L160¶

1 file(s) copied, then 4 change(s) in 1 file(s), 5 line(s) of code to write.

Copies¶

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L160HeadingHoldOpMode.java

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 import org.firstinspires.ftc.teamcode.base.CorbelsMecanum;
 import org.firstinspires.ftc.teamcode.base.CorbelsTeleOp;
+import org.firstinspires.ftc.teamcode.base.HeadingHold;
 import org.firstinspires.ftc.teamcode.base.Tracker;
 
 /**

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 import org.firstinspires.ftc.teamcode.base.CorbelsTeleOp;
 import org.firstinspires.ftc.teamcode.base.HeadingHold;
 import org.firstinspires.ftc.teamcode.base.Tracker;
+import org.firstinspires.ftc.teamcode.pedro.Constants;
 
 /**
  * L160: hold the heading the driver left. Let go of the turn stick and the

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     boolean previousButtonA;
 
     CorbelsMecanum drivetrain;
+    HeadingHold hold = new HeadingHold(Constants.foresightConfig.headingFeedback.get());
 
     // 'public' to match the parent class. 'public' allows access from any code.
     @Override

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         // When on L160S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l160.html#l160s040
         // for what to do here.
+        turn = hold.turn(follower, turn);
+        Tracker.publish("heading/holding", hold.target() != null);
 
         double strafe = deadband(-leftStickX, band);
         strafe = signedSquared(strafe);