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wheelerrobotics · Jan 3, 2023 · 4fc5d64 · 4fc5d64
1 parent d0b06e2
commit 4fc5d64
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
@@ -34,7 +34,8 @@ dependencies {
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.7'
-    implementation 'com.acmerobotics.roadrunner:core:1.0.0-beta0'
+    implementation 'com.acmerobotics.roadrunner:core:1.0.0-beta1'
+    implementation 'com.acmerobotics.roadrunner:actions:1.0.0-beta1'
 
     implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
@@ -19,8 +19,8 @@ public void runOpMode() throws InterruptedException {
             while (opModeIsActive()) {
                 runBlocking(
                     drive.actionBuilder(drive.pose)
-                            .forward(DISTANCE)
-                            .forward(-DISTANCE)
+                            .lineToX(DISTANCE)
+                            .lineToX(0)
                             .build());
             }
         } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
@@ -31,8 +31,8 @@ public void runOpMode() throws InterruptedException {
             while (opModeIsActive()) {
                 runBlocking(
                     drive.actionBuilder(drive.pose)
-                            .forward(DISTANCE)
-                            .forward(-DISTANCE)
+                            .lineToX(DISTANCE)
+                            .lineToX(0)
                             .build());
             }
         } else {