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a lot of changes happened in a galaxy far far away

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This commit is contained in:
DanTheMan-byte
2026-01-27 15:54:08 -06:00
parent cfb51cfa15
commit 0549902505
14 changed files with 259 additions and 225 deletions
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16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoClose_V3.java
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@@ -133,8 +133,8 @@ public class AutoClose_V3 extends LinearOpMode {
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
spinPID = servo.setSpinPos(spindexer); spinPID = servo.setSpinPos(spindexer);
robot.spin1.setPower(spinPID); robot.spin1.setPosition(spinPID);
robot.spin2.setPower(-spinPID); robot.spin2.setPosition(-spinPID);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("spindex"); TELE.addLine("spindex");
TELE.update(); TELE.update();
@@ -143,8 +143,8 @@ public class AutoClose_V3 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
if (servo.spinEqual(spindexer)){ if (servo.spinEqual(spindexer)){
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
return false; return false;
} else { } else {
return true; return true;
@@ -224,8 +224,8 @@ public class AutoClose_V3 extends LinearOpMode {
if (!servo.spinEqual(position)){ if (!servo.spinEqual(position)){
double spinPID = servo.setSpinPos(position); double spinPID = servo.setSpinPos(position);
robot.spin1.setPower(spinPID); robot.spin1.setPosition(spinPID);
robot.spin2.setPower(-spinPID); robot.spin2.setPosition(-spinPID);
} }
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){ if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
@@ -259,8 +259,8 @@ public class AutoClose_V3 extends LinearOpMode {
robot.intake.setPower(1); robot.intake.setPower(1);
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) { if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
if (getRuntime() - stamp - intakeTime < 1){ if (getRuntime() - stamp - intakeTime < 1){
pow = -2*(getRuntime() - stamp - intakeTime); pow = -2*(getRuntime() - stamp - intakeTime);
return true; return true;

19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoFar_V1.java
View File

@@ -31,8 +31,7 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
import java.util.List; import java.util.List;
@Config
@Autonomous(preselectTeleOp = "TeleopV3")
public class AutoFar_V1 extends LinearOpMode { public class AutoFar_V1 extends LinearOpMode {
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
@@ -133,8 +132,8 @@ public class AutoFar_V1 extends LinearOpMode {
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
spinPID = servo.setSpinPos(spindexer); spinPID = servo.setSpinPos(spindexer);
robot.spin1.setPower(spinPID); robot.spin1.setPosition(spinPID);
robot.spin2.setPower(-spinPID); robot.spin2.setPosition(-spinPID);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("spindex"); TELE.addLine("spindex");
TELE.update(); TELE.update();
@@ -143,8 +142,8 @@ public class AutoFar_V1 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
if (servo.spinEqual(spindexer)){ if (servo.spinEqual(spindexer)){
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
return false; return false;
} else { } else {
return true; return true;
@@ -224,8 +223,8 @@ public class AutoFar_V1 extends LinearOpMode {
if (!servo.spinEqual(position)){ if (!servo.spinEqual(position)){
double spinPID = servo.setSpinPos(position); double spinPID = servo.setSpinPos(position);
robot.spin1.setPower(spinPID); robot.spin1.setPosition(spinPID);
robot.spin2.setPower(-spinPID); robot.spin2.setPosition(-spinPID);
} }
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){ if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
@@ -259,8 +258,8 @@ public class AutoFar_V1 extends LinearOpMode {
robot.intake.setPower(1); robot.intake.setPower(1);
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) { if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
if (getRuntime() - stamp - intakeTime < 1){ if (getRuntime() - stamp - intakeTime < 1){
pow = -2*(getRuntime() - stamp - intakeTime); pow = -2*(getRuntime() - stamp - intakeTime);
return true; return true;

