werobot/ftc2024-robotcode
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

helloworld

Browse source
This commit is contained in:
GZod01 2024-03-17 17:15:06 +01:00
parent 58bd108a35
commit 29530c9c92
1 changed files with 3 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
FTC2024WeRobotControl.java
View file

@ -148,6 +148,9 @@ public class FTC2024WeRobotControl {
double left_multiplier = -((double) Math.signum(angle)); double left_multiplier = -((double) Math.signum(angle));
double right_multiplier = ((double) Math.signum(angle)); double right_multiplier = ((double) Math.signum(angle));
double m_power = motor_speed; double m_power = motor_speed;
if(Math.abs(angle)===180){
angle = (double) ( ( (double) Math.signum(angle) ) * 179.9 );
}
while(Parent.opModeIsActive() && (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))){ while(Parent.opModeIsActive() && (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))){
robotOrientation = Parent.imu.getRobotYawPitchRollAngles(); robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double yaw = robotOrientation.getYaw(AngleUnit.DEGREES); double yaw = robotOrientation.getYaw(AngleUnit.DEGREES);