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AutonV1 Trajectory Fixes + Minor TeleOp Gamepad Changes #109

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Mar 7, 2024
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AutonV1 Trajectory Fixes + Minor TeleOp Gamepad Changes #109

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2429695
New Drive Equations
DragonDev07 Feb 28, 2024
c74b975
Merge Master
DragonDev07 Feb 29, 2024
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8 changes: 4 additions & 4 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/AutonomousV1.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand Down
2 changes: 1 addition & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java
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Expand Up @@ -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;
Expand Down
4 changes: 2 additions & 2 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java
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Expand Up @@ -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();
Expand Down
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