44
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java
View File

@@ -182,8 +182,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
velo = flywheel.getVelo(); velo = flywheel.getVelo();
spinPID = servo.setSpinPos(spindexer); spinPID = servo.setSpinPos(spindexer);
robot.spin1.setPower(spinPID); robot.spin1.setPosition(spinPID);
robot.spin2.setPower(-spinPID); robot.spin2.setPosition(-spinPID);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("spindex"); TELE.addLine("spindex");
TELE.update(); TELE.update();
@@ -192,8 +192,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
if (servo.spinEqual(spindexer)) { if (servo.spinEqual(spindexer)) {
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
return false; return false;
} else { } else {
@@ -240,8 +240,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
robot.transferServo.setPosition(transferServo_in); robot.transferServo.setPosition(transferServo_in);
robot.spin1.setPower(-spinPow); robot.spin1.setPosition(-spinPow);
robot.spin2.setPower(spinPow); robot.spin2.setPosition(spinPow);
return true; return true;
} else { } else {
@@ -271,12 +271,12 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
if (ticker % 12 < 6) { if (ticker % 12 < 6) {
robot.spin1.setPower(-1); robot.spin1.setPosition(-1);
robot.spin2.setPower(1); robot.spin2.setPosition(1);
} else { } else {
robot.spin1.setPower(1); robot.spin1.setPosition(1);
robot.spin2.setPower(-1); robot.spin2.setPosition(-1);
} }
if (getRuntime() - stamp > jamTime+0.4) { if (getRuntime() - stamp > jamTime+0.4) {
@@ -317,20 +317,20 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
if (ticker % 60 < 12) { if (ticker % 60 < 12) {
robot.spin1.setPower(-1); robot.spin1.setPosition(-1);
robot.spin2.setPower(1); robot.spin2.setPosition(1);
} else if (ticker % 60 < 30) { } else if (ticker % 60 < 30) {
robot.spin1.setPower(-0.5); robot.spin1.setPosition(-0.5);
robot.spin2.setPower(0.5); robot.spin2.setPosition(0.5);
} }
else if (ticker % 60 < 42) { else if (ticker % 60 < 42) {
robot.spin1.setPower(1); robot.spin1.setPosition(1);
robot.spin2.setPower(-1); robot.spin2.setPosition(-1);
} }
else { else {
robot.spin1.setPower(0.5); robot.spin1.setPosition(0.5);
robot.spin2.setPower(-0.5); robot.spin2.setPosition(-0.5);
} }
robot.intake.setPower(1); robot.intake.setPower(1);
TELE.addData("Reverse?", reverse); TELE.addData("Reverse?", reverse);
@@ -338,11 +338,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
if (getRuntime() - stamp > intakeTime) { if (getRuntime() - stamp > intakeTime) {
if (reverse) { if (reverse) {
robot.spin1.setPower(-1); robot.spin1.setPosition(-1);
robot.spin2.setPower(1); robot.spin2.setPosition(1);
} else { } else {
robot.spin1.setPower(1); robot.spin1.setPosition(1);
robot.spin2.setPower(-1); robot.spin2.setPosition(-1);
} }
return false; return false;
} else { } else {

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Color.java
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@@ -2,4 +2,5 @@ package org.firstinspires.ftc.teamcode.constants;
public class Color { public class Color {
public static boolean redAlliance = true; public static boolean redAlliance = true;
public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
} }

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -5,16 +5,18 @@ import com.acmerobotics.dashboard.config.Config;
@Config @Config
public class ServoPositions { public class ServoPositions {
public static double spindexer_intakePos1 = 0.18; public static double spindexer_intakePos1 = 0.13;
public static double spindexer_intakePos2 = 0.36;//0.5; public static double spindexer_intakePos2 = 0.33;//0.5;
public static double spindexer_intakePos3 = 0.54;//0.66; public static double spindexer_intakePos3 = 0.53;//0.66;
public static double spindexer_outtakeBall3 = 0.47; public static double spindexer_outtakeBall3 = 0.8;
public static double spindexer_outtakeBall2 = 0.6;
public static double spindexer_outtakeBall1 = 0.4;
public static double spinStartPos = spindexer_outtakeBall1 - 0.08;
public static double spindexer_outtakeBall2 = 0.31;
public static double spindexer_outtakeBall1 = 0.15;
public static double transferServo_out = 0.15; public static double transferServo_out = 0.15;

