7efec6d03c
lots of stuff no one will read these Former-commit-id: 14dcd018bd1b6f74d4b35aa33d9185aca59e9213
39 lines
1.2 KiB
Java
39 lines
1.2 KiB
Java
package org.firstinspires.ftc.teamcode.drive.opmode;
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import com.acmerobotics.roadrunner.geometry.Pose2d;
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import com.acmerobotics.roadrunner.geometry.Vector2d;
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import com.acmerobotics.roadrunner.trajectory.Trajectory;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
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/*
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* This is an example of a more complex path to really test the tuning.
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*/
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@Autonomous(group = "drive")
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public class SplineTest extends LinearOpMode {
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@Override
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public void runOpMode() throws InterruptedException {
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SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
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waitForStart();
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if (isStopRequested()) return;
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Trajectory traj = drive.trajectoryBuilder(new Pose2d())
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.splineTo(new Vector2d(30, 30), 0)
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.build();
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drive.followTrajectory(traj);
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sleep(2000);
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drive.followTrajectory(
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drive.trajectoryBuilder(traj.end(), true)
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.splineTo(new Vector2d(0, 0), Math.toRadians(180))
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.build()
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);
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}
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}
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