KeshavAnandCode/FTCDecodeMain
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Fixed poses and code for blue auton compatibility on gateOpen Auton...untested

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Keshav Anand
2026-01-31 10:34:57 -06:00
parent b5b4b4af50
commit 53944cccc6
2 changed files with 24 additions and 8 deletions
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26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_GateOpen.java
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@@ -102,13 +102,20 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
public static double spindexerSpeedIncrease = 0.03; public static double spindexerSpeedIncrease = 0.03;
public static double obeliskTurrPos1 = 0.52; public static double redObeliskTurrPos1 = 0.52;
public static double obeliskTurrPos2 = 0.53; public static double redObeliskTurrPos2 = 0.53;
public static double obeliskTurrPos3 = 0.54; public static double blueObeliskTurrPos1 = 0.28;
public static double blueObeliskTurrPos2 = 0.27;
double obeliskTurrPos1 = 0.52;
double obeliskTurrPos2 = 0.53;
public static double normalIntakeTime = 3.0; public static double normalIntakeTime = 3.0;
public static double shoot1Turr = 0.57; public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0; public static double shoot0XTolerance = 1.0;
public static double turretShootPos = 0.52; public static double redTurretShootPos = 0.52;
public static double blueTurretShootPos = 0.26;
double turretShootPos = 0.52;
public static double shootAllTime = 1.8; public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6; public static double shoot0Time = 1.6;
public static double intake1Time = 3.0; public static double intake1Time = 3.0;
@@ -817,6 +824,11 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
yGate = Poses_V2.rYGate; yGate = Poses_V2.rYGate;
hGate = Poses_V2.rHGate; hGate = Poses_V2.rHGate;
obeliskTurrPos1 = redObeliskTurrPos1;
obeliskTurrPos2 = redObeliskTurrPos2;
turretShootPos = redTurretShootPos;
} else { } else {
robot.light.setPosition(0.6); robot.light.setPosition(0.6);
@@ -864,6 +876,10 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
yGate = Poses_V2.bYGate; yGate = Poses_V2.bYGate;
hGate = Poses_V2.bHGate; hGate = Poses_V2.bHGate;
obeliskTurrPos1 = blueObeliskTurrPos1;
obeliskTurrPos2 = blueObeliskTurrPos2;
turretShootPos = blueTurretShootPos;
} }
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0)) shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
@@ -1057,7 +1073,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
0.501, 0.501,
obelisk1XTolerance, obelisk1XTolerance,
obelisk1YTolerance, obelisk1YTolerance,
obeliskTurrPos3 obeliskTurrPos1
) )
) )

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
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@@ -16,10 +16,10 @@ public class Poses_V2 {
public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179); public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
public static double bXGateA = 33, bYGateA = 61, bHGateA = Math.toRadians(165); public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
public static double bXGateB = 33, bYGateB = 61, bHGateB = Math.toRadians(165); public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165); public static double bXGate = 30, bYGate = -63, bHGate = Math.toRadians(-179);
} }