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
View File

@@ -162,11 +162,11 @@ public class TeleopV2 extends LinearOpMode {
//TODO: make sure changing position works throughout opmode //TODO: make sure changing position works throughout opmode
if (!servo.spinEqual(spindexPos)){ if (!servo.spinEqual(spindexPos)){
spindexPID = servo.setSpinPos(spindexPos); spindexPID = servo.setSpinPos(spindexPos);
robot.spin1.setPower(spindexPID); robot.spin1.setPosition(spindexPID);
robot.spin2.setPower(-spindexPID); robot.spin2.setPosition(-spindexPID);
} else{ } else{
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
} }
//INTAKE: //INTAKE:

236
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.teleop; package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart; import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
@@ -121,6 +122,7 @@ public class TeleopV3 extends LinearOpMode {
private int tickerA = 1; private int tickerA = 1;
private boolean transferIn = false; private boolean transferIn = false;
boolean turretInterpolate = false; boolean turretInterpolate = false;
public static double spinSpeedIncrease = 0.04;
public static double velPrediction(double distance) { public static double velPrediction(double distance) {
if (distance < 30) { if (distance < 30) {
@@ -139,13 +141,15 @@ public class TeleopV3 extends LinearOpMode {
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
robot.light.setPosition(0);
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class); List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
for (LynxModule hub : allHubs) { for (LynxModule hub : allHubs) {
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL); hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
} }
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
servo = new Servos(hardwareMap); servo = new Servos(hardwareMap);
flywheel = new Flywheel(hardwareMap); flywheel = new Flywheel(hardwareMap);
@@ -167,14 +171,16 @@ public class TeleopV3 extends LinearOpMode {
// robot.limelight.start(); // robot.limelight.start();
Turret turret = new Turret(robot, TELE, robot.limelight); Turret turret = new Turret(robot, TELE, robot.limelight);
waitForStart(); robot.light.setPosition(1);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
while (opModeIsActive()) { while (opModeIsActive()) {
// LIGHT COLORS
spindexer.ballCounterLight();
//DRIVETRAIN: //DRIVETRAIN:
double y = 0.0; double y = 0.0;
@@ -233,37 +239,43 @@ public class TeleopV3 extends LinearOpMode {
//TODO: Use color sensors to switch between positions...switch after ball detected in //TODO: Use color sensors to switch between positions...switch after ball detected in
if (gamepad1.right_bumper){
shootAll = false;
robot.transferServo.setPosition(transferServo_out);
}
if (autoSpintake) { if (autoSpintake) {
if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) { if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
spinCurrentPos = servo.getSpinPos();
double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
robot.spin1.setPower(spindexPID); robot.spin1.setPosition(spindexPos);
robot.spin2.setPower(-spindexPID); robot.spin2.setPosition(1-spindexPos);
} }
if (gamepad1.right_bumper) { if (gamepad1.right_bumper) {
shootAll = false;
intakeTicker++; intakeTicker++;
if (intakeTicker % 20 < 2) { // if (intakeTicker % 20 < 2) {
//
robot.spin1.setPower(-1); // robot.spin1.setPower(-1);
robot.spin2.setPower(1); // robot.spin2.setPower(1);
//
} else if (intakeTicker % 20 < 10) { // } else if (intakeTicker % 20 < 10) {
robot.spin1.setPower(-0.5); // robot.spin1.setPower(-0.5);
robot.spin2.setPower(0.5); // robot.spin2.setPower(0.5);
} else if (intakeTicker % 20 < 12) { // } else if (intakeTicker % 20 < 12) {
robot.spin1.setPower(1); // robot.spin1.setPower(1);
robot.spin2.setPower(-1); // robot.spin2.setPower(-1);
} else { // } else {
robot.spin1.setPower(0.5); // robot.spin1.setPower(0.5);
robot.spin2.setPower(-0.5); // robot.spin2.setPower(-0.5);
} // }
robot.intake.setPower(1); robot.intake.setPower(1);
intakeStamp = getRuntime(); intakeStamp = getRuntime();
@@ -271,17 +283,9 @@ public class TeleopV3 extends LinearOpMode {
TELE.update(); TELE.update();
} else { } else {
if (!servo.spinEqual(spindexPos)) { if (!servo.spinEqual(spindexPos)) {
spinCurrentPos = servo.getSpinPos(); robot.spin1.setPosition(spindexPos);
robot.spin2.setPosition(1-spindexPos);
double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
robot.spin1.setPower(spindexPID);
robot.spin2.setPower(-spindexPID);
