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Testing new commit stattion

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Keshav Anand
2026-03-09 16:42:00 -05:00
parent c01edd9308
commit 41853e9ad1
1 changed files with 12 additions and 18 deletions
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30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -45,9 +45,9 @@ public class TeleopV3 extends LinearOpMode {
public double vel = 3000; public double vel = 3000;
public boolean autoVel = true; public boolean autoVel = true;
public boolean targetingHood = true; public boolean targetingHood = true;
// public boolean autoHood = true; // public boolean autoHood = true;
public double shootStamp = 0.0; public double shootStamp = 0.0;
// boolean fixedTurret = false; // boolean fixedTurret = false;
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
Light light; Light light;
@@ -66,10 +66,10 @@ public class TeleopV3 extends LinearOpMode {
double xOffset = 0.0; double xOffset = 0.0;
double yOffset = 0.0; double yOffset = 0.0;
double hOffset = 0.0; double hOffset = 0.0;
// double headingOffset = 0.0; // double headingOffset = 0.0;
int ticker = 0; int ticker = 0;
// boolean autoSpintake = false; // boolean autoSpintake = false;
boolean enableSpindexerManager = true; boolean enableSpindexerManager = true;
// boolean overrideTurr = false; // boolean overrideTurr = false;
@@ -142,12 +142,7 @@ public class TeleopV3 extends LinearOpMode {
//DRIVETRAIN: //DRIVETRAIN:
drivetrain.drive( drivetrain.drive(-gamepad1.right_stick_y, gamepad1.right_stick_x, gamepad1.left_stick_x, gamepad1.left_trigger);
-gamepad1.right_stick_y,
gamepad1.right_stick_x,
gamepad1.left_stick_x,
gamepad1.left_trigger
);
if (gamepad1.right_bumper) { if (gamepad1.right_bumper) {
@@ -156,10 +151,10 @@ public class TeleopV3 extends LinearOpMode {
light.setState(StateEnums.LightState.BALL_COUNT); light.setState(StateEnums.LightState.BALL_COUNT);
} else if (gamepad2.triangle){ } else if (gamepad2.triangle) {
light.setState(StateEnums.LightState.BALL_COLOR); light.setState(StateEnums.LightState.BALL_COLOR);
} else { } else {
light.setState(StateEnums.LightState.GOAL_LOCK); light.setState(StateEnums.LightState.GOAL_LOCK);
} }
@@ -182,17 +177,16 @@ public class TeleopV3 extends LinearOpMode {
// double distanceToGoal = Math.sqrt(dx * dx + dy * dy); // double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
targetingSettings = targeting.calculateSettings targetingSettings = targeting.calculateSettings(robotX, robotY, robotHeading, 0.0, turretInterpolate);
(robotX, robotY, robotHeading, 0.0, turretInterpolate);
//RELOCALIZATION //RELOCALIZATION
if (gamepad2.squareWasPressed()){ if (gamepad2.squareWasPressed()) {
relocalize = !relocalize; relocalize = !relocalize;
gamepad2.rumble(500); gamepad2.rumble(500);
} }
if (relocalize){ if (relocalize) {
turret.relocalize(); turret.relocalize();
xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX; xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
yOffset = (turret.getLimelightX() * 39.3701) - robY; yOffset = (turret.getLimelightX() * 39.3701) - robY;
@@ -231,6 +225,7 @@ public class TeleopV3 extends LinearOpMode {
//HOOD: //HOOD:
if (targetingHood) { if (targetingHood) {
servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset); servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
} else { } else {
@@ -267,7 +262,6 @@ public class TeleopV3 extends LinearOpMode {
} }
if (enableSpindexerManager) { if (enableSpindexerManager) {
//if (!shootAll) { //if (!shootAll) {
spindexer.processIntake(); spindexer.processIntake();
@@ -299,7 +293,7 @@ public class TeleopV3 extends LinearOpMode {
if (shooterTicker == 0) { if (shooterTicker == 0) {
spindexer.prepareShootAllContinous(); spindexer.prepareShootAllContinous();
//TELE.addLine("preparing to shoot"); //TELE.addLine("preparing to shoot");
// } else if (shooterTicker == 2) { // else if (shooterTicker == 2) {
// //servo.setTransferPos(transferServo_in); // //servo.setTransferPos(transferServo_in);
// spindexer.shootAll(); // spindexer.shootAll();
// TELE.addLine("starting to shoot"); // TELE.addLine("starting to shoot");