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constants to RobotConfig #47

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Jan 17, 2024
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constants to RobotConfig #47

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7 changes: 2 additions & 5 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,13 +13,10 @@ import kotlin.math.sqrt
* Requires the [TriWheels] API.
*/
object TeleOpMovement : Component {
private const val ROTATION_GAIN = 0.6
private const val SLOW_MULTIPLIER = 0.4

override fun loop(opMode: OpMode) {
// alias gamepad1
val gamepad = opMode.gamepad1
val rotationPower = ROTATION_GAIN * -gamepad.right_stick_x.toDouble()
val rotationPower = RobotConfig.TeleOpMovement.ROTATION_GAIN * -gamepad.right_stick_x.toDouble()

// joystick input
val joyX = -gamepad.left_stick_x.toDouble()
Expand All @@ -32,7 +29,7 @@ object TeleOpMovement : Component {

// if the right bumper is pressed move slower
if (gamepad.right_bumper) {
joyMagnitude *= SLOW_MULTIPLIER
joyMagnitude *= RobotConfig.TeleOpMovement.SLOW_MULTIPLIER
}

// movement of all wheels
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6 changes: 6 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/RobotConfig.kt
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Expand Up @@ -149,6 +149,12 @@ object RobotConfig {

@JvmField
var ROTATE_SPEED: Double = 0.5

@JvmField
var ROTATION_GAIN: Double = 0.6

@JvmField
var SLOW_MULTIPLIER: Double = 0.4
}

/**
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