} else {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
} }
spindexPos = spindexer_intakePos1; spindexPos = spindexer_intakePos1;
@@ -506,76 +510,76 @@ public class TeleopV3 extends LinearOpMode {
// } // }
// } // }
if (gamepad1.left_bumper && !enableSpindexerManager) { //if (gamepad1.left_bumper && !enableSpindexerManager) {
robot.transferServo.setPosition(transferServo_out); // robot.transferServo.setPosition(transferServo_out);
autoSpintake = false; // autoSpintake = false;
//
intakeTicker++; // intakeTicker++;
//
if (intakeTicker % 10 < 1) { // if (intakeTicker % 10 < 1) {
//
robot.spin1.setPower(-1); // robot.spin1.setPower(-1);
robot.spin2.setPower(1); // robot.spin2.setPower(1);
//
} else if (intakeTicker % 10 < 5) { // } else if (intakeTicker % 10 < 5) {
robot.spin1.setPower(-0.5); // robot.spin1.setPower(-0.5);
robot.spin2.setPower(0.5); // robot.spin2.setPower(0.5);
} else if (intakeTicker % 10 < 6) { // } else if (intakeTicker % 10 < 6) {
robot.spin1.setPower(1); // robot.spin1.setPower(1);
robot.spin2.setPower(-1); // robot.spin2.setPower(-1);
} else { // } else {
robot.spin1.setPower(0.5); // robot.spin1.setPower(0.5);
robot.spin2.setPower(-0.5); // robot.spin2.setPower(-0.5);
} // }
//
intake = false; // intake = false;
reject = false; // reject = false;
//
robot.intake.setPower(0.5); // robot.intake.setPower(0.5);
//
} // }
//
if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) { // if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) {
shootStamp = getRuntime(); // shootStamp = getRuntime();
shootAll = true; // shootAll = true;
//
shooterTicker = 0; // shooterTicker = 0;
} // }
//
if (shootAll && !enableSpindexerManager) { // if (shootAll && !enableSpindexerManager) {
//
TELE.addData("100% works", shootOrder); // TELE.addData("100% works", shootOrder);
//
intake = false; // intake = false;
reject = false; // reject = false;
//
shooterTicker++; // shooterTicker++;
//
spindexPos = spindexer_intakePos1; // spindexPos = spindexer_intakePos1;
//
if (getRuntime() - shootStamp < 3.5) { // if (getRuntime() - shootStamp < 3.5) {
//
robot.transferServo.setPosition(transferServo_in); // robot.transferServo.setPosition(transferServo_in);
//
autoSpintake = false; // autoSpintake = false;
//
robot.spin1.setPower(-spinPow); // robot.spin1.setPower(-spinPow);
robot.spin2.setPower(spinPow); // robot.spin2.setPower(spinPow);
//
} else { // } else {
robot.transferServo.setPosition(transferServo_out); // robot.transferServo.setPosition(transferServo_out);
spindexPos = spindexer_intakePos1; // spindexPos = spindexer_intakePos1;
//
shootAll = false; // shootAll = false;
//
autoSpintake = true; // autoSpintake = true;
//
robot.transferServo.setPosition(transferServo_out); // robot.transferServo.setPosition(transferServo_out);
} // }
//
} // }
if (enableSpindexerManager) { if (enableSpindexerManager) {
if (!shootAll) { if (!shootAll) {
@@ -599,6 +603,8 @@ public class TeleopV3 extends LinearOpMode {
shootAll = true; shootAll = true;
shooterTicker = 0; shooterTicker = 0;
spindexPos = spinStartPos;// TODO: Change starting position based on desired order to shoot green ball
} }
if (shootAll) { if (shootAll) {
@@ -606,17 +612,18 @@ public class TeleopV3 extends LinearOpMode {
intake = false; intake = false;
reject = false; reject = false;
shooterTicker++;
// TODO: Change starting position based on desired order to shoot green ball
spindexPos = spindexer_intakePos1;
if (getRuntime() - shootStamp < 3.5) { if (getRuntime() - shootStamp < 3.5) {
robot.transferServo.setPosition(transferServo_in); if (shooterTicker == 0 && !servo.spinEqual(spindexPos)){
robot.spin1.setPosition(spindexPos);
robot.spin1.setPower(-spinPow); robot.spin2.setPosition(1-spindexPos);
robot.spin2.setPower(spinPow); } else {
robot.transferServo.setPosition(transferServo_in);
shooterTicker++;
double prevSpinPos = robot.spin1.getPosition();
robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
}
} else { } else {
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
@@ -624,12 +631,19 @@ public class TeleopV3 extends LinearOpMode {
shootAll = false; shootAll = false;
robot.transferServo.setPosition(transferServo_out);
spindexer.resetSpindexer(); spindexer.resetSpindexer();
spindexer.processIntake(); spindexer.processIntake();
} }
} }
if (gamepad1.left_stick_button){
robot.transferServo.setPosition(transferServo_out);
//spindexPos = spindexer_intakePos1;
shootAll = false;
spindexer.resetSpindexer();
spindexer.processIntake();
}
} }
// //

