KeshavAnandCode/FTCDecodeMain
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DanTheMan-byte
2025-12-05 20:42:03 -06:00
parent f48788cfd0
commit a58371d3d7
1 changed files with 20 additions and 6 deletions
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26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -50,6 +50,7 @@ public class TeleopV2 extends LinearOpMode {
public boolean autoVel = true;
public double manualOffset = 0.0;
public boolean autoHood = true;
double turrCamAdjust = 0.0;
Robot robot;
MultipleTelemetry TELE;
boolean intake = false;
@@ -57,6 +58,7 @@ public class TeleopV2 extends LinearOpMode {
double xOffset = 0.0;
double yOffset = 0.0;
double headingOffset = 0.0;
boolean camDetected = false;
int ticker = 0;
List<Double> s1G = new ArrayList<>();
List<Double> s2G = new ArrayList<>();
@@ -366,9 +368,6 @@ public class TeleopV2 extends LinearOpMode {
pos = 0.4 + (manualOffset/100);
}
robot.turr1.setPosition(pos);
robot.turr2.setPosition(1 - pos);
if (gamepad2.dpad_right) {
manualOffset -= 2;
} else if (gamepad2.dpad_left) {
@@ -466,12 +465,19 @@ public class TeleopV2 extends LinearOpMode {
if (d20!=null){
double bearing = d20.ftcPose.bearing;
turrCamAdjust = turretPos() + d20.ftcPose.bearing;
TELE.addData("Turret Pos Target by Camera", turrCamAdjust);
camDetected = true;
} else {
camDetected = false;
}
if (d24!=null){
turrCamAdjust = turretPos() + d24.ftcPose.bearing;
TELE.addData("Turret Pos Target by Camera", turrCamAdjust);
camDetected = true;
} else {
camDetected = false;
}
switch (currentSlot) {
@@ -580,6 +586,14 @@ public class TeleopV2 extends LinearOpMode {
}
if (camDetected){
robot.turr1.setPosition(turrCamAdjust);
robot.turr2.setPosition(1 - turrCamAdjust);
} else {
robot.turr1.setPosition(pos);
robot.turr2.setPosition(1 - pos);
}
// Right bumper shoots all balls fastest, ignoring colors
if (gamepad2.rightBumperWasPressed()) {
shootOrder.clear();