From 695361e95c496b97306c82403fa4bbba87001bb6 Mon Sep 17 00:00:00 2001
From: KeshavAnandCode <keshavanandofficial@gmail.com>
Date: Tue, 11 Nov 2025 21:30:14 -0600
Subject: [PATCH] Hold code added

---
 .../org/firstinspires/ftc/teamcode/readme.md  |  3 +-
 .../ftc/teamcode/teleop/HoldTest.java         | 80 +++++++++++++++++++
 2 files changed, 81 insertions(+), 2 deletions(-)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/HoldTest.java

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
index baccf2c..d0e90af 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
@@ -5,7 +5,6 @@
 
 1. Open a terminal (or the terminal inside Android Studio).
 2. Navigate to the folder where you want to keep the project.
-3. Run:
 
    ```bash
    git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
@@ -111,7 +110,7 @@ Examples:
 
 ---
 
-## 6. Branching Rules
+
 
 **Do:**
 - Always branch from `master`.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/HoldTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/HoldTest.java
new file mode 100644
index 0000000..0bd4026
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/HoldTest.java
@@ -0,0 +1,80 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.h1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y1;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.ftc.PinpointIMU;
+import com.pedropathing.ftc.localization.localizers.PinpointLocalizer;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+
+@TeleOp
+@Config
+public class HoldTest extends LinearOpMode {
+
+    Robot robot;
+    MecanumDrive drive;
+
+    public TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
+    public ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        robot = new Robot(hardwareMap);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,0));
+
+
+        TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(0.01, 0.01), 0, VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+
+        waitForStart();
+
+
+        while (opModeIsActive()){
+
+            drive.updatePoseEstimate();
+
+            Pose2d currentPos = drive.localizer.getPose();
+
+
+
+            TrajectoryActionBuilder traj2 = drive.actionBuilder(currentPos)
+                    .strafeToLinearHeading(new Vector2d(0, 0), 0, VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+
+            if (Math.abs(currentPos.position.x) >0.5 || Math.abs(currentPos.position.y)>0.5) {
+                Actions.runBlocking(
+                        traj2.build()
+                );
+            }
+
+
+
+
+
+        }
+
+
+    }
+}