KeshavAnandCode/FTCDecodeMain
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KeshavAnandCode
2025-12-01 19:58:12 -06:00
parent 3440ff1783
commit 0752c7c5f5
2 changed files with 54 additions and 13 deletions
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1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -29,6 +29,7 @@ public class ServoPositions {
public static double turret_red = 0.43; public static double turret_red = 0.43;
public static double turret_blue = 0.4; public static double turret_blue = 0.4;
public static double turret_range = 0.9;
} }

66
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
View File

@@ -12,8 +12,9 @@ import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
//import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import java.util.ArrayList; import java.util.ArrayList;
@@ -30,7 +31,6 @@ public class TeleopV2 extends LinearOpMode {
boolean intake = false; boolean intake = false;
boolean reject = false; boolean reject = false;
int ticker = 0; int ticker = 0;
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
List<Double> s1G = new ArrayList<>(); List<Double> s1G = new ArrayList<>();
List<Double> s2G = new ArrayList<>(); List<Double> s2G = new ArrayList<>();
List<Double> s3G = new ArrayList<>(); List<Double> s3G = new ArrayList<>();
@@ -38,7 +38,7 @@ public class TeleopV2 extends LinearOpMode {
List<Boolean> s2 = new ArrayList<>(); List<Boolean> s2 = new ArrayList<>();
List<Boolean> s3 = new ArrayList<>(); List<Boolean> s3 = new ArrayList<>();
double desiredTurretAngle = 180; double desiredTurretAngle = 180;
MecanumDrive drive = new MecanumDrive(hardwareMap, teleStart); // MecanumDrive drive = new MecanumDrive(hardwareMap, teleStart);
private double lastEncoderRevolutions = 0.0; private double lastEncoderRevolutions = 0.0;
private double lastTimeStamp = 0.0; private double lastTimeStamp = 0.0;
private double velo1, velo; private double velo1, velo;
@@ -48,6 +48,8 @@ public class TeleopV2 extends LinearOpMode {
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
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);
} }
@@ -57,6 +59,8 @@ public class TeleopV2 extends LinearOpMode {
telemetry, FtcDashboard.getInstance().getTelemetry() telemetry, FtcDashboard.getInstance().getTelemetry()
); );
// drive = new MecanumDrive(hardwareMap, teleStart);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()) { while (opModeIsActive()) {
@@ -158,9 +162,21 @@ public class TeleopV2 extends LinearOpMode {
} }
} }
boolean green1 = s1.get(s1.size() - 1); boolean green1 = false;
boolean green2 = s2.get(s2.size() - 1); boolean green2 = false;
boolean green3 = s3.get(s3.size() - 1); boolean green3 = false;
if (!s1.isEmpty()) {
green1 = s1.get(s1.size() - 1);
}
if (!s2.isEmpty()) {
green2 = s2.get(s2.size() - 1);
}
if (!s3.isEmpty()) {
green3 = s3.get(s3.size() - 1);
}
//SHOOTER: //SHOOTER:
@@ -222,20 +238,44 @@ public class TeleopV2 extends LinearOpMode {
} }
//TURRET:
// double offset = desiredTurretAngle - Math.toDegrees(drive.localizer.getPose().heading.toDouble());
//
// if (offset < -90) {
// offset+=360;
// }
//
// double pos = 0.3;
//
// pos += offset * (0.9/360);
//
// if (pos < 0.02){
// pos = 0.02;
// } else if (pos > 0.91) {
// pos = 0.91;
// }
//
// robot.turr1.setPosition(pos);
// robot.turr2.setPosition(1-pos);
//
//MISC: //MISC:
drive.updatePoseEstimate(); // drive.updatePoseEstimate();
for (LynxModule hub : allHubs) { for (LynxModule hub : allHubs) {
hub.clearBulkCache(); hub.clearBulkCache();
} }
TELE.addData("Spin1Green", s1.get(s1.size() - 1)); TELE.addData("Spin1Green", green1);
TELE.addData("Spin2Green", s2.get(s2.size() - 1)); TELE.addData("Spin2Green", green2);
TELE.addData("Spin3Green", s3.get(s3.size() - 1)); TELE.addData("Spin3Green", green3);
//
TELE.addData("pose", drive.localizer.getPose()); // TELE.addData("pose", drive.localizer.getPose());
TELE.addData("heading", drive.localizer.getPose().heading.toDouble()); // TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
TELE.update(); TELE.update();