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feat:ftc2024-carlike.java

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GZod01 2024-01-07 16:37:00 +01:00
parent 4d9fb91769
commit 0064a62555
1 changed files with 10 additions and 10 deletions
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20
ftc2024-carlike.java
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@ -57,18 +57,18 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
)
);
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Mode", "calibrating...");
telemetry.update();
//telemetry.addData("Mode", "calibrating...");
//telemetry.update();
// make sure the imu gyro is calibrated before continuing.
while (!isStopRequested() && !imu.isGyroCalibrated())
{
sleep(50);
idle();
}
//while (!isStopRequested() && !imu.isGyroCalibrated())
//{
// sleep(50);
// idle();
//}
telemetry.addData("Mode", "waiting for start");
telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
//telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
telemetry.update();
waitForStart();
@ -146,7 +146,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
}
private void resetAngle()
{
lastAngles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
lastAngles = imu.getRobotOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
globalAngle = 0;
}
@ -162,7 +162,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
// returned as 0 to +180 or 0 to -180 rolling back to -179 or +179 when rotation passes
// 180 degrees. We detect this transition and track the total cumulative angle of rotation.
Orientation angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
Orientation angles = imu.getRobotOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
double deltaAngle = angles.firstAngle - lastAngles.firstAngle;