SCDS/FTCRoadRunnerRobotics
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carlos
2024-12-05 15:32:58 -08:00
parent c20c5ba624
commit 0e3e6f437a
1 changed files with 45 additions and 0 deletions
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java Normal file
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package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine1 implements Action {
private Follower actionRobot;
private PathChain pathChain;
private Pose startPose = new Pose(8,65);
public AutoLine1(Follower robot) {
this.actionRobot = robot;
this.actionRobot.setStartingPose(startPose);
this.pathChain = actionRobot.pathBuilder().addPath(
new BezierLine(
new Point(8.000, 65.000, Point.CARTESIAN),
new Point(33.000, 65.000, Point.CARTESIAN)
)
).setConstantHeadingInterpolation(Math.toRadians(0)).build();
this.actionRobot.followPath(this.pathChain);
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
this.actionRobot.update();
return this.actionRobot.isBusy();
}
}