KeshavAnandCode/FTCDecodeMain
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copied changes from Mr. Kruger's commit

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This commit is contained in:
DanTheMan-byte
2026-06-07 15:06:54 -05:00
parent a9b57fd792
commit 104058bbce
4 changed files with 13 additions and 14 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
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@@ -114,7 +114,6 @@ public class TeleopV4 extends LinearOpMode {
if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){ if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
shooter.setFlywheelVelocity(2500); shooter.setFlywheelVelocity(2500);
robot.setHoodPos(0.6); robot.setHoodPos(0.6);
robot.setTransferPower(-0.8);
} }
shooter.update(robot.voltage.getVoltage()); shooter.update(robot.voltage.getVoltage());
@@ -144,6 +143,7 @@ public class TeleopV4 extends LinearOpMode {
if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) { if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
robot.setIntakePower(1); robot.setIntakePower(1);
robot.setTransferPower(-0.7);
} }
if (gamepad2.leftBumperWasPressed()){ if (gamepad2.leftBumperWasPressed()){

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
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@@ -32,7 +32,7 @@ public class NewShooterTest extends LinearOpMode {
public static int flywheelVelo = 0; public static int flywheelVelo = 0;
public static double hoodPos = 0.5; public static double hoodPos = 0.5;
public static double transferPower = -0.8; public static double transferPower = -0.8;
// public static double turretPos = 0.51; public static boolean overrideTransferPower = false;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@@ -84,15 +84,14 @@ public class NewShooterTest extends LinearOpMode {
gamepad1.left_stick_x gamepad1.left_stick_x
); );
if (gamepad1.crossWasPressed()){ if (Color.redAlliance){
if (Color.redAlliance){ TeleopV4.relocalizePose = new Pose(57.5, 5, 0);
TeleopV4.relocalizePose = new Pose(56, 11, 0); } else {
} else { TeleopV4.relocalizePose = new Pose(-57.5, 5, Math.toRadians(180));
TeleopV4.relocalizePose = new Pose(-56, 11, 180);
}
follower.setPose(TeleopV4.relocalizePose);
gamepad1.rumble(100);
} }
follower.setPose(TeleopV4.relocalizePose);
sleep(500);
gamepad1.rumble(100);
follower.update(); follower.update();
@@ -107,7 +106,6 @@ public class NewShooterTest extends LinearOpMode {
if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){ if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
shooter.setFlywheelVelocity(flywheelVelo); shooter.setFlywheelVelocity(flywheelVelo);
robot.setHoodPos(hoodPos); robot.setHoodPos(hoodPos);
robot.setTransferPower(transferPower);
} }

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
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@@ -366,9 +366,10 @@ public class SpindexerTransferIntake {
case HOLD_BALLS: case HOLD_BALLS:
if (robot.insideBeam.isPressed() if (robot.insideBeam.isPressed()
&& robot.outsideBeam.isPressed() && holdBallsTicker > 5) { && robot.outsideBeam.isPressed() && holdBallsTicker > 10) {
robot.setIntakePower(0.1); robot.setIntakePower(0.1);
robot.setTransferPower(0);
} else { } else {
holdBallsTicker++; holdBallsTicker++;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
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@@ -20,12 +20,12 @@ public class Turret {
private final double turretMin = 0.05; private final double turretMin = 0.05;
private final double turretMax = 0.95; private final double turretMax = 0.95;
public static boolean limelightUsed = true; public static boolean limelightUsed = true;
public static double B_PID_P = 0.0003, B_PID_I = 0.0, B_PID_D = 0.00003; public static double B_PID_P = 0.00015, B_PID_I = 0.0, B_PID_D = 0.00001;
LLResult result; LLResult result;
PIDController bearingPID; PIDController bearingPID;
boolean bearingAligned = false; boolean bearingAligned = false;
public int LL_COAST_TICKS = 5; public int LL_COAST_TICKS = 5;
public static double TARGET_POSITION_TOLERANCE = 0.5; public static double TARGET_POSITION_TOLERANCE = 0.65;
public static double alphaTX = 0.5; public static double alphaTX = 0.5;
private double targetTx = 0; private double targetTx = 0;
private double currentTrackOffset = 0; private double currentTrackOffset = 0;