Fixed Merge and Servo Issues (Hopefully)

GoldenDragons772 · Jan 13, 2024 · 794f8c1 · 794f8c1
2 parents 1405a46 + cb7bf77
commit 794f8c1
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Showing 7 changed files with 17 additions and 110 deletions.
diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
@@ -15,17 +15,19 @@
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
 apply plugin: 'org.jetbrains.kotlin.android'
-apply plugin: 'org.team11260.fast-load-plugin'
+//apply plugin: 'org.team11260.fast-load-plugin'
 
 buildscript {
     repositories {
         mavenCentral()
-        maven { url = 'https://www.matthewo.tech/maven/' }
+
+        maven {
+            url = 'https://www.matthewo.tech/maven/'
+        }
     }
     dependencies {
         classpath 'org.team11260:fast-load-plugin:0.1.1'
-    }
-}
+    }}
 
 repositories {
     maven {

diff --git a/TeamCode/src/main/cpp/CMakeLists.txt b/TeamCode/src/main/cpp/CMakeLists.txt
diff --git a/TeamCode/src/main/cpp/depthai-core b/TeamCode/src/main/cpp/depthai-core
diff --git a/TeamCode/src/main/cpp/libusb b/TeamCode/src/main/cpp/libusb
diff --git a/TeamCode/src/main/cpp/main.cpp b/TeamCode/src/main/cpp/main.cpp
diff --git a/TeamCode/src/main/cpp/opencv b/TeamCode/src/main/cpp/opencv
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/Diagnostic.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/Diagnostic.kt
@@ -35,10 +35,10 @@ class Diagnostic : LinearOpMode() {
 
     private fun testCircleDrive() {
         val traj = mecDrive.trajectoryBuilder(Pose2d())
-                .splineTo(Vector2d(strafeLength, strafeLength), Math.toRadians(90.0))
-                .splineTo(Vector2d(0.0, 2 * strafeLength), Math.toRadians(180.0))
-                .splineTo(Vector2d(-strafeLength, strafeLength), Math.toRadians(270.0))
-                .splineTo(Vector2d(0.0, 0.0), 0.0).build()
+            .splineTo(Vector2d(strafeLength, strafeLength), Math.toRadians(90.0))
+            .splineTo(Vector2d(0.0, 2 * strafeLength), Math.toRadians(180.0))
+            .splineTo(Vector2d(-strafeLength, strafeLength), Math.toRadians(270.0))
+            .splineTo(Vector2d(0.0, 0.0), 0.0).build()
 
         this.telemetry.addLine("TEST: Circle Drive")
         mecDrive.followTrajectory(traj)
@@ -49,16 +49,16 @@ class Diagnostic : LinearOpMode() {
     }
 
     private fun testSquareStrafe() {
-        val traj = mecDrive.trajectoryBuilder(mecDrive.poseEstimate)
-                .forward(strafeLength)
-                .strafeLeft(strafeLength)
-                .back(strafeLength)
-                .strafeRight(strafeLength)
-                .build()
+        val traj = mecDrive.trajectorySequenceBuilder(Pose2d(0.0,0.0,0.0))
+            .forward(strafeLength)
+            .strafeLeft(strafeLength)
+            .back(strafeLength)
+            .strafeRight(strafeLength)
+            .build()
 
         this.telemetry.addLine("TEST: Square Strafe")
         this.telemetry.update()
-        mecDrive.followTrajectory(traj)
+        mecDrive.followTrajectorySequence(traj)
         while (mecDrive.isBusy) {
             sleep(20)
         }