trying to fix the auto

edinabucketbrigade · Nov 15, 2024 · 5f1de9f · 5f1de9f
1 parent ea775a5
commit 5f1de9f
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoGyro.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoGyro.java
@@ -89,7 +89,7 @@ public class AutoGyro extends LinearOpMode {
     // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
     // This is gearing DOWN for less speed and more torque.
     // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
-    static final double COUNTS_PER_MOTOR_REV = 384.5;   // eg: GoBILDA 312 RPM Yellow Jacket
+    static final double COUNTS_PER_MOTOR_REV = 2386;   // eg: GoBILDA 312 RPM Yellow Jacket
     static final double DRIVE_GEAR_REDUCTION = 1.0;     // No External Gearing.
     static final double WHEEL_DIAMETER_INCHES = 4.0;     // For figuring circumference
     static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
@@ -197,6 +197,9 @@ public void runOpMode() {
                         holdHeading(TURN_SPEED, ((HoldHeading) segment).heading, ((HoldHeading) segment).holdTime);
                         break;
                     default:
+                        telemetry.addData("class", segment.getClass().getName());
+                        telemetry.update();
+                        sleep(3000);
                 }
             }
         }
@@ -413,6 +416,7 @@ private void sendTelemetry(boolean straight) {
         telemetry.addData("Error  : Steer Pwr", "%5.1f : %5.1f", headingError, turnSpeed);
         telemetry.addData("Wheel Speeds L : R", "%5.2f : %5.2f", leftSpeed, rightSpeed);
         telemetry.update();
+        sleep(3000);
     }
 
     /**

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectMotorType.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectMotorType.java
@@ -80,7 +80,7 @@ public class DetectMotorType extends LinearOpMode {
     public void runOpMode() {
         timer = new ElapsedTime();
         // Change the text in quotes to match any motor name on your robot.
-        motor = hardwareMap.get(DcMotorEx.class, "motor");
+        motor = hardwareMap.get(DcMotorEx.class, "leftBackDrive");
         motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         type = motor.getMotorType();
         maxRPM = type.getMaxRPM();