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DanTheMan-byte
2026-01-08 20:28:55 -06:00
parent 8b07ed5579
commit 506e45ac19
2 changed files with 7 additions and 8 deletions
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11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -43,14 +43,13 @@ public class Flywheel {
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1)); velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1)); velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
initPos1 = currentPos1; initPos1 = currentPos1;
initPos2 = currentPos2;
stamp1 = stamp; stamp1 = stamp;
if (Math.abs(velo1a - velo1b) > 200) { if (velo1a < 200){
if (velo1a < 200) { velo1 = velo1b;
velo1 = velo1b; } else if (velo1b < 200){
} else { velo1 = velo1a;
velo1 = velo1a;
}
} else { } else {
velo1 = (velo1a + velo1b) / 2; velo1 = (velo1a + velo1b) / 2;
} }

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
View File

@@ -35,8 +35,8 @@ public class Robot {
shooter2 = hardwareMap.get(DcMotorEx.class, "s2"); shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
shooter1.setDirection(DcMotorSimple.Direction.REVERSE); shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
shooter2.setDirection(DcMotorSimple.Direction.REVERSE); shooter2.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER); shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER); shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
hood = hardwareMap.get(Servo.class, "hood"); hood = hardwareMap.get(Servo.class, "hood");