missing
8cdd3dd447
most important stuff: kinematics, autons, config, dashboard, easyopencv + april tags, and probably more im forgetting https://xkcd.com/1296/
37 lines
1.3 KiB
Java
37 lines
1.3 KiB
Java
package org.firstinspires.ftc.teamcode.auto;
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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.Hardware;
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import org.firstinspires.ftc.teamcode.kinematics.LiftPosition;
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import org.firstinspires.ftc.teamcode.kinematics.NullablePose;
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import org.firstinspires.ftc.teamcode.kinematics.FieldVector;
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import org.firstinspires.ftc.teamcode.kinematics.Poser;
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@Autonomous(name = "test")
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public class Test extends LinearOpMode {
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Hardware hardware;
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Poser poser;
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@Override
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public void runOpMode() {
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hardware = new Hardware(this);
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hardware.setWristPosition(-0.6);
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poser = new Poser(hardware, 0.3, FieldVector.ZERO, 0);
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poser.goToNullablePose(new NullablePose());
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waitForStart();
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while (!isStopRequested()) {
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poser.goToNullablePose(new NullablePose(FieldVector.inTiles(2, 0), 90., LiftPosition.FLOOR));
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sleep(1000);
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poser.goToNullablePose(new NullablePose(FieldVector.inTiles(0, 1), -135., LiftPosition.HIGH));
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sleep(1000);
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poser.goToNullablePose(new NullablePose(FieldVector.inTiles(0, 0), 0., LiftPosition.MEDIUM));
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sleep(1000);
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}
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}
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}
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