From f80026465b4b6ec62bc5ccecda6176f760accebd Mon Sep 17 00:00:00 2001 From: robotics1 Date: Thu, 12 Dec 2024 17:30:06 -0800 Subject: [PATCH] Basket Auto code --- .../ftc/teamcode/BlueBasketAutoWithDrop1.java | 2 +- .../ftc/teamcode/BlueBasketAutoWithDrop2.java | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java index 40dd318..562f014 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java @@ -20,7 +20,7 @@ public class BlueBasketAutoWithDrop1 extends OpMode { private PathChain path; - private final Pose startPose = new Pose(8, 65); + private final Pose startPose = new Pose(8, 89); @Override public void init() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java index bb35afa..c08d8d4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java @@ -20,7 +20,7 @@ public class BlueBasketAutoWithDrop2 extends OpMode { private PathChain path; - private final Pose startPose = new Pose(8, 65); + private final Pose startPose = new Pose(16, 128); @Override public void init() { @@ -33,14 +33,14 @@ public class BlueBasketAutoWithDrop2 extends OpMode { path = follower.pathBuilder() .addPath( - // Line 2 + // Line 1 new BezierCurve( new Point(16.000, 128.000, Point.CARTESIAN), - new Point(16.000, 120.000, Point.CARTESIAN), - new Point(32.000, 123.000, Point.CARTESIAN) + new Point(88.000, 140.000, Point.CARTESIAN), + new Point(83.250, 99.000, Point.CARTESIAN) ) ) - .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)).build(); + .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(270)).build(); follower.followPath(path);