23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/IntakeTest.java
View File

@@ -16,8 +16,7 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.List; import java.util.List;
@Config
@TeleOp
public class IntakeTest extends LinearOpMode { public class IntakeTest extends LinearOpMode {
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
@@ -72,19 +71,19 @@ public class IntakeTest extends LinearOpMode {
initPos = currentPos; initPos = currentPos;
} }
if (reverse){ if (reverse){
robot.spin1.setPower(manualPow); robot.spin1.setPosition(manualPow);
robot.spin2.setPower(-manualPow); robot.spin2.setPosition(-manualPow);
} else { } else {
robot.spin1.setPower(-manualPow); robot.spin1.setPosition(-manualPow);
robot.spin2.setPower(manualPow); robot.spin2.setPosition(manualPow);
} }
robot.intake.setPower(1); robot.intake.setPower(1);
stamp = getRuntime(); stamp = getRuntime();
TELE.addData("Reverse?", reverse); TELE.addData("Reverse?", reverse);
TELE.update(); TELE.update();
} else { } else {
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
if (getRuntime() - stamp < 1) { if (getRuntime() - stamp < 1) {
robot.intake.setPower(-(getRuntime() - stamp)*2); robot.intake.setPower(-(getRuntime() - stamp)*2);
@@ -191,15 +190,15 @@ public class IntakeTest extends LinearOpMode {
if (!atTarget) { if (!atTarget) {
powPID = servo.setSpinPos(spindexerPos); powPID = servo.setSpinPos(spindexerPos);
robot.spin1.setPower(powPID); robot.spin1.setPosition(powPID);
robot.spin2.setPower(-powPID); robot.spin2.setPosition(-powPID);
steadySpin = false; steadySpin = false;
wasMoving = true; // remember we were moving wasMoving = true; // remember we were moving
stamp = getRuntime(); stamp = getRuntime();
} else { } else {
robot.spin1.setPower(0); robot.spin1.setPosition(0);
robot.spin2.setPower(0); robot.spin2.setPosition(0);
steadySpin = true; steadySpin = true;
wasMoving = false; wasMoving = false;
} }

