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Add aujto offset and made left bumper g2 a super key

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Signed-off-by: KeshavAnandCode <keshavanandofficial@gmail.com>
This commit is contained in:
KeshavAnandCode
2025-12-05 16:55:01 +00:00
parent fb8a4fae95
commit 5d93e3fc59
1 changed files with 19 additions and 5 deletions
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24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -49,6 +49,9 @@ public class TeleopV2 extends LinearOpMode {
MultipleTelemetry TELE; MultipleTelemetry TELE;
boolean intake = false; boolean intake = false;
boolean reject = false; boolean reject = false;
double xOffset = 0.0;
double yOffset = 0.0;
double headingOffset = 0.0;
int ticker = 0; int ticker = 0;
List<Double> s1G = new ArrayList<>(); List<Double> s1G = new ArrayList<>();
List<Double> s2G = new ArrayList<>(); List<Double> s2G = new ArrayList<>();
@@ -306,8 +309,9 @@ public class TeleopV2 extends LinearOpMode {
double offset; double offset;
double robotX = drive.localizer.getPose().position.x; double robotX = drive.localizer.getPose().position.x - xOffset;
double robotY = drive.localizer.getPose().position.y; double robotY = drive.localizer.getPose().position.y - xOffset;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -10; double goalX = -10;
double goalY = 0; double goalY = 0;
@@ -321,7 +325,7 @@ public class TeleopV2 extends LinearOpMode {
desiredTurretAngle += manualOffset; desiredTurretAngle += manualOffset;
offset = desiredTurretAngle - 180 - Math.toDegrees(drive.localizer.getPose().heading.toDouble()); offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
if (offset > 135) { if (offset > 135) {
offset -= 360; offset -= 360;
@@ -399,13 +403,23 @@ public class TeleopV2 extends LinearOpMode {
} else if (gamepad2.left_stick_x<-0.5){ } else if (gamepad2.left_stick_x<-0.5){
manualTurret = true; manualTurret = true;
manualOffset = 0; manualOffset = 0;
if (gamepad2.left_bumper){
xOffset = robotX;
yOffset = robotY;
headingOffset = robotHeading;
}
} }
if (gamepad2.left_stick_y<-0.5){ if (gamepad2.left_stick_y<-0.5){
autoHood = true; autoHood = true;
} else if (gamepad2.;eft_stick_y>0.5){ } else if (gamepad2.left_stick_y>0.5){
autoHood = false; autoHood = false;
hoodOffset = 0; hoodOffset = 0;
if (gamepad2.left_bumper){
xOffset = robotX;
yOffset = robotY;
headingOffset = robotHeading;
}
} }
//SHOOT ALL: //SHOOT ALL:
@@ -549,7 +563,7 @@ public class TeleopV2 extends LinearOpMode {
} }
if (gamepad2.x || gamepad2.left_bumper){ if (gamepad2.x){
shootAll = false; shootAll = false;
} }