missing
8cdd3dd447
most important stuff: kinematics, autons, config, dashboard, easyopencv + april tags, and probably more im forgetting https://xkcd.com/1296/
69 lines
1.9 KiB
Java
69 lines
1.9 KiB
Java
//package org.firstinspires.ftc.teamcode;
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//
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//public class AutonMovement3 {
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// Hardware hardware;
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// MovementAPI movement;
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//
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// double speed;
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//
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// public AutonMovement3(Hardware hardware, double speed) {
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// this.hardware = hardware;
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// this.movement = new MovementAPI(hardware);
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// this.speed = speed;
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// }
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//
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// private void sleep(double seconds) {
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// double startTime = System.nanoTime();
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// double targetTime = startTime + seconds * 1000 * 1000 * 1000;
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//
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// while (System.nanoTime() < targetTime);
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// }
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//
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// public void straight(double power, double tiles) {
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// this.moveFor(0, power, tiles * (23/18.));
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// }
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//
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// public void strafe(double power, double tiles) {
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// this.moveFor(power, 0, tiles * (23/17.));
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// }
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//
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// public void moveFor(double powerX, double powerY, double seconds) {
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// movement.move(powerX, powerY, 0, this.speed);
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//
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// this.sleep(seconds);
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// movement.stop();
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// this.sleep(1);
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// }
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//
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// private double modAngle(double angle) {
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// double angle2 = angle % 360;
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// if (angle2 >= 180) {
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// return angle2 - 360;
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// } else {
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// return angle2;
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// }
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// }
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//
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// public void turn(double degrees) {
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// double startYaw = hardware.getImuYaw();
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// double targetYaw = startYaw + (-degrees);
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//
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// while (true) {
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// double yaw = hardware.getImuYaw();
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// double yawDiff = this.modAngle(targetYaw - yaw);
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//
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// if (Math.abs(yawDiff) < 1) {
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// break;
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// }
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//
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// if (Math.abs(yawDiff) > 20) {
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// movement.move(0, 0, Math.signum(yawDiff), this.speed);
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// } else {
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// movement.move(0, 0, Math.signum(yawDiff) * (yawDiff / 40 + 0.5), this.speed);
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// }
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// }
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// movement.stop();
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// this.sleep(0.3);
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// }
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//}
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