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2 changes: 1 addition & 1 deletion
2
...ikeTrajectory/SetLeftSpikeTrajectory.java → ...jectory/Spike/SetLeftSpikeTrajectory.java
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2 changes: 1 addition & 1 deletion
2
...ajectory/SetLeftSpikeTrajectoryPart2.java → ...ry/Spike/SetLeftSpikeTrajectoryPart2.java
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26 changes: 26 additions & 0 deletions
26
...ees/Actions/Trajectories/LeftSpikeTrajectory/ToBackboard/SetLeftSpikeTrajectoryPart3.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.LeftSpikeTrajectory.ToBackboard; | ||
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| import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node; | ||
| import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode; | ||
| import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition; | ||
| import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence; | ||
| import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder; | ||
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|
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| public class SetLeftSpikeTrajectoryPart3 extends Node { | ||
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| //EDIT (as of 2/18) | ||
| public static final int FORWARD_DISTANCE_INCHES=20; | ||
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| @Override | ||
| public State tick(QQOpMode opMode) { | ||
| TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate()); | ||
| TrajectorySequence sequence = builder.back(FORWARD_DISTANCE_INCHES). | ||
| build(); | ||
| if (sequence == null){ | ||
| return State.FAILURE; | ||
| } | ||
| opMode.board.add("TrajectorySequence", sequence); | ||
| opMode.board.add("SpikePosition", SpikePosition.RIGHT); | ||
| return State.SUCCESS; | ||
| } | ||
| } |
2 changes: 1 addition & 1 deletion
2
...rajectories/SetMiddleSpikeTrajectory.java → ...ctory/Spike/SetMiddleSpikeTrajectory.java
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26 changes: 26 additions & 0 deletions
26
...Actions/Trajectories/MiddleSpikeTrajectory/ToBackboard/SetMiddleSpikeTrajectoryPart2.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.MiddleSpikeTrajectory.ToBackboard; | ||
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| import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node; | ||
| import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode; | ||
| import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition; | ||
| import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence; | ||
| import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder; | ||
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| public class SetMiddleSpikeTrajectoryPart2 extends Node { | ||
| public static final int FORWARD_DISTANCE_INCHES = 24; | ||
| public static final int BACKWARD_DISTANCE_INCHES = 20; | ||
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| @Override | ||
| public State tick(QQOpMode opMode) { | ||
| TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate()); | ||
| TrajectorySequence sequence = builder | ||
| .back(FORWARD_DISTANCE_INCHES). | ||
| build(); | ||
| if (sequence == null){ | ||
| return State.FAILURE; | ||
| } | ||
| opMode.board.add("TrajectorySequence", sequence); | ||
| opMode.board.add("SpikePosition", SpikePosition.MIDDLE); | ||
| return State.SUCCESS; | ||
| } | ||
| } |
2 changes: 1 addition & 1 deletion
2
...keTrajectory/SetRightSpikeTrajectory.java → ...ectory/Spike/SetRightSpikeTrajectory.java
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2 changes: 1 addition & 1 deletion
2
...jectory/SetRightSpikeTrajectoryPart2.java → ...y/Spike/SetRightSpikeTrajectoryPart2.java
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25 changes: 25 additions & 0 deletions
25
...s/Actions/Trajectories/RightSpikeTrajectory/ToBackboard/SetRightSpikeTrajectoryPart3.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Trajectories.RightSpikeTrajectory.ToBackboard; | ||
|
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| import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node; | ||
| import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode; | ||
| import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition; | ||
| import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequence; | ||
| import org.firstinspires.ftc.teamcode.rr_trajectorysequence.TrajectorySequenceBuilder; | ||
|
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| public class SetRightSpikeTrajectoryPart3 extends Node { | ||
| //EDIT (as of 2/18) | ||
| public static final int FORWARD_DISTANCE_INCHES=20; | ||
|
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| @Override | ||
| public State tick(QQOpMode opMode) { | ||
| TrajectorySequenceBuilder builder = opMode.robot.nav.trajectorySequenceBuilder(opMode.robot.nav.getPoseEstimate()); | ||
| TrajectorySequence sequence = builder.back(FORWARD_DISTANCE_INCHES). | ||
| build(); | ||
| if (sequence == null){ | ||
| return State.FAILURE; | ||
| } | ||
| opMode.board.add("TrajectorySequence", sequence); | ||
| opMode.board.add("SpikePosition", SpikePosition.RIGHT); | ||
| return State.SUCCESS; | ||
| } | ||
| } |
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