SCDS/FTCRoadRunnerRobotics
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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 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 * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -52,12 +52,21 @@ public class AutoExampleThree extends OpMode {
.addPath( .addPath(
// Line 1 // Line 1
new BezierCurve( new BezierCurve(
new Point(10.000, 20.000, Point.CARTESIAN), new Point(7.468, 59.743, Point.CARTESIAN),
new Point(29.089, 61.232, Point.CARTESIAN), new Point(67.860, 12.014, Point.CARTESIAN),
new Point(48.054, 19.607, 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); follower.followPath(path);