diff --git a/.idea/compiler.xml b/.idea/compiler.xml
index fb7f4a8..b589d56 100644
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@@ -1,6 +1,6 @@
-
+
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index bdd9278..3670521 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,7 +1,7 @@
-
+
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/aprilTag/AprilTagDetectionPipeline.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/aprilTag/AprilTagDetectionPipeline.java
index 817ad01..c23c46e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/aprilTag/AprilTagDetectionPipeline.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/aprilTag/AprilTagDetectionPipeline.java
@@ -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 detections = new ArrayList<>();
private ArrayList 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;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
index cc43478..4c0bf95 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
@@ -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);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv1.java
index e0bebcd..63b882e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv1.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv1.java
@@ -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);
-
-
-
- }
- */
}
}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv2.java
index b9023bb..83ce0ed 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOpv2.java
@@ -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);
-
-
- /*
-
-
-
-
-
-
-
-
-
-
-
-
-
- */
-
-
}
}
diff --git a/build.gradle b/build.gradle
index ab15141..482cb7c 100644
--- a/build.gradle
+++ b/build.gradle
@@ -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'
}
}