KeshavAnandCode/FTCDecodeMain
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Merge branch 'master' into danielv5

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# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
This commit is contained in:
DanTheMan-byte
2026-04-07 19:22:40 -05:00
parent 08ba099d5b 7043274ebd
commit 8f66ddc4bd
2 changed files with 11 additions and 14 deletions
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22
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -47,9 +47,9 @@ public class TeleopV3 extends LinearOpMode {
public double vel = 3000;
public boolean autoVel = true;
public boolean targetingHood = true;
// public boolean autoHood = true;
// public boolean autoHood = true;
public double shootStamp = 0.0;
// boolean fixedTurret = false;
// boolean fixedTurret = false;
Robot robot;
MultipleTelemetry TELE;
Light light;
@@ -68,10 +68,10 @@ public class TeleopV3 extends LinearOpMode {
double xOffset = 0.0;
double yOffset = 0.0;
double hOffset = 0.0;
// double headingOffset = 0.0;
// double headingOffset = 0.0;
int ticker = 0;
// boolean autoSpintake = false;
// boolean autoSpintake = false;
boolean enableSpindexerManager = true;
// boolean overrideTurr = false;
@@ -256,7 +256,7 @@ public class TeleopV3 extends LinearOpMode {
turret.relocalize();
xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
yOffset = (turret.getLimelightX() * 39.3701) - robY;
//hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
} else {
turret.trackGoal(deltaPose);
}
@@ -365,9 +365,9 @@ public class TeleopV3 extends LinearOpMode {
//
// TELE.addData("shootall commanded", shootAll);
// Targeting Debug
// TELE.addData("robotX", robotX);
// TELE.addData("robotY", robotY);
// TELE.addData("robot H", robotHeading);
TELE.addData("robotX", robotX);
TELE.addData("robotY", robotY);
TELE.addData("robot H", robotHeading);
// TELE.addData("robotInchesX", targeting.robotInchesX);
// TELE.addData("robotInchesY", targeting.robotInchesY);
// TELE.addData("Targeting Interpolate", turretInterpolate);
@@ -380,9 +380,9 @@ public class TeleopV3 extends LinearOpMode {
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
// TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
// TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
// TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
TELE.update();