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java
View File

@@ -9,8 +9,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
@TeleOp
@Config
public class PIDServoTest extends LinearOpMode { public class PIDServoTest extends LinearOpMode {
public static double p = 2, i = 0, d = 0, f = 0; public static double p = 2, i = 0, d = 0, f = 0;
@@ -47,8 +45,8 @@ public class PIDServoTest extends LinearOpMode {
double pid = controller.calculate(pos, target); double pid = controller.calculate(pos, target);
robot.spin1.setPower(pid); robot.spin1.setPosition(pid);
robot.spin2.setPower(-pid); robot.spin2.setPosition(-pid);
} }
telemetry.addData("pos", pos); telemetry.addData("pos", pos);

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
View File

@@ -1,8 +1,11 @@
package org.firstinspires.ftc.teamcode.tests; package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
@@ -13,6 +16,7 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.teamcode.utils.Flywheel; import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.teamcode.utils.Spindexer; import org.firstinspires.ftc.teamcode.utils.Spindexer;
@Config @Config
@@ -36,6 +40,7 @@ public class ShooterTest extends LinearOpMode {
public static boolean intake = false; public static boolean intake = false;
Robot robot; Robot robot;
Flywheel flywheel; Flywheel flywheel;
Servos servo;
double shootStamp = 0.0; double shootStamp = 0.0;
boolean shootAll = false; boolean shootAll = false;
@@ -45,6 +50,7 @@ public class ShooterTest extends LinearOpMode {
public static boolean enableHoodAutoOpen = false; public static boolean enableHoodAutoOpen = false;
public double hoodAdjust = 0.0; public double hoodAdjust = 0.0;
public static double hoodAdjustFactor = 1.0; public static double hoodAdjustFactor = 1.0;
private int shooterTicker = 0;
Spindexer spindexer ; Spindexer spindexer ;
@Override @Override
@@ -55,6 +61,7 @@ public class ShooterTest extends LinearOpMode {
DcMotorEx rightShooter = robot.shooter2; DcMotorEx rightShooter = robot.shooter2;
flywheel = new Flywheel(hardwareMap); flywheel = new Flywheel(hardwareMap);
spindexer = new Spindexer(hardwareMap); spindexer = new Spindexer(hardwareMap);
servo = new Servos(hardwareMap);
MultipleTelemetry TELE = new MultipleTelemetry( MultipleTelemetry TELE = new MultipleTelemetry(
telemetry, FtcDashboard.getInstance().getTelemetry() telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -95,6 +102,7 @@ public class ShooterTest extends LinearOpMode {
shootAll = true; shootAll = true;
shoot = false; shoot = false;
robot.transfer.setPower(transferPower); robot.transfer.setPower(transferPower);
shooterTicker = 0;
} }
if (shootAll) { if (shootAll) {
@@ -103,24 +111,31 @@ public class ShooterTest extends LinearOpMode {
// TODO: Change starting position based on desired order to shoot green ball // TODO: Change starting position based on desired order to shoot green ball
//spindexPos = spindexer_intakePos1; //spindexPos = spindexer_intakePos1;
if (getRuntime() - shootStamp < 3.5) { if (getRuntime() - shootStamp < 3.5) {
robot.transferServo.setPosition(transferServo_in); if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
robot.spin1.setPosition(spinStartPos);
robot.spin2.setPosition(1-spinStartPos);
} else {
robot.transferServo.setPosition(transferServo_in);
shooterTicker++;
double prevSpinPos = robot.spin1.getPosition();
robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
}
robot.spin1.setPower(-spinPow);
robot.spin2.setPower(spinPow);
} else { } else {
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
//spindexPos = spindexer_intakePos1; //spindexPos = spindexer_intakePos1;
shootAll = false; shootAll = false;
shooterTicker = 0;
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
robot.transfer.setPower(0); robot.transfer.setPower(0);
robot.spin1.setPower(0);
robot.spin2.setPower(0);
spindexer.resetSpindexer(); spindexer.resetSpindexer();
spindexer.processIntake(); spindexer.processIntake();

