SCDS/FtcTemplate
7
0
Fork 0
mirror of https://github.com/trc492/FtcTemplate.git synced 2025-07-01 04:51:23 -07:00
Code Issues Packages Projects Releases Wiki Activity

Renamed variables to make it more readable.

Browse Source
This commit is contained in:
Titan Robotics Club
2025-04-25 23:09:41 -07:00
parent fd28526ee3
commit 7854a766a2
1 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
TeamCode/src/main/java/teamcode/FtcTest.java
View File

@ -100,9 +100,9 @@ public class FtcTest extends FtcTeleOp
private double prevTime = 0.0;
private double prevVelocity = 0.0;
// Tune Drive.
private TrcPose2D tuneStartPoint;
private TrcPose2D tuneEndPoint;
private boolean tuneAtEnd;
private TrcPose2D tuneDriveStartPoint;
private TrcPose2D tuneDriveEndPoint;
private boolean tuneDriveAtEndPoint;
// Swerve Steering Calibration.
private boolean steerCalibrating = false;
private boolean teleOpControlEnabled = true;
@ -257,11 +257,11 @@ public class FtcTest extends FtcTeleOp
case TUNE_DRIVE_PID:
if (robot.robotDrive != null)
{
tuneStartPoint = robot.robotDrive.driveBase.getFieldPosition();
tuneEndPoint = tuneStartPoint.addRelativePose(
tuneDriveStartPoint = robot.robotDrive.driveBase.getFieldPosition();
tuneDriveEndPoint = tuneDriveStartPoint.addRelativePose(
new TrcPose2D(Dashboard.Drive.xTarget*12.0, Dashboard.Drive.yTarget*12.0,
Dashboard.Drive.turnTarget));
tuneAtEnd = false;
tuneDriveAtEndPoint = false;
}
break;
}
@ -511,8 +511,8 @@ public class FtcTest extends FtcTeleOp
robot.robotDrive.purePursuitDrive.setRotOutputLimit(Dashboard.Drive.turnPower);
robot.robotDrive.purePursuitDrive.start(
false, Dashboard.Drive.maxVelocity, Dashboard.Drive.maxAcceleration,
Dashboard.Drive.maxDeclearion, tuneAtEnd? tuneStartPoint: tuneEndPoint);
tuneAtEnd = !tuneAtEnd;
Dashboard.Drive.maxDeclearion, tuneDriveAtEndPoint? tuneDriveStartPoint: tuneDriveEndPoint);
tuneDriveAtEndPoint = !tuneDriveAtEndPoint;
}
passToTeleOp = false;
}