AutonV1 Trajectory Fixes + Minor TeleOp Gamepad Changes (#109)

rh-robotics · Mar 7, 2024 · c6cc361 · c6cc361
1 parent 4df51dd
commit c6cc361
Show file tree

Hide file tree

Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/AutonomousV1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/AutonomousV1.java
@@ -108,7 +108,7 @@ public void init_loop() {
 
                 // Drive to Left Line
                 toDepositLeft = robot.drive.trajectoryBuilder(START_POSE_RED)
-                        .lineToLinearHeading(new Pose2d(9, -40, Math.toRadians(135)))
+                        .splineToLinearHeading(new Pose2d(8, -39, Math.toRadians(135)), Math.toRadians(135))
                         .build();
 
                 // Drive to Backboard from Center
@@ -123,7 +123,7 @@ public void init_loop() {
 
                 // Drive to Backboard from Left
                 toBackboardFromLeft = robot.drive.trajectoryBuilder(toDepositLeft.end())
-                        .lineToLinearHeading(new Pose2d(49, -30, Math.toRadians(180)))
+                        .lineToLinearHeading(new Pose2d(49, -28, Math.toRadians(180)))
                         .build();
 
                 // Park from Backboard Center
@@ -159,7 +159,7 @@ public void init_loop() {
 
                 // Drive to Left Line
                 toDepositRight = robot.drive.trajectoryBuilder(START_POSE_BLUE)
-                        .splineToLinearHeading(new Pose2d(7, 39, Math.toRadians(225)), Math.toRadians(225))
+                        .splineToLinearHeading(new Pose2d(8, 39, Math.toRadians(225)), Math.toRadians(225))
                         .build();
 
                 // Drive to Backboard from Center
@@ -169,7 +169,7 @@ public void init_loop() {
 
                 // Drive to Backboard from Right
                 toBackboardFromLeft = robot.drive.trajectoryBuilder(toDepositLeft.end())
-                        .lineToLinearHeading(new Pose2d(49, 41, Math.toRadians(180)))
+                        .lineToLinearHeading(new Pose2d(49, 42, Math.toRadians(180)))
                         .build();
 
                 // Drive to Backboard from Left

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java
@@ -41,7 +41,7 @@ public enum Location {
     }
 
     // ------ Declare Slide Positions ------ //
-    public static int[] slidePositions = { 0, -964, -2110, -3460};
+    public static int[] slidePositions = { 0, -482, -2110, -3460};
 
     // ------ Declare Servo Positions ------ //
     public static double passoverDeliveryPos = 0.2;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java
@@ -148,8 +148,8 @@ public void loop() {
         double frontRightPower;
         double backLeftPower;
         double backRightPower;
-        double drive = -gamepad1.left_stick_y;
-        double strafe = gamepad1.left_stick_x;
+        double drive = -robot.currentGamepad1.left_stick_y;
+        double strafe = robot.currentGamepad1.left_stick_x;
         double turn = (robot.currentGamepad1.left_trigger - robot.currentGamepad1.right_trigger) * turnSpeed;
         passoverPosition = robot.passoverArmLeft.getPosition();
         wristPosition = robot.wrist.getPosition();