35 lines
1.1 KiB
Java
35 lines
1.1 KiB
Java
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
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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.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
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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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@Autonomous
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public class AutoBlueTerminalParkingBehavior extends LinearOpMode {
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SampleMecanumDrive mecanumDrive;
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@Override
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public void runOpMode() throws InterruptedException {
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mecanumDrive = new SampleMecanumDrive(hardwareMap);
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API api = new API(this);
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waitForStart();
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// init move to default terminal
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Trajectory endpos = api.makeTrajectories(
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mecanumDrive,
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new Pose2d(new Vector2d(-34, 60), 270),
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new int[]{-34, -70},
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new int[]{60, 60}
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);
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mecanumDrive.followTrajectory(endpos);
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}
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}
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