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Alex's initial path code

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robotics3
2024-10-24 16:49:40 -07:00
parent 89f4c1b9a0
commit 308f301bd5
1 changed files with 14 additions and 5 deletions
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19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleThree.java
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@ -34,7 +34,7 @@ public class AutoExampleThree extends OpMode {
private PathChain path;
private final Pose startPose = new Pose(10.0, 40, 90);
private final Pose startPose = new Pose(7.467869222096955, 59.74295377677565);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -52,12 +52,21 @@ public class AutoExampleThree extends OpMode {
.addPath(
// Line 1
new BezierCurve(
new Point(10.000, 20.000, Point.CARTESIAN),
new Point(29.089, 61.232, Point.CARTESIAN),
new Point(48.054, 19.607, Point.CARTESIAN)
new Point(7.468, 59.743, Point.CARTESIAN),
new Point(67.860, 12.014, Point.CARTESIAN),
new Point(101.790, 36.041, Point.CARTESIAN),
new Point(68.347, 22.891, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(68.347, 22.891, Point.CARTESIAN),
new Point(13.637, 24.352, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation().build();
follower.followPath(path);