Better spline test

wheelerrobotics · Dec 24, 2023 · a01ac85 · a01ac85
1 parent a890105
commit a01ac85
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
@@ -11,25 +11,26 @@
 public final class SplineTest extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
+        Pose2d beginPose = new Pose2d(0, 0, 0);
         if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+            MecanumDrive drive = new MecanumDrive(hardwareMap, beginPose);
 
             waitForStart();
 
             Actions.runBlocking(
-                drive.actionBuilder(drive.pose)
+                drive.actionBuilder(beginPose)
                         .splineTo(new Vector2d(30, 30), Math.PI / 2)
-                        .splineTo(new Vector2d(60, 0), Math.PI)
+                        .splineTo(new Vector2d(0, 60), Math.PI)
                         .build());
         } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
+            TankDrive drive = new TankDrive(hardwareMap, beginPose);
 
             waitForStart();
 
             Actions.runBlocking(
-                    drive.actionBuilder(drive.pose)
+                    drive.actionBuilder(beginPose)
                             .splineTo(new Vector2d(30, 30), Math.PI / 2)
-                            .splineTo(new Vector2d(60, 0), Math.PI)
+                            .splineTo(new Vector2d(0, 60), Math.PI)
                             .build());
         } else {
             throw new RuntimeException();