From 3aec123ba0785452c196b04ea888980f78912ea0 Mon Sep 17 00:00:00 2001
From: Carlos <carlos@riv.as>
Date: Wed, 13 Nov 2024 15:19:31 -0800
Subject: [PATCH] Added centricity as per issue #3

---
 .../java/org/firstinspires/ftc/teamcode/PedroConstants.java  | 5 +++++
 .../ftc/teamcode/cometbots/CometBotTeleopCompetition.java    | 5 ++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
index ead4ed1..bea9852 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
@@ -23,6 +23,11 @@ public class PedroConstants {
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
+    /*
+        Centricity : true is robot-centric movement; false if field-centric movement
+     */
+    public static final boolean CENTRICITY = false;
+
     /*
         Motor Max Power
      */
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
index 6613021..b811def 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.cometbots;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.CENTRICITY;
 import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
 
 import com.acmerobotics.roadrunner.SequentialAction;
@@ -82,7 +83,7 @@ public class CometBotTeleopCompetition {
         this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
         this.clawControl();
 
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
+        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, CENTRICITY);
         follower.update();
 
         this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
@@ -94,6 +95,8 @@ public class CometBotTeleopCompetition {
         this.telemetry.addData("Lift Position", this.lift.getPosition());
     }
 
+
+
     /*
     Type: PS4 / Logitech
     Controller: 2