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moved in red again

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This commit is contained in:
DanTheMan-byte
2025-11-13 19:15:36 -06:00
parent 8aa1954fbf
commit 5e41560fd5
1 changed files with 15 additions and 15 deletions
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30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
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@@ -99,40 +99,40 @@ public class Red extends LinearOpMode {
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
TrajectoryActionBuilder intake1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
.turnTo(Math.toRadians(135))
.strafeToLinearHeading(new Vector2d(x2, y2), h2 );
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, y2, h2))
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
TrajectoryActionBuilder intake2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
.strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b )
.strafeToLinearHeading(new Vector2d(x3, y3), h3 );
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, y3, h3))
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
.strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
while(opModeInInit()) {
if (gamepad2.dpadUpWasPressed()){
hoodDefault -= 0.01;
hoodDefault -= 0.02;
}
if (gamepad2.dpadDownWasPressed()){
hoodDefault += 0.01;
hoodDefault += 0.02;
}
robot.hood.setPosition(hoodDefault);
@@ -165,7 +165,7 @@ public class Red extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
shoot0.build()
traj1.build()
)
);
@@ -185,7 +185,7 @@ public class Red extends LinearOpMode {
shooter.moveTurret(turretDefault);
shooter.moveTurret(0.31);
double time = getRuntime()-stamp;
@@ -245,12 +245,12 @@ public class Red extends LinearOpMode {
robot.intake.setPower(1);
Actions.runBlocking(
intake1.build()
traj2.build()
);
Actions.runBlocking(
shoot1.build()
traj3.build()
);
shooter.setManualPower(1);
@@ -329,12 +329,12 @@ public class Red extends LinearOpMode {
robot.intake.setPower(1);
Actions.runBlocking(
intake2.build()
traj4.build()
);
Actions.runBlocking(
shoot2.build()
traj5.build()
);
shooter.setManualPower(1);
@@ -411,7 +411,7 @@ public class Red extends LinearOpMode {
spindexer.outtake3();
Actions.runBlocking(
park.build()
traj6.build()
);
drive.updatePoseEstimate();