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Better spline test

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This commit is contained in:
Ryan Brott
2023-12-24 13:30:20 -08:00
parent a890105110
commit a01ac85ef7
1 changed files with 7 additions and 6 deletions
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13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
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@ -11,25 +11,26 @@ import org.firstinspires.ftc.teamcode.TankDrive;
public final class SplineTest extends LinearOpMode { public final class SplineTest extends LinearOpMode {
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
Pose2d beginPose = new Pose2d(0, 0, 0);
if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) { if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); MecanumDrive drive = new MecanumDrive(hardwareMap, beginPose);
waitForStart(); waitForStart();
Actions.runBlocking( Actions.runBlocking(
drive.actionBuilder(drive.pose) drive.actionBuilder(beginPose)
.splineTo(new Vector2d(30, 30), Math.PI / 2) .splineTo(new Vector2d(30, 30), Math.PI / 2)
.splineTo(new Vector2d(60, 0), Math.PI) .splineTo(new Vector2d(0, 60), Math.PI)
.build()); .build());
} else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) { } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0)); TankDrive drive = new TankDrive(hardwareMap, beginPose);
waitForStart(); waitForStart();
Actions.runBlocking( Actions.runBlocking(
drive.actionBuilder(drive.pose) drive.actionBuilder(beginPose)
.splineTo(new Vector2d(30, 30), Math.PI / 2) .splineTo(new Vector2d(30, 30), Math.PI / 2)
.splineTo(new Vector2d(60, 0), Math.PI) .splineTo(new Vector2d(0, 60), Math.PI)
.build()); .build());
} else { } else {
throw new RuntimeException(); throw new RuntimeException();