SCDS/FTCRoadRunnerRobotics
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Added centricity as per issue #3

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This commit is contained in:
Carlos
2024-11-13 15:19:31 -08:00
parent e001588a46
commit 3aec123ba0
2 changed files with 9 additions and 1 deletions
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5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -23,6 +23,11 @@ public class PedroConstants {
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD; public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_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 Motor Max Power
*/ */

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.cometbots; package org.firstinspires.ftc.teamcode.cometbots;
import static org.firstinspires.ftc.teamcode.PedroConstants.CENTRICITY;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER; import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
import com.acmerobotics.roadrunner.SequentialAction; import com.acmerobotics.roadrunner.SequentialAction;
@ -82,7 +83,7 @@ public class CometBotTeleopCompetition {
this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition(); this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
this.clawControl(); 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(); follower.update();
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation()); this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
@ -94,6 +95,8 @@ public class CometBotTeleopCompetition {
this.telemetry.addData("Lift Position", this.lift.getPosition()); this.telemetry.addData("Lift Position", this.lift.getPosition());
} }
/* /*
Type: PS4 / Logitech Type: PS4 / Logitech
Controller: 2 Controller: 2