Merge remote-tracking branch 'origin/branch-rc-chassis-14493' into branch-rc-chassis-14493
This commit is contained in:
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package org.firstinspires.ftc.teamcode;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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/**
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* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
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* a circle, but some Bezier curves that have control points set essentially in a square. However,
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* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
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* heading is to be expected.
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*
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* @author Anyi Lin - 10158 Scott's Bots
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* @author Aaron Yang - 10158 Scott's Bots
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* @author Harrison Womack - 10158 Scott's Bots
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* @version 1.0, 3/12/2024
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*/
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@Config
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@Autonomous(name = "AutoExampleThree", group = "Autonomous Pathing Tuning")
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public class AutoExampleThree extends OpMode {
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private Telemetry telemetryA;
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private Follower follower;
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private PathChain path;
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private final Pose startPose = new Pose(10.0, 40, 90);
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/**
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* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
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* initializes the FTC Dashboard telemetry.
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*/
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@Override
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public void init() {
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follower = new Follower(hardwareMap);
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follower.setMaxPower(.4);
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follower.setStartingPose(startPose);
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path = follower.pathBuilder()
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.addPath(
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// Line 1
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new BezierCurve(
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new Point(10.000, 20.000, Point.CARTESIAN),
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new Point(29.089, 61.232, Point.CARTESIAN),
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new Point(48.054, 19.607, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90)).build();
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follower.followPath(path);
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telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
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telemetryA.update();
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}
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/**
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* This runs the OpMode, updating the Follower as well as printing out the debug statements to
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* the Telemetry, as well as the FTC Dashboard.
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*/
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@Override
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public void loop() {
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follower.update();
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if (follower.atParametricEnd()) {
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follower.followPath(path);
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}
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follower.telemetryDebug(telemetryA);
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}
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}
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@ -0,0 +1,247 @@
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package org.firstinspires.ftc.teamcode;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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/**
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* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
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* a circle, but some Bezier curves that have control points set essentially in a square. However,
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* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
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* heading is to be expected.
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*
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* @author Anyi Lin - 10158 Scott's Bots
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* @author Aaron Yang - 10158 Scott's Bots
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* @author Harrison Womack - 10158 Scott's Bots
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* @version 1.0, 3/12/2024
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*/
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@Config
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@Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
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public class BluebAutoV1 extends OpMode {
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private Telemetry telemetryA;
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private Follower follower;
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private PathChain path;
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private final Pose startPose = new Pose(7.5, 72, 90);
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/**
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* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
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* initializes the FTC Dashboard telemetry.
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*/
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@Override
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public void init() {
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follower = new Follower(hardwareMap);
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follower.setMaxPower(.4);
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follower.setStartingPose(startPose);
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path = follower.pathBuilder()
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.addPath(
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// Line 1
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new BezierLine(
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new Point(7.5, 72, Point.CARTESIAN),
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new Point(29.893, 38.250, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 2
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new BezierLine(
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new Point(29.893, 38.250, Point.CARTESIAN),
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new Point(65.250, 32.143, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 3
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new BezierLine(
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new Point(65.250, 32.143, Point.CARTESIAN),
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new Point(61.714, 24.429, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 4
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new BezierLine(
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new Point(61.714, 24.429, Point.CARTESIAN),
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new Point(13.821, 22.821, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 5
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new BezierLine(
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new Point(13.821, 22.821, Point.CARTESIAN),
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new Point(61.714, 24.429, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 6
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new BezierLine(
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new Point(61.714, 24.429, Point.CARTESIAN),
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new Point(60.750, 12.696, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 7
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new BezierLine(
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new Point(60.750, 12.696, Point.CARTESIAN),
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new Point(12.375, 13.179, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 8
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new BezierLine(
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new Point(12.375, 13.179, Point.CARTESIAN),
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new Point(60.750, 12.536, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 9
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new BezierLine(
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new Point(60.750, 12.536, Point.CARTESIAN),
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new Point(60.589, 9.321, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 10
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new BezierLine(
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new Point(60.589, 9.321, Point.CARTESIAN),
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new Point(12.536, 8.357, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 11
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new BezierLine(
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new Point(12.536, 8.357, Point.CARTESIAN),
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new Point(26.679, 8.679, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 12
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new BezierLine(
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new Point(26.679, 8.679, Point.CARTESIAN),
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new Point(22.821, 109.446, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 13
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new BezierLine(
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new Point(22.821, 109.446, Point.CARTESIAN),
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new Point(70.714, 109.446, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 14
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new BezierLine(
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new Point(70.714, 109.446, Point.CARTESIAN),
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new Point(71.036, 120.214, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 15
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new BezierLine(
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new Point(71.036, 120.214, Point.CARTESIAN),
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new Point(22.179, 120.214, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 16
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new BezierLine(
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new Point(22.179, 120.214, Point.CARTESIAN),
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new Point(11.089, 130.821, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 17
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new BezierLine(
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new Point(11.089, 130.821, Point.CARTESIAN),
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new Point(70.714, 112.018, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 18
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new BezierLine(
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new Point(70.714, 112.018, Point.CARTESIAN),
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new Point(70.714, 128.250, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 19
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new BezierLine(
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new Point(70.714, 128.250, Point.CARTESIAN),
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new Point(9.964, 130.018, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 20
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new BezierLine(
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new Point(9.964, 130.018, Point.CARTESIAN),
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new Point(70.554, 130.500, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 21
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new BezierLine(
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|
new Point(70.554, 130.500, Point.CARTESIAN),
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|
new Point(70.393, 135.000, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(90))
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.addPath(
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// Line 22
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new BezierLine(
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new Point(70.393, 135.000, Point.CARTESIAN),
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new Point(13.821, 134.839, Point.CARTESIAN)
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)
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|
)
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|
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
|
||||||
|
|
||||||
|
follower.followPath(path);
|
||||||
|
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||||
|
telemetryA.update();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
|
||||||
|
* the Telemetry, as well as the FTC Dashboard.
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public void loop() {
|
||||||
|
follower.update();
|
||||||
|
if (follower.atParametricEnd()) {
|
||||||
|
follower.followPath(path);
|
||||||
|
}
|
||||||
|
follower.telemetryDebug(telemetryA);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,4 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode;
|
||||||
|
|
||||||
|
public class BluenbAutov1 {
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user