SCDS/FTCRoadRunnerRobotics
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3 samples in high bucket

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overtime
This commit is contained in:
robotics1
2025-01-16 16:11:19 -08:00
parent 1c90a851e7
commit d41add449c
2 changed files with 66 additions and 0 deletions
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16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ComeBotDriveDevV2.java
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@ -19,6 +19,7 @@ import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath3;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath4;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath5;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath6;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@ -34,6 +35,7 @@ public class ComeBotDriveDevV2 extends OpMode {
private HighBasketAutoPath3 path3;
private HighBasketAutoPath4 path4;
private HighBasketAutoPath5 path5;
private HighBasketAutoPath6 path6;
private AutoPark pathPark;
private SkyHookSubsystem hook;
@ -52,6 +54,7 @@ public class ComeBotDriveDevV2 extends OpMode {
path3 = new HighBasketAutoPath3();
path4 = new HighBasketAutoPath4();
path5 = new HighBasketAutoPath5();
path6 = new HighBasketAutoPath6();
pathPark = new AutoPark();
@ -207,6 +210,19 @@ public class ComeBotDriveDevV2 extends OpMode {
}
}
}
private void moveToParkPath6() {
if (!followingPath) {
path6.moveToParkPath6(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 48.0) {
state = 9;
followingPath = false;
}
}
}
private void moveToBasketPath3() {
if (!followingPath) {

50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath6.java Normal file
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@ -0,0 +1,50 @@
package org.firstinspires.ftc.teamcode.subsystem;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class HighBasketAutoPath6 {
public void moveToParkPath6(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(18.000, 126.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(270))
.addPath(
// Line 2
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(81.000, 125.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(270), Math.toRadians(270))
.addPath(
// Line 3
new BezierLine(
new Point(81.000, 125.000, Point.CARTESIAN),
new Point(81.000, 100.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(270), Math.toRadians(270));
pathChain = builder.build();
robot.followPath(pathChain);
}
}