KeshavAnandCode/FTCDecodeMain
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

stash

Browse Source
This commit is contained in:
Keshav Anand
2026-01-20 21:18:42 -06:00
parent 313eeeaa95
commit 0dbf155608
2 changed files with 30 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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