From 8e84495f1a603f0d442e3868d5bdaefb1da7f383 Mon Sep 17 00:00:00 2001 From: Ryan Brott Date: Wed, 31 Jan 2024 17:52:54 -0800 Subject: [PATCH] Add drawing class --- .../firstinspires/ftc/teamcode/Drawing.java | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java new file mode 100644 index 0000000..38114d8 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java @@ -0,0 +1,22 @@ +package org.firstinspires.ftc.teamcode; + +import com.acmerobotics.dashboard.canvas.Canvas; +import com.acmerobotics.roadrunner.Pose2d; +import com.acmerobotics.roadrunner.Vector2d; + +public final class Drawing { + private Drawing() {} + + + public static void drawRobot(Canvas c, Pose2d t) { + final double ROBOT_RADIUS = 9; + + c.setStrokeWidth(1); + c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS); + + Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS); + Vector2d p1 = t.position.plus(halfv); + Vector2d p2 = p1.plus(halfv); + c.strokeLine(p1.x, p1.y, p2.x, p2.y); + } +}