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Keshav Anand
2026-01-23 19:38:47 -06:00
parent fbdeb6e291
commit 16ffdd003f
2 changed files with 3 additions and 2 deletions
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1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -807,6 +807,7 @@ public class TeleopV3 extends LinearOpMode {
for (LynxModule hub : allHubs) { for (LynxModule hub : allHubs) {
hub.clearBulkCache(); hub.clearBulkCache();
} }
// //
TELE.addData("Spin1Green", green1 + ": " + ballIn(1)); TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
TELE.addData("Spin2Green", green2 + ": " + ballIn(2)); TELE.addData("Spin2Green", green2 + ": " + ballIn(2));

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -12,7 +12,7 @@ import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
public class Turret { public class Turret {
public static double turretTolerance = 0.02; public static double turretTolerance = 0.02;
public static double turrPosScalar = 1.009; public static double turrPosScalar = 1;
public static double turret180Range = 0.4; public static double turret180Range = 0.4;
public static double turrDefault = 0.4; public static double turrDefault = 0.4;
public static double cameraBearingEqual = 1; public static double cameraBearingEqual = 1;
@@ -38,7 +38,7 @@ public class Turret {
} }
public double getTurrPos() { public double getTurrPos() {
return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3); return turrPosScalar * (robot.intake.getCurrentPosition());
} }