karx/FreeOfCharge2022-23
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base: karx:6d1582c26a6798faca164479bd40f6899ca27388
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karx:main
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compare: karx:7bb091571ca5bfd9fc8850d2c55ad306d134b73f
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karx:main

2 commits
6d1582c26a ... 7bb091571c

Author SHA1 Message Date
Yash Karandikar 7bb091571c o, ante e tenpo pi tawa 2022-11-16 17:55:18 -06:00
Yash Karandikar 88138e43ff tawa wawa ilo li pali ala tan seme? 2022-11-16 16:50:43 -06:00
2 changed files with 12 additions and 7 deletions
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14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoCameraRight.java
View file

@ -56,7 +56,7 @@ public class AutoCameraRight extends LinearOpMode {
ArrayList<AprilTagDetection> currentDetections = aprilTagDetectionPipeline.getLatestDetections(); ArrayList<AprilTagDetection> currentDetections = aprilTagDetectionPipeline.getLatestDetections();
if (currentDetections.size() != 0) { if (currentDetections.size() != 0) {
detected_id = currentDetections.get(currentDetections.size() - 1).id; detected_id = currentDetections.get(0).id;
telemetry.addData("Tag found", String.valueOf(detected_id)); telemetry.addData("Tag found", String.valueOf(detected_id));
telemetry.update(); telemetry.update();
} }
@ -64,23 +64,23 @@ public class AutoCameraRight extends LinearOpMode {
switch (detected_id) { switch (detected_id) {
case 1: case 1:
movementAPI.move(90, 0.7); movementAPI.move(90, 0.7);
api.pause(1); api.pause(0.85);
movementAPI.move(0, 0.5); movementAPI.move(0, 0.5);
api.pause(0.7); api.pause(1.4);
break; break;
case 2: case 2:
movementAPI.move(0, 0.5); movementAPI.move(0, 0.5);
api.pause(0.7); api.pause(1.4);
break; break;
case 3: case 3:
movementAPI.move(-90, 0.7); movementAPI.move(-90, 0.7);
api.pause(1); api.pause(1.5);
movementAPI.move(0, 0.5); movementAPI.move(0, 0.5);
api.pause(0.7); api.pause(1.4);
break; break;
default: default:
movementAPI.move(90, 0.5); movementAPI.move(90, 0.5);
api.pause(0.75); api.pause(1.5);
break; break;
} }

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/MovementAPI.java
View file

@ -30,6 +30,11 @@ public class MovementAPI {
bl = api.opMode.hardwareMap.get(DcMotor.class, "rearLeft"); bl = api.opMode.hardwareMap.get(DcMotor.class, "rearLeft");
br = api.opMode.hardwareMap.get(DcMotor.class, "rearRight"); br = api.opMode.hardwareMap.get(DcMotor.class, "rearRight");
fl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
fr.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
bl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
br.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
fl.setDirection(DcMotor.Direction.REVERSE); fl.setDirection(DcMotor.Direction.REVERSE);
bl.setDirection(DcMotor.Direction.REVERSE); bl.setDirection(DcMotor.Direction.REVERSE);
fr.setDirection(DcMotor.Direction.FORWARD); fr.setDirection(DcMotor.Direction.FORWARD);