From 6b35895532d1d597997a8b0f774e13c27b590e21 Mon Sep 17 00:00:00 2001
From: Ryan Brott <rcbrott@gmail.com>
Date: Sat, 2 Mar 2024 22:56:53 -0800
Subject: [PATCH] Use new params

---
 TeamCode/build.gradle                               |  2 ++
 .../firstinspires/ftc/teamcode/MecanumDrive.java    | 11 ++++++++---
 .../org/firstinspires/ftc/teamcode/TankDrive.java   | 13 ++++++++++---
 3 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index b0c4a83f9f10..355a5a309309 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -34,5 +34,7 @@ dependencies {
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
     implementation "com.acmerobotics.roadrunner:ftc:0.1.13"
+    implementation "com.acmerobotics.roadrunner:core:1.0.0-beta7"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta7"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
index 688e88186d2f..233f653f7650 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -475,10 +475,15 @@ public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
         return new TrajectoryActionBuilder(
                 TurnAction::new,
                 FollowTrajectoryAction::new,
-                beginPose, 1e-6, 0.0,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
                 defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint,
-                0.25, 0.1
+                defaultVelConstraint, defaultAccelConstraint
         );
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
index c7f0ba23d42a..4f1ade9498b4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -18,12 +18,14 @@
 import com.acmerobotics.roadrunner.PoseVelocity2d;
 import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
 import com.acmerobotics.roadrunner.RamseteController;
 import com.acmerobotics.roadrunner.TankKinematics;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
 import com.acmerobotics.roadrunner.Twist2dDual;
 import com.acmerobotics.roadrunner.Vector2d;
@@ -482,10 +484,15 @@ public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
         return new TrajectoryActionBuilder(
                 TurnAction::new,
                 FollowTrajectoryAction::new,
-                beginPose, 1e-6, 0.0,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
                 defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint,
-                0.25, 0.1
+                defaultVelConstraint, defaultAccelConstraint
         );
     }
 }