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fixed wheel rotation so its going forward

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robotics2
2023-09-28 16:03:30 -07:00
parent dc530b52b7
commit c3da4e525d
1 changed files with 6 additions and 6 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
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@ -82,13 +82,13 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
// For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
// This is gearing DOWN for less speed and more torque.
// For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder
static final double COUNTS_PER_MOTOR_REV = 537.6 ; // eg: TETRIX Motor Encoder
static final double DRIVE_GEAR_REDUCTION = 1.0 ; // No External Gearing.
static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference
static final double WHEEL_DIAMETER_INCHES = 3.77953 ; // For figuring circumference
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * 3.1415);
static final double DRIVE_SPEED = 0.6;
static final double TURN_SPEED = 0.5;
static final double DRIVE_SPEED = 0.2;
static final double TURN_SPEED = 0.4;
@Override
public void runOpMode() {
@ -131,8 +131,8 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
// Step through each leg of the path,
// Note: Reverse movement is obtained by setting a negative distance (not speed)
encoderDrive(DRIVE_SPEED, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout
encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout
encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout
//encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout
//encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout
telemetry.addData("Path", "Complete");
telemetry.update();