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Switched some commands to the new version so the students have examples
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Kevin Frei
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Sep 16, 2024
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39 changes: 39 additions & 0 deletions
39
...n750/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/DrivingCommands.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| package org.firstinspires.ftc.sixteen750.commands.driving; | ||
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| import com.technototes.library.command.Command; | ||
| import org.firstinspires.ftc.sixteen750.subsystems.DrivebaseSubsystem; | ||
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| public class DrivingCommands { | ||
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| public static Command NormalDriving(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::setNormalMode); | ||
| } | ||
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| public static Command SnailDriving(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::setSnailMode); | ||
| } | ||
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| public static Command TurboDriving(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::setTurboMode); | ||
| } | ||
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| public static Command NormalSpeed(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::auto); | ||
| } | ||
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| public static Command SlowSpeed(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::slow); | ||
| } | ||
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| public static Command FastSpeed(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::fast); | ||
| } | ||
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| public static Command ResetGyro(DrivebaseSubsystem ds) { | ||
| return Command.create(ds::setExternalHeading, 0.0); | ||
| } | ||
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| public static Command RecordHeading(DrivebaseSubsystem drive) { | ||
| return Command.create(drive::saveHeading); | ||
| } | ||
| } |
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18
...50/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/NormalModeCommand.java
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18
...750/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/ResetGyroCommand.java
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Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/SlowCommand.java
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...750/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/SnailModeCommand.java
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18
Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/TurboCommand.java
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...750/src/main/java/org/firstinspires/ftc/sixteen750/commands/driving/TurboModeCommand.java
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59 changes: 59 additions & 0 deletions
59
Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/helpers/HeadingHelper.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| package org.firstinspires.ftc.sixteen750.helpers; | ||
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| import org.firstinspires.ftc.robotcontroller.internal.FtcRobotControllerActivity; | ||
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| public class HeadingHelper { | ||
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| public double headingUpdateTime; | ||
| public double lastHeading; | ||
| public double lastXPosition; | ||
| public double lastYPosition; | ||
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| public HeadingHelper(double lastX, double lastY, double heading) { | ||
| headingUpdateTime = System.currentTimeMillis() / 1000.0; | ||
| lastXPosition = lastX; | ||
| lastYPosition = lastY; | ||
| lastHeading = heading; | ||
| } | ||
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| public static void saveHeading(double x, double y, double h) { | ||
| FtcRobotControllerActivity.SaveBetweenRuns = new HeadingHelper(x, y, h); | ||
| } | ||
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| public static void clearSavedInfo() { | ||
| FtcRobotControllerActivity.SaveBetweenRuns = null; | ||
| } | ||
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| public static boolean validHeading() { | ||
| HeadingHelper hh = (HeadingHelper) FtcRobotControllerActivity.SaveBetweenRuns; | ||
| if (hh == null) { | ||
| return false; | ||
| } | ||
| double now = System.currentTimeMillis() / 1000.0; | ||
| return now < hh.headingUpdateTime + 45; | ||
| } | ||
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| public static double getSavedHeading() { | ||
| HeadingHelper hh = (HeadingHelper) FtcRobotControllerActivity.SaveBetweenRuns; | ||
| if (hh != null) { | ||
| return hh.lastHeading; | ||
| } | ||
| return 0.0; | ||
| } | ||
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| public static double getSavedX() { | ||
| HeadingHelper hh = (HeadingHelper) FtcRobotControllerActivity.SaveBetweenRuns; | ||
| if (hh != null) { | ||
| return hh.lastXPosition; | ||
| } | ||
| return 0.0; | ||
| } | ||
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| public static double getSavedY() { | ||
| HeadingHelper hh = (HeadingHelper) FtcRobotControllerActivity.SaveBetweenRuns; | ||
| if (hh != null) { | ||
| return hh.lastYPosition; | ||
| } | ||
| return 0.0; | ||
| } | ||
| } |
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