25
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java
View File

@@ -18,14 +18,10 @@ public class PositionalServoProgrammer extends LinearOpMode {
Servos servo; Servos servo;
public static double spindexPos = 0.501; public static double spindexPos = 0.501;
public static double spindexPow = 0.0;
public static double spinHoldPow = 0.0;
public static double turretPos = 0.501; public static double turretPos = 0.501;
public static double turretPow = 0.0;
public static double turrHoldPow = 0.0;
public static double transferPos = 0.501; public static double transferPos = 0.501;
public static double hoodPos = 0.501; public static double hoodPos = 0.501;
public static int mode = 0; //0 for positional, 1 for power public static double light = 0.501;
Turret turret; Turret turret;
@@ -35,22 +31,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
servo = new Servos(hardwareMap); servo = new Servos(hardwareMap);
turret = new Turret(robot, TELE, robot.limelight ); turret = new Turret(robot, TELE, robot.limelight );
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()){ while (opModeIsActive()){
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){ if (spindexPos != 0.501 && !servo.spinEqual(spindexPos)){
double pos = servo.setSpinPos(spindexPos); robot.spin1.setPosition(spindexPos);
robot.spin1.setPower(pos); robot.spin2.setPosition(1-spindexPos);
robot.spin2.setPower(-pos);
} else if (mode == 0){
robot.spin1.setPower(spinHoldPow);
robot.spin2.setPower(spinHoldPow);
} else {
robot.spin1.setPower(spindexPow);
robot.spin2.setPower(-spindexPow);
} }
if (turretPos != 0.501){ if (turretPos != 0.501){
robot.turr1.setPosition(turretPos); robot.turr1.setPosition(turretPos);
@@ -62,6 +49,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
if (hoodPos != 0.501){ if (hoodPos != 0.501){
robot.hood.setPosition(hoodPos); robot.hood.setPosition(hoodPos);
} }
if (light !=0.501){
robot.light.setPosition(light);
}
// To check configuration of spindexer: // To check configuration of spindexer:
// Set "mode" to 1 and spindexPow to 0.1 // Set "mode" to 1 and spindexPow to 0.1
// If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
@@ -79,7 +69,6 @@ public class PositionalServoProgrammer extends LinearOpMode {
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage()); TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
TELE.addData("hood pos", robot.hood.getPosition()); TELE.addData("hood pos", robot.hood.getPosition());
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage()); TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
TELE.addData("spindexer pow", robot.spin1.getPower());
TELE.addData("tpos ", turret.getTurrPos() ); TELE.addData("tpos ", turret.getTurrPos() );
TELE.update(); TELE.update();
} }

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
View File

@@ -40,8 +40,10 @@ public class Robot {
public Servo transferServo; public Servo transferServo;
public Servo turr1; public Servo turr1;
public Servo turr2; public Servo turr2;
public CRServo spin1;
public CRServo spin2; public Servo spin1;
public Servo spin2;
public AnalogInput spin1Pos; public AnalogInput spin1Pos;
public AnalogInput spin2Pos; public AnalogInput spin2Pos;
public AnalogInput turr1Pos; public AnalogInput turr1Pos;
@@ -52,6 +54,7 @@ public class Robot {
public RevColorSensorV3 color2; public RevColorSensorV3 color2;
public RevColorSensorV3 color3; public RevColorSensorV3 color3;
public Limelight3A limelight; public Limelight3A limelight;
public Servo light;
public Robot(HardwareMap hardwareMap) { public Robot(HardwareMap hardwareMap) {
@@ -93,17 +96,14 @@ public class Robot {
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
//TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
spin1 = hardwareMap.get(CRServo.class, "spin1"); spin1 = hardwareMap.get(Servo.class, "spin2");
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos"); spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
spin2 = hardwareMap.get(CRServo.class, "spin2"); spin2 = hardwareMap.get(Servo.class, "spin1");
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos"); spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
transfer = hardwareMap.get(DcMotorEx.class, "transfer"); transfer = hardwareMap.get(DcMotorEx.class, "transfer");
transferServo = hardwareMap.get(Servo.class, "transferServo"); transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -125,5 +125,7 @@ public class Robot {
webcam = hardwareMap.get(WebcamName.class, "Webcam 1"); webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults(); aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
} }
light = hardwareMap.get(Servo.class, "light");
} }
} }

