archive.txt

public class archive {
    // Welcome to the graveyard, here is where we have all the java code that we have deleted
    //                 #--- Warning traveler, here be dragons ---#

	// Spline path-- found in autodrive.java
    System.out.println("radius: " + radius);
    System.out.println("arcLength: " + arcLength);

    System.out.println("outerScalar: " + outerScalar);
    System.out.println("innerScalar: " + innerScalar);

    System.out.println("radius out: " + outerRadius);
    System.out.println("radius: " + radius);
    System.out.println("radius in: " + innerRadius);

    System.out.println("arcLength out: " + outerArcLength);
    System.out.println("arcLength: " + arcLength);
    System.out.println("arcLength in: " + innerArcLength);

    System.out.println("outer chord: " + outerChordLength);
    System.out.println("inner chord: " + innerChordLength);

    System.out.println("outerScalar: " + outerScalar);
    System.out.println("innerScalar: " + innerScalar);
    
    double outerRadius = radius * outerScalar;
    double innerRadius = radius * innerScalar;

    double outerChordLength = chordLength + Constants.ROBOT_WHEEL_SPACING;
    double innerChordLength = chordLength - Constants.ROBOT_WHEEL_SPACING;

    double outerArcLength = 2 * outerRadius * Math.asin(outerChordLength / (2 * outerRadius));
    double arcLength = 2 * radius * Math.asin(chordLength / (2 * radius));
    double innerArcLength = 2 * innerRadius * Math.asin(innerChordLength / (2 * innerRadius));

    completePositions[0] += Calc.inchesToDrive(outerArcLength);
    completePositions[1] -= Calc.inchesToDrive(innerArcLength);

    leftSpeed *= outerArcLength / arcLength;
    rightSpeed *= innerArcLength / arcLength;

    completePositions[0] += Calc.inchesToDrive(outerArcLength);
    completePositions[1] -= Calc.inchesToDrive(innerArcLength);

    leftSpeed *= innerArcLength / arcLength;
    rightSpeed *= outerArcLength / arcLength;

    // "initial comp code" :/ found in autopath.java
    double[] commandValues = new double[3];
    commandValues[0] = Double.parseDouble(splitCommands[0]);
    commandValues[1] = Double.parseDouble(splitCommands[1]);
    commandValues[2] = Double.parseDouble(splitCommands[2]);

    // robot.java 0.-
    Pid values "good pid but storing for now"
        P = -0.32
        I = 0 lmao
        D = oh no lets say 0.12
        F = what was f... probobly 1
        Comment by Lemmon "Very similar to no pid, can't tell what I like better"
    

    //autonomous--base? why was it commented i have no idea - Alexander
    
	@Override
	public void autonomousInit() {

		leftMotors.setPID(0.05, 0, 5);
		rightMotors.setPID(0.05, 0, 5);

		turret.setZero();

		auto.reset();

		auto.addCommands(new Command(CommandType.MOVE, -120, 0.6));
		auto.addCommands(new Command(CommandType.MOVE, 36, 0.6));
		//auto.addCommands(new Command(CommandType.ROTATE, 0.25, 0.1));

	} 

	@Override
	public void autonomousPeriodic() {

		auto.executeQueue();

		if (auto.queueIsEmpty()) {

			intake.setIntakeSpeed(-1.0);
			trigger.setSpeed(0.35);

		} else {

			intake.putDownIntake();
			intake.setIntakeSpeed(-1.0);
			trigger.setSpeed(-0.1);

		}

		bottomMotor.setSpeed(0.6);

	}

 


}