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Update TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

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fixed velocity function hopeuflly

Signed-off-by: KeshavAnandCode <keshavanandofficial@gmail.com>
This commit is contained in:
KeshavAnandCode
2025-12-05 16:38:00 +00:00
parent d1f658cb5b
commit b68f7eb6e7
1 changed files with 20 additions and 18 deletions
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38
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -88,22 +88,6 @@ public class TeleopV2 extends LinearOpMode {
public boolean square = false;
public boolean triangle = false;
public static double velPrediction(double distance) {
if (distance < 40) {
return 2650;
} else if (distance > 120) {
if (distance > 160) {
return 4200;
}
return 3600;
} else {
// linear interpolation between 40->2650 and 120->3600
double slope = (3600.0 - 2650.0) / (120.0 - 40.0);
return (int) Math.round(2650 + slope * (distance - 40));
}
}
@Override
public void runOpMode() throws InterruptedException {
@@ -350,8 +334,8 @@ public class TeleopV2 extends LinearOpMode {
if (pos < 0.02) {
pos = 0.02;
} else if (pos > 0.91) {
pos = 0.91;
} else if (pos > 0.97) {
pos = 0.97;
}
robot.turr1.setPosition(pos);
@@ -725,4 +709,22 @@ public class TeleopV2 extends LinearOpMode {
return false; // default
}
public static double velPrediction(double distance) {
if (distance < 30) {
return 2750;
} else if (distance > 100) {
if (distance > 160) {
return 4200;
}
return 3700;
} else {
// linear interpolation between 40->2650 and 120->3600
double slope = (3700.0 - 2750.0) / (100.0 - 30);
return (int) Math.round(2750 + slope * (distance - 30));
}
}
}