Turned Turbo into Slow Mode and square with sign

ftc16072 · Jan 23, 2024 · 6c4eb48 · 6c4eb48
1 parent b3f419b
commit 6c4eb48
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/...ava/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java b/...ava/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
@@ -4,12 +4,15 @@
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class DriveFieldRelative extends Node {
+   private double squareWithSign(double number){
+       return number * number * Math.signum(number);
+   }
 
     @Override
     public State tick(QQOpMode opmode) {
-        opmode.robot.nav.fieldRelative(-opmode.gamepad1.left_stick_y,
-                opmode.gamepad1.left_stick_x,
-                opmode.gamepad1.right_stick_x);
+        opmode.robot.nav.fieldRelative(squareWithSign(-opmode.gamepad1.left_stick_y),
+                squareWithSign(opmode.gamepad1.left_stick_x),
+                squareWithSign(opmode.gamepad1.right_stick_x));
         return State.RUNNING;
     }
 }
diff --git a/...src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java b/...src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees;
 
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveFieldRelative;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MakeFastDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MakeNormalDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MakeSlowDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MoveArmAndLift;
@@ -93,7 +92,7 @@ public static Node root(){
                             new AreSlidesExtended(),
                             new Sequence(
                                     new IfLeftTriggerPressed(),
-                                    new MakeFastDrive()
+                                    new MakeSlowDrive()
                             ),
                             new MakeNormalDrive()
                     )