werobot/ftc2024-robotcode
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Update autonome_api.java

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GZod01 2024-03-07 16:21:56 +01:00 committed by GitHub
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commit ce1f5a5741
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1 changed files with 3 additions and 1 deletions
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autonome_api.java
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@ -52,7 +52,9 @@ public class ftc2024_autonome_api extends LinearOpMode {
}
public void rotate(double angle, double motor_speed=1.0){
double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
angle = Math.toDegrees(Math.atan(Math.tan(Math.toRadians(angle))));
angle = 200.0;
double anglerad = Math.toRadians(angle);
angle = Math.toDegrees(Math.atan2(Math.sin(anglerad),Math.cos(anglerad)));
double left_multiplier = -( (double) Math.signum(angle));
double right_multiplier = ((double) Math.signum(angle));
double m_power = motor_speed;