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
View File

@@ -10,8 +10,8 @@ public class Servos {
// TODO: get PIDF constants // TODO: get PIDF constants
public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02; public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0; public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
public static double spin_scalar = 1.0086; public static double spin_scalar = 1.112;
public static double spin_restPos = 0.0; public static double spin_restPos = 0.155;
public static double turret_scalar = 1.009; public static double turret_scalar = 1.009;
public static double turret_restPos = 0.0; public static double turret_restPos = 0.0;
Robot robot; Robot robot;
@@ -27,16 +27,14 @@ public class Servos {
} }
// In the code below, encoder = robot.servo.getVoltage() // In the code below, encoder = robot.servo.getVoltage()
// TODO: set the restPos and scalar
public double getSpinPos() { public double getSpinPos() {
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3); return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
} }
//TODO: PID warp so 0 and 1 are usable positions
public double setSpinPos(double pos) { public double setSpinPos(double pos) {
spinPID.setPIDF(spinP, spinI, spinD, spinF);
return spinPID.calculate(this.getSpinPos(), pos); return pos;
} }
public boolean spinEqual(double pos) { public boolean spinEqual(double pos) {
@@ -45,7 +43,6 @@ public class Servos {
public double getTurrPos() { public double getTurrPos() {
return 1.0; return 1.0;
} }
public double setTurrPos(double pos) { public double setTurrPos(double pos) {

38
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
View File

@@ -4,6 +4,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.arcrobotics.ftclib.controller.PIDFController; import com.arcrobotics.ftclib.controller.PIDFController;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
import static org.firstinspires.ftc.teamcode.constants.Color.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
@@ -67,7 +68,7 @@ public class Spindexer {
SHOOTWAIT, SHOOTWAIT,
SHOOT_ALL_PREP, SHOOT_ALL_PREP,
SHOOT_ALL_READY SHOOT_ALL_READY
}; }
public IntakeState currentIntakeState = IntakeState.UNKNOWN_START; public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
public int unknownColorDetect = 0; public int unknownColorDetect = 0;
@@ -75,7 +76,7 @@ public class Spindexer {
UNKNOWN, UNKNOWN,
GREEN, GREEN,
PURPLE PURPLE
}; }
class BallPosition { class BallPosition {
boolean isEmpty = true; boolean isEmpty = true;
@@ -247,17 +248,34 @@ public class Spindexer {
} }
public void moveSpindexerToPos(double pos) { public void moveSpindexerToPos(double pos) {
spinCurrentPos = servos.getSpinPos(); robot.spin1.setPosition(pos);
robot.spin2.setPosition(1-pos);
double spindexPID = spinPID.calculate(spinCurrentPos, pos);
robot.spin1.setPower(spindexPID);
robot.spin2.setPower(-spindexPID);
} }
public void stopSpindexer() { public void stopSpindexer() {
robot.spin1.setPower(0);
robot.spin2.setPower(0); }
public void ballCounterLight(){
int counter = 0;
if (!ballPositions[0].isEmpty){
counter++;
}
if (!ballPositions[1].isEmpty){
counter++;
}
if (!ballPositions[2].isEmpty){
counter++;
}
if (counter == 3){
robot.light.setPosition(Light3);
} else if (counter == 2){
robot.light.setPosition(Light2);
} else if (counter == 1){
robot.light.setPosition(Light1);
} else {
robot.light.setPosition(Light0);
}
} }
public boolean isFull () { public boolean isFull () {