Merge pull request ftctechnh#68 from 6150FTC/master

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6150FTC · Dec 28, 2018 · 3a6c35f · 3a6c35f
2 parents bd6d26f + b3596e8
commit 3a6c35f
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Showing 3 changed files with 44 additions and 8 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonomousRedFinalPictureFirst.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonomousRedFinalPictureFirst.java
@@ -16,15 +16,15 @@ public void runOpMode()
         compRobot = new CompRobot(hardwareMap,this);
         vuforiaFunctions = new VuforiaFunctions(this, hardwareMap);
         float yawAngle = 90;
-        float frontSensorDepth = 2;
+        float frontSensorDepth = 4.5f;
         float rightSensorDepth = 2;
         float leftSensorDepth = 2;
         float backSensorDepth = 2;
         float  yawAngleTurn;
         float distanceTraveled = 0;
         waitForStart();
-        compRobot.climbDown();
-        sleep(200);
+        //compRobot.climbDown();
+        //sleep(200);
         compRobot.driveStraight(8,.8f);
         compRobot.pivotenc(95, .8f); //100 worked about 2/3 of the time
 
@@ -72,10 +72,10 @@ public void runOpMode()
         sleep(200);
         compRobot.deployMarker();
         telemetry.update();
-        compRobot.driveStraight(-20, .5f);
+        /*compRobot.driveStraight(-20, .5f);
         compRobot.pivotenc(-230, .8f);
         compRobot.hugWallToLeft(6 + rightSensorDepth, 9 + rightSensorDepth, 38, 75);
         compRobot.driveStraight(15, .8f); //since the hugwall stops at the crater, this takes robot into crater
-        compRobot.stopDriveMotors();
+        compRobot.stopDriveMotors();*/
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CompRobot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CompRobot.java
@@ -101,7 +101,7 @@ public void driveStraight(float dist_In, float pow)
             super.goBackwards(pow, pow);
 
         dist_In = Math.abs(dist_In);
-        float encTarget = 19.4366f * dist_In - 44.004f;
+        float encTarget = Math.abs(dist_In * 20.167f - 46.111f);
 
         while ((Math.abs(super.getDriveLeftOne().getCurrentPosition()) < encTarget)
                 && (Math.abs(super.getDriveRightOne().getCurrentPosition()) < encTarget)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CompRobotCalibration.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CompRobotCalibration.java
@@ -12,10 +12,46 @@ public void runOpMode() throws InterruptedException
     {
         compRobot = new CompRobot(hardwareMap, this);
         waitForStart();
-        compRobot.deployMarker();
-        while (opModeIsActive())
+
+        /*compRobot.driveStraight(50,.8f);
+        while (!gamepad1.a && !isStopRequested())
+        {
+
+        }
+        compRobot.driveStraight(100,.8f);
+        while (!gamepad1.b && !isStopRequested())
         {
 
         }
+        compRobot.driveStraight(250,.8f);
+        while (!gamepad1.x && !isStopRequested())
+        {
+
+        }
+        compRobot.driveStraight(400,.8f);
+        while (!gamepad1.y && !isStopRequested())
+        {
+
+        }
+        compRobot.driveStraight(500,.8f);
+        while (!gamepad1.a && !isStopRequested())
+        {
+
+        }
+        compRobot.driveStraight(750,.8f);
+        while (!gamepad1.b && !isStopRequested())
+        {
+
+        }
+        compRobot.driveStraight(850,.8f);
+        while (!gamepad1.x && !isStopRequested())
+        {
+
+        }
+        compRobot.driveStraight(1000,.8f);
+        while (!gamepad1.y && !isStopRequested())
+        {
+
+        }*/
     }
 }