectRootManager" version="2" languageLevel="JDK_17_PREVIEW" project-jdk-name="Embedded JDK" project-jdk-type="JavaSDK">
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<output url="file://$PROJECT_DIR$/build/classes" />
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</component>
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<component name="ProjectType">
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@ -39,7 +39,7 @@ import java.util.ArrayList;
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class AprilTagDetectionPipeline extends OpenCvPipeline {
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private long nativeApriltagPtr;
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private Mat grey = new Mat();
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private final Mat grey = new Mat();
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private ArrayList<AprilTagDetection> detections = new ArrayList<>();
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private ArrayList<AprilTagDetection> detectionsUpdate = new ArrayList<>();
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@ -271,7 +271,7 @@ class AprilTagDetectionPipeline extends OpenCvPipeline {
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* A simple container to hold both rotation and translation
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* vectors, which together form a 6DOF pose.
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*/
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class Pose {
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static class Pose {
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Mat rvec;
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Mat tvec;
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@ -23,9 +23,9 @@ public class AutoRedColorSensor extends LinearOpMode {
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waitForStart();
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Trajectory firstMove = makeTrajectories(
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new Pose2d(new Vector2d(-34, -60), 0),
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new int[]{-34},
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new int[]{-40}
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new Pose2d(new Vector2d(-34, -60), 0),
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new int[]{-34},
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new int[]{-40}
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);
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mecanumDrive.followTrajectory(firstMove);
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@ -14,48 +14,20 @@ public class DriveTeleOpv1 extends OpMode {
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private DcMotor motorFR, motorFL, motorRR, motorRL;
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private double powerFR, powerFL, powerRR, powerRL;
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private double drive = 0, strafe = 0, turn = 0;
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private final double speed = 1;
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/*
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private double holdServoPow;
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private final double servoSpeedMod = 0.05;
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private boolean wasPressingA, wasPressingB, wasPressingX, wasPressingY;
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*/
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@Override
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public void loop() {
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takeControllerInput();
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drive();
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}
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private void takeControllerInput() {
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drive = -1 * gamepad1.left_stick_y;
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strafe = gamepad1.left_stick_x;
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turn = gamepad1.right_stick_x;
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/*
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if (gamepad2.a) {
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if (!wasPressingA) {
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@ -63,15 +35,11 @@ public class DriveTeleOpv1 extends OpMode {
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wasPressingA = true;
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} else wasPressingA = false;
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holdServoPow = gamepad2.left_stick_x;
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*/
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}
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private void drive() {
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powerFR = drive - strafe;
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@ -82,6 +50,7 @@ public class DriveTeleOpv1 extends OpMode {
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addTurn(turn);
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// multiplies by speed
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double speed = 1;
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powerFR *= speed;
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powerFL *= speed;
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powerRR *= speed;
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@ -104,29 +73,6 @@ public class DriveTeleOpv1 extends OpMode {
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powerRL += turn;
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}
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/*
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}
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holdServo.setPosition(holdServo.getPosition() + -1 * holdServoPow * servoSpeedMod);
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}
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else
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}
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*/
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@Override
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public void init() {
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//initializes the drive motors
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@ -152,26 +98,5 @@ public class DriveTeleOpv1 extends OpMode {
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motorFL.setPower(0);
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motorRR.setPower(0);
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motorRL.setPower(0);
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/*
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holdServo = hardwareMap.get(Servo.class, "holdServo");
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holdServo.setPosition(0);
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}
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*/
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}
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}
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@ -20,19 +20,7 @@ public class DriveTeleOpv2 extends OpMode {
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private final double constantSpeedMultChangeMult = 0.25;
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private boolean wasPressingDpadUp = false, wasPressingDpadDown = false;
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/*
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private double holdServoPow;
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private final double servoSpeedMod = 0.01;
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@ -81,18 +69,8 @@ public class DriveTeleOpv2 extends OpMode {
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telemetry.addData("Constant Speed Mult", constantSpeedMult);
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speed = lockSpeed ? constantSpeedMult : gamepad1.right_trigger;
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/*
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*/
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}
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private void drive() {
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powerFR = drive - strafe;
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@ -125,34 +103,6 @@ public class DriveTeleOpv2 extends OpMode {
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powerRL += turn;
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}
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/*
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}
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}
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} else {
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}
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}
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*/
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@Override
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public void init() {
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//initializes the drive motors
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@ -178,24 +128,5 @@ public class DriveTeleOpv2 extends OpMode {
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motorFL.setPower(0);
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motorRR.setPower(0);
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motorRL.setPower(0);
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/*
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*/
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}
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}
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@ -14,7 +14,7 @@ buildscript {
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google()
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}
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dependencies {
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classpath 'com.android.tools.build:gradle:7.2.2'
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classpath 'com.android.tools.build:gradle:7.3.1'
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}
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}
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