SCDS/FtcTemplate
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Renamed variables to make it more readable.

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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
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16
TeamCode/src/main/java/teamcode/FtcTest.java
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@ -100,9 +100,9 @@ public class FtcTest extends FtcTeleOp
private double prevTime = 0.0; private double prevTime = 0.0;
private double prevVelocity = 0.0; private double prevVelocity = 0.0;
// Tune Drive. // Tune Drive.
private TrcPose2D tuneStartPoint; private TrcPose2D tuneDriveStartPoint;
private TrcPose2D tuneEndPoint; private TrcPose2D tuneDriveEndPoint;
private boolean tuneAtEnd; private boolean tuneDriveAtEndPoint;
// Swerve Steering Calibration. // Swerve Steering Calibration.
private boolean steerCalibrating = false; private boolean steerCalibrating = false;
private boolean teleOpControlEnabled = true; private boolean teleOpControlEnabled = true;
@ -257,11 +257,11 @@ public class FtcTest extends FtcTeleOp
case TUNE_DRIVE_PID: case TUNE_DRIVE_PID:
if (robot.robotDrive != null) if (robot.robotDrive != null)
{ {
tuneStartPoint = robot.robotDrive.driveBase.getFieldPosition(); tuneDriveStartPoint = robot.robotDrive.driveBase.getFieldPosition();
tuneEndPoint = tuneStartPoint.addRelativePose( tuneDriveEndPoint = tuneDriveStartPoint.addRelativePose(
new TrcPose2D(Dashboard.Drive.xTarget*12.0, Dashboard.Drive.yTarget*12.0, new TrcPose2D(Dashboard.Drive.xTarget*12.0, Dashboard.Drive.yTarget*12.0,
Dashboard.Drive.turnTarget)); Dashboard.Drive.turnTarget));
tuneAtEnd = false; tuneDriveAtEndPoint = false;
} }
break; break;
} }
@ -511,8 +511,8 @@ public class FtcTest extends FtcTeleOp
robot.robotDrive.purePursuitDrive.setRotOutputLimit(Dashboard.Drive.turnPower); robot.robotDrive.purePursuitDrive.setRotOutputLimit(Dashboard.Drive.turnPower);
robot.robotDrive.purePursuitDrive.start( robot.robotDrive.purePursuitDrive.start(
false, Dashboard.Drive.maxVelocity, Dashboard.Drive.maxAcceleration, false, Dashboard.Drive.maxVelocity, Dashboard.Drive.maxAcceleration,
Dashboard.Drive.maxDeclearion, tuneAtEnd? tuneStartPoint: tuneEndPoint); Dashboard.Drive.maxDeclearion, tuneDriveAtEndPoint? tuneDriveStartPoint: tuneDriveEndPoint);
tuneAtEnd = !tuneAtEnd; tuneDriveAtEndPoint = !tuneDriveAtEndPoint;
} }
passToTeleOp = false; passToTeleOp = false;
} }