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Keshav Anand
2026-01-20 21:18:42 -06:00
parent 313eeeaa95
commit 0dbf155608
2 changed files with 30 additions and 30 deletions
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58
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -150,14 +150,14 @@ public class TeleopV3 extends LinearOpMode {
PIDFController tController = new PIDFController(tp, ti, td, tf);
tController.setTolerance(0.001);
//
// if (redAlliance) {
// robot.limelight.pipelineSwitch(3);
// } else {
// robot.limelight.pipelineSwitch(2);
// }
if (redAlliance) {
robot.limelight.pipelineSwitch(3);
} else {
robot.limelight.pipelineSwitch(2);
}
robot.limelight.start();
// robot.limelight.start();
waitForStart();
if (isStopRequested()) return;
@@ -434,28 +434,28 @@ public class TeleopV3 extends LinearOpMode {
TELE.addData("posS2", pos);
if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
double bearing;
LLResult result = robot.limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
bearing = result.getTx() * bMult;
double bearingCorrection = bearing / bDiv;
error += bearingCorrection;
camTicker++;
TELE.addData("tx", bearingCorrection);
TELE.addData("ty", result.getTy());
}
}
} else {
camTicker = 0;
overrideTurr = false;
}
// if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
// double bearing;
//
// LLResult result = robot.light.getLatestResult();
// if (result != null) {
// if (result.isValid()) {
// bearing = result.getTx() * bMult;
//
// double bearingCorrection = bearing / bDiv;
//
// error += bearingCorrection;
//
// camTicker++;
// TELE.addData("tx", bearingCorrection);
// TELE.addData("ty", result.getTy());
// }
// }
//
// } else {
// camTicker = 0;
// overrideTurr = false;
// }
if (!overrideTurr) {
turretPos = pos;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
View File

@@ -20,7 +20,7 @@ public class Robot {
//Initialize Public Components
public static boolean usingLimelight = true;
public static boolean usingLimelight = false;
public static boolean usingCamera = true;
public DcMotorEx frontLeft;
public DcMotorEx frontRight;