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Aditya's sample code - validated to work with 3 specimen plus parking NO ERRORS!!!

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robotics1
2024-10-30 19:09:08 -07:00
parent 657ec8e624
commit 62b6c16316
1 changed files with 6 additions and 21 deletions
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27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
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@ -80,14 +80,14 @@ public class BlueBasketAuto extends OpMode {
// Line 4
new BezierLine(
new Point(28.000, 121.500, Point.CARTESIAN),
new Point(18.000, 130.179, Point.CARTESIAN)
new Point(15.750, 126.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierCurve(
new Point(18.000, 130.179, Point.CARTESIAN),
new Point(15.750, 126.321, Point.CARTESIAN),
new Point(59.000, 102.500, Point.CARTESIAN),
new Point(68.700, 130.500, Point.CARTESIAN)
)
@ -97,14 +97,14 @@ public class BlueBasketAuto extends OpMode {
// Line 6
new BezierLine(
new Point(68.700, 130.500, Point.CARTESIAN),
new Point(18.000, 130.339, Point.CARTESIAN)
new Point(22.661, 130.821, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierCurve(
new Point(18.000, 130.339, Point.CARTESIAN),
new Point(22.661, 130.821, Point.CARTESIAN),
new Point(49.018, 121.179, Point.CARTESIAN),
new Point(63.804, 135.321, Point.CARTESIAN)
)
@ -114,29 +114,14 @@ public class BlueBasketAuto extends OpMode {
// Line 8
new BezierLine(
new Point(63.804, 135.321, Point.CARTESIAN),
new Point(53.036, 135.161, Point.CARTESIAN)
new Point(26.679, 135.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(53.036, 135.161, Point.CARTESIAN),
new Point(18.643, 135.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(72.300, 97.400, Point.CARTESIAN)
)
)
.addPath(
// Line 9
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(26.679, 135.964, Point.CARTESIAN),
new Point(83.250, 95.464, Point.CARTESIAN)
)
)