SCDS/FTCRoadRunnerRobotics
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Working three samples in bucket auto with touching low bar park

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robotics1
2025-01-27 15:53:21 -08:00
parent 5932d44350
commit 73c0f137ad
2 changed files with 5 additions and 4 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
View File

@ -118,6 +118,7 @@ public class CometBotDriveV2 extends OpMode {
moveToPark();
break;
case 99:
wrist.toTravelPosition();
break;
default:
telemetry.addLine("default");
@ -133,7 +134,6 @@ public class CometBotDriveV2 extends OpMode {
public void moveToPark() {
if (runtime.seconds() > 26) {
path6.moveToBasketPath6(follower);
wrist.toTravelPosition();
state = 99;
}
}

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath6.java
View File

@ -22,9 +22,10 @@ public class HighBasketPath6 {
builder
.addPath(
// Line 1
new BezierLine(
new Point(27.000, 128.500, Point.CARTESIAN),
new Point(104.00, 100.00, Point.CARTESIAN)
new BezierCurve(
new Point(27.000, 128.000, Point.CARTESIAN),
new Point(80.000, 130.000, Point.CARTESIAN),
new Point(100.000, 118.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270));