werobot/ftc2024-robotcode
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hellloworld

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GZod01 2024-01-14 16:26:49 +01:00
parent 070e73e5e6
commit 25e098b9be
1 changed files with 1 additions and 1 deletions
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ftc2024-holonom.java
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@ -109,7 +109,7 @@ public class Werobot_FTC2024 extends LinearOpMode {
int[] cur_motor = motors_angles[i];
double cur_motor_norm = Math.pow(((Math.pow(cur_motor[0],2))+(Math.pow(cur_motor[1],2))),(1.0/2.0));
double joystick_angle = Math.atan2(joystick_vector[0],joystick_vector[1]);
double cur_motor_angle = Math.atan2(cur_motor[0],cur_motor[1]);
double cur_motor_angle = Math.atan2(cur_motor[0],cur_motor[1])+(Math.PI/4);
double diff_angle = joystick_angle - cur_motor_angle;
if (mode=="normal"){
diff_angle-=Yaw;