KeshavAnandCode/FTCDecodeMain
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index auto pretty good

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DanTheMan-byte
2026-01-30 22:19:27 -06:00
parent 4f58438b9e
commit 8860fc4c3f
2 changed files with 33 additions and 13 deletions
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28
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
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@@ -100,13 +100,23 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double spindexerSpeedIncrease = 0.03;
public static double obeliskTurrPos1 = 0.52;
public static double obeliskTurrPos2 = 0.53;
public static double obeliskTurrPos3 = 0.54;
public static double redObeliskTurrPos1 = 0.52;
public static double redObeliskTurrPos2 = 0.53;
public static double redObeliskTurrPos3 = 0.54;
public static double blueObeliskTurrPos1 = 0.28;
public static double blueObeliskTurrPos2 = 0.27;
public static double blueObeliskTurrPos3 = 0.26;
double obeliskTurrPos1 = 0.0;
double obeliskTurrPos2 = 0.0;
double obeliskTurrPos3 = 0.0;
public static double normalIntakeTime = 3.0;
public static double shoot1Turr = 0.57;
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 = 0.0;
public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6;
public static double intake1Time = 3.0;
@@ -799,6 +809,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
yShoot = rShootY;
hShoot = rShootH;
obeliskTurrPos1 = redObeliskTurrPos1;
obeliskTurrPos2 = redObeliskTurrPos2;
obeliskTurrPos3 = redObeliskTurrPos3;
turretShootPos = redTurretShootPos;
} else {
robot.light.setPosition(0.6);
@@ -834,6 +849,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
yShoot = bShootY;
hShoot = bShootH;
obeliskTurrPos1 = blueObeliskTurrPos1;
obeliskTurrPos2 = blueObeliskTurrPos2;
obeliskTurrPos3 = blueObeliskTurrPos3;
turretShootPos = blueTurretShootPos;
}
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
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@@ -26,23 +26,23 @@ public class Poses {
public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
public static double bx1 = 40, by1 = 7, bh1 = 0;
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
public static double bx2b = 23, by2b = -36, bh2b = Math.toRadians(-140.1);
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
public static double bx3b = 38, by3b = -56, bh3b = Math.toRadians(-140.1);
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
public static double bx4b = 45, by4b = -83, bh4b = Math.toRadians(-140.1);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);
public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
public static Pose2d teleStart = new Pose2d(0, 0, 0);