diff low pole, right auto

FTC11329 · Jun 23, 2023 · c81755b · c81755b
1 parent a63b2bf
commit c81755b
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/.../src/main/java/org/firstinspires/ftc/teamcode/auto/roadrunnerautos/LeftAutoTraversal.java b/.../src/main/java/org/firstinspires/ftc/teamcode/auto/roadrunnerautos/LeftAutoTraversal.java
@@ -30,7 +30,7 @@ public class LeftAutoTraversal extends RoadRunnerAutoBase {
 
     Pose2d placeLocationHigh = new Pose2d(41, -26.5, Math.toRadians(45));
     Pose2d placeLocationMed  = new Pose2d(44.5, -1.5, Math.toRadians(50));
-    Pose2d placeLocationLow  = new Pose2d(44.5, 6, Math.toRadians(90));
+    Pose2d placeLocationLow  = new Pose2d(23.5, 6, Math.toRadians(225));
 
     Pose2d intermediatePosition1 = new Pose2d(53.5,5, Math.toRadians(90));
     Pose2d intermediatePosition2 = new Pose2d(53, -20, Math.toRadians(45));
@@ -82,15 +82,16 @@ public double get(double v, @NonNull Pose2d pose2d, @NonNull Pose2d pose2d1, @No
 
                 //Puts the arm in placing position
                 .addTemporalMarkerOffset(0, () -> {
-                    claw.setPos(RobotConfig.Presets.WristPickup);
-                    arm.toPosition(RobotConfig.Presets.Arm1Low);
-                    slides.setTargetPosition(RobotConfig.Presets.SlidesLow);
+                    claw.setPos(0.3383);
+                    arm.toPosition(195);
+                    //slides.setTargetPosition(Ro);
                 })
                 //A LOW CONE DROP !!!!!!!!!!!!!!!!!!
                 //.splineToLinearHeading(intermediatePosition4, 0)
-                .lineToLinearHeading(placeLocationLow)
-                //.splineToSplineHeading(placeLocationLow, 0)
-                //.splineToLinearHeading(placeLocationLow, 20)
+                //.lineToLinearHeading(placeLocationLow)
+                //.splineToSplreineHeading(placeLocationLow, 0)
+                //.splineTo(placeLocationLow)
+                .splineTo(new Vector2d(placeLocationLow.getX(), placeLocationLow.getY()), placeLocationLow.getHeading())
 
                 .addTemporalMarkerOffset(0, () -> {
                     claw.ungrab();

diff --git a/...src/main/java/org/firstinspires/ftc/teamcode/auto/roadrunnerautos/RightAutoTraversal.java b/...src/main/java/org/firstinspires/ftc/teamcode/auto/roadrunnerautos/RightAutoTraversal.java
@@ -29,9 +29,9 @@ public class RightAutoTraversal extends RoadRunnerAutoBase {
 
     Pose2d placeLocationHigh = new Pose2d(41, 26.5, Math.toRadians(315));
     Pose2d placeLocationMed  = new Pose2d(43.5, 2.5, Math.toRadians(310));
-    Pose2d placeLocationLow  = new Pose2d(44.5, -6, Math.toRadians(270));
+    Pose2d placeLocationLow  = new Pose2d(27.5, -4.5, 5.6);
 
-    Pose2d intermediatePosition1 = new Pose2d(53,-8, Math.toRadians(270));
+    Pose2d intermediatePosition1 = new Pose2d(53,-6, Math.toRadians(270));
     Pose2d intermediatePosition2 = new Pose2d(52, 18.5, Math.toRadians(315));
     Pose2d intermediatePosition3 = new Pose2d(48, 15, Math.toRadians(270));
 
@@ -81,9 +81,9 @@ public double get(double v, @NonNull Pose2d pose2d, @NonNull Pose2d pose2d1, @No
 
                 //Puts the arm in placing position
                 .addTemporalMarkerOffset(0, () -> {
-                    claw.setPos(RobotConfig.Presets.WristPickup);
-                    arm.toPosition(RobotConfig.Presets.Arm1Low);
-                    slides.setTargetPosition(RobotConfig.Presets.SlidesLow);
+                    claw.setPos(0.3383);
+                    arm.toPosition(230);
+                    //slides.setTargetPosition(Ro);
                 })
                 //A LOW CONE DROP !!!!!!!!!!!!!!!!!!
 
@@ -96,7 +96,7 @@ public double get(double v, @NonNull Pose2d pose2d, @NonNull Pose2d pose2d1, @No
                 //A MEDIUM CONE PICKUP !!!!!!!!!!!!!!!
                 //Go to pickup a cone
 
-                .addTemporalMarkerOffset(0.35, () -> {
+                .addTemporalMarkerOffset(1.1, () -> {
                     slides.setTargetPosition(RobotConfig.Presets.SlidesPickupTop);
                     arm.toPosition(RobotConfig.Presets.Arm1PickupTop);
                     claw.setPos(RobotConfig.Presets.WristPickup);