From bc8eb593e9a47fdc253c221cd28888a89113ed1c Mon Sep 17 00:00:00 2001 From: Khosraw Azizi Date: Sat, 5 Nov 2022 13:31:29 -0500 Subject: [PATCH] minor changes --- .idea/compiler.xml | 2 +- .idea/misc.xml | 2 +- .../aprilTag/AprilTagDetectionPipeline.java | 4 +- .../enhancedautos/AutoRedColorSensor.java | 6 +- .../createdcode/teleops/DriveTeleOpv1.java | 77 +------------------ .../createdcode/teleops/DriveTeleOpv2.java | 69 ----------------- build.gradle | 2 +- 7 files changed, 9 insertions(+), 153 deletions(-) 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' } }