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Titan Robotics Club
2024-12-25 02:27:00 -08:00
parent 5a3bb9474b
commit 90dfa2e493
5 changed files with 78 additions and 50 deletions
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19
TeamCode/src/main/java/teamcode/Robot.java
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@ -89,7 +89,7 @@ public class Robot
// Create and initialize vision subsystems.
if (RobotParams.Preferences.useVision &&
(RobotParams.Preferences.tuneColorBlobVision ||
RobotParams.Preferences.useAprilTagVision ||
RobotParams.Preferences.useWebcamAprilTagVision ||
RobotParams.Preferences.useColorBlobVision ||
RobotParams.Preferences.useLimelightVision))
{
@ -115,8 +115,13 @@ public class Robot
if (RobotParams.Preferences.useSubsystems)
{
// Create subsystems.
// Zero calibrate all subsystems only at init time.
zeroCalibrate();
// Zero calibrate all subsystems only in Auto or if TeleOp is run standalone without prior Auto.
// There is no reason to zero calibrate again if Auto was run right before TeleOp.
if (runMode == TrcRobot.RunMode.AUTO_MODE || FtcAuto.autoChoices.alliance == null)
{
zeroCalibrate(null, null);
}
// Create autotasks.
}
}
@ -312,14 +317,6 @@ public class Robot
{
} //zeroCalibrate
/**
* This method zero calibrates all subsystems.
*/
public void zeroCalibrate()
{
zeroCalibrate(null, null);
} //zeroCalibrate
/**
* This method sets the robot's starting position according to the autonomous choices.
*