KeshavAnandCode/FTCDecodeMain
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This commit is contained in:
DanTheMan-byte
2026-06-09 17:44:13 -05:00
parent 1cd14021dd
commit 12f433a221
5 changed files with 22 additions and 9 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
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@@ -227,6 +227,7 @@ public class Auto12Ball_Back_Sorted extends LinearOpMode {
} }
break; break;
case OPENGATE: case OPENGATE:
robot.setIntakePower(0);
if (currentTime - timeStamp > openGateTime){ if (currentTime - timeStamp > openGateTime){
follower.followPath(openGate_shoot1, true); follower.followPath(openGate_shoot1, true);
pathState = PathState.DRIVE_SHOOT1; pathState = PathState.DRIVE_SHOOT1;
@@ -275,7 +276,7 @@ public class Auto12Ball_Back_Sorted extends LinearOpMode {
break; break;
case DRIVE_PICKUP3: case DRIVE_PICKUP3:
if (!follower.isBusy()){ if (!follower.isBusy()){
shooter.setFlywheelVelocity(2200); shooter.setFlywheelVelocity(2250);
robot.setHoodPos(0.75); robot.setHoodPos(0.75);
follower.followPath(drivePickup3_pickup3, intakePower, false); follower.followPath(drivePickup3_pickup3, intakePower, false);
pathState = PathState.PICKUP3; pathState = PathState.PICKUP3;

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
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@@ -8,6 +8,7 @@ import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
import org.firstinspires.ftc.teamcode.constants.Color; import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.constants.ServoPositions; import org.firstinspires.ftc.teamcode.constants.ServoPositions;
import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
@@ -254,9 +255,9 @@ public class TeleopV4 extends LinearOpMode {
} }
if (gamepad2.dpadUpWasPressed()){ if (gamepad2.dpadUpWasPressed()){
hoodOffset+=0.02;
} else if (gamepad2.dpadDownWasPressed()){
hoodOffset-=0.02; hoodOffset-=0.02;
} else if (gamepad2.dpadDownWasPressed()){
hoodOffset+=0.02;
} }
if (gamepad2.dpadRightWasPressed()){ if (gamepad2.dpadRightWasPressed()){
@@ -284,6 +285,16 @@ public class TeleopV4 extends LinearOpMode {
TELE.addData("Velocity 2", flywheel.getVelo2()); TELE.addData("Velocity 2", flywheel.getVelo2());
TELE.addData("Flywheel Offset", flywheelOffset); TELE.addData("Flywheel Offset", flywheelOffset);
TELE.addData("Hood Offset", hoodOffset); TELE.addData("Hood Offset", hoodOffset);
TELE.addData("FR Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
TELE.addData("FL Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
TELE.addData("BL Drive", robot.backLeft.getCurrent(CurrentUnit.AMPS));
TELE.addData("BR Drive", robot.backRight.getCurrent(CurrentUnit.AMPS));
TELE.addData("Flywheel 1", robot.shooter1.getCurrent(CurrentUnit.AMPS));
TELE.addData("Flywheel 2", robot.shooter2.getCurrent(CurrentUnit.AMPS));
TELE.addData("Transfer", robot.transfer.getCurrent(CurrentUnit.AMPS));
TELE.addData("Intake", robot.intake.getCurrent(CurrentUnit.AMPS));
// //
// TELE.addData("Current Position", currentPose); // TELE.addData("Current Position", currentPose);
// //

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
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@@ -138,8 +138,8 @@ public class Shooter {
); );
flywheelVelocity = commander.getPredictedRPM(); flywheelVelocity = commander.getPredictedRPM();
double hood1 = Math.max(0.35, Math.min(0.88, commander.getHoodPredicted() + TeleopV4.hoodOffset));
robot.setHoodPos(commander.getHoodPredicted() + TeleopV4.hoodOffset); robot.setHoodPos(hood1);
fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset); fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset);
fly.setF(voltage); fly.setF(voltage);
break; break;
@@ -181,7 +181,8 @@ public class Shooter {
); );
flywheelVelocity = commander.getPredictedRPM(); flywheelVelocity = commander.getPredictedRPM();
robot.setHoodPos(commander.getHoodPredicted() + TeleopV4.hoodOffset); double hood2 = Math.max(0.35, Math.min(0.88, commander.getHoodPredicted() + TeleopV4.hoodOffset));
robot.setHoodPos(hood2);
fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset); fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset);
break; break;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
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@@ -53,7 +53,7 @@ public class SpindexerTransferIntake {
} }
int[] shootOrder = {0, 1, 2}; int[] shootOrder = {0, 1, 2};
public static final double sensorDistanceThreshold = 4.75;//4.85//5.35 public static final double sensorDistanceThreshold = 6.0;//4.85//5.35
final long pulseTime = 70; // ms final long pulseTime = 70; // ms
private DesiredPattern desiredPattern = DesiredPattern.GPP; private DesiredPattern desiredPattern = DesiredPattern.GPP;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
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@@ -17,8 +17,8 @@ public class Turret {
private final double servoTicksPer180 = 0.58; private final double servoTicksPer180 = 0.58;
public static double neutralPosition = 0.51; public static double neutralPosition = 0.51;
private final double turretMin = 0.08; private final double turretMin = 0.13;
private final double turretMax = 0.91; private final double turretMax = 0.87;
public static boolean limelightUsed = true; public static boolean limelightUsed = true;
public static double B_PID_P = 0.0001, B_PID_I = 0.0, B_PID_D = 0.000005; public static double B_PID_P = 0.0001, B_PID_I = 0.0, B_PID_D = 0.000005;
LLResult result; LLResult result;