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Integrate shootAll on the Robot. This version was working except with 1 ball.

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This commit is contained in:
Matt9150
2026-01-28 17:33:37 -06:00
parent 641d947ec6
commit 159b130b5f
3 changed files with 27 additions and 27 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
View File

@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class ServoPositions {
public static double spindexer_intakePos1 = 0.00; //0.13;
public static double spindexer_intakePos1 = 0.05; //0.13;
public static double spindexer_intakePos2 = 0.19; //0.33;//0.5;
public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
public static double spindexer_intakePos3 = 0.38; //0.53;//0.66;
public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
public static double spindexer_outtakeBall3 = 0.65; //0.65; //0.24;
public static double spindexer_outtakeBall3 = 0.70; //0.65; //0.24;
public static double spindexer_outtakeBall2 = 0.46; //0.46; //0.6;
public static double spindexer_outtakeBall1 = 0.27; //0.27; //0.4;
public static double spindexer_outtakeBall2 = 0.51; //0.46; //0.6;
public static double spindexer_outtakeBall1 = 0.32; //0.27; //0.4;
public static double spinStartPos = spindexer_outtakeBall3 - 0.1;

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -633,25 +633,25 @@ public class TeleopV3 extends LinearOpMode {
// TELE.addLine("shooting");
// }
if (shooterTicker == 0) {
shooterTicker++;
spindexer.prepareShootAll();
TELE.addLine("preparing to shoot");
} else if (shooterTicker == 2) {
robot.transferServo.setPosition(transferServo_in);
spindexer.shootAll();
TELE.addLine("starting to shoot");
} else if (!spindexer.shootAllComplete()) {
robot.transferServo.setPosition(transferServo_in);
shooterTicker++;
spindexer.shootAll();
TELE.addLine("shoot");
} else {
robot.transferServo.setPosition(transferServo_out);
//spindexPos = spindexer_intakePos1;
shootAll = false;
spindexer.resetSpindexer();
//spindexer.processIntake();
TELE.addLine("stop shooting");
}
spindexer.processIntake();
shooterTicker++;
//spindexer.processIntake();
}
if (gamepad1.left_stick_button){

30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
View File

@@ -343,21 +343,21 @@ public class Spindexer {
// Find Next Open Position and start movement
double currentSpindexerPos = servos.getSpinPos();
double commandedtravelDistance = 2.0;
//double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
//if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
if (ballPositions[0].isEmpty) {
// Position 1
commandedIntakePosition = 0;
currentIntakeState = Spindexer.IntakeState.MOVING;
}
//proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
//if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
if (ballPositions[1].isEmpty) {
// Position 2
commandedIntakePosition = 1;
currentIntakeState = Spindexer.IntakeState.MOVING;
}
//proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
if (ballPositions[2].isEmpty) {
// Position 3
commandedIntakePosition = 2;
@@ -416,18 +416,18 @@ public class Spindexer {
case SHOOTNEXT:
// Find Next Open Position and start movement
if (!ballPositions[0].isEmpty) {
if (!ballPositions[1].isEmpty) {
// Position 1
commandedIntakePosition = 0;
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else if (!ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
// Position 2
commandedIntakePosition = 1;
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else if (!ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
// Position 3
} else if (!ballPositions[2].isEmpty) {
// Position 2
commandedIntakePosition = 2;
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else if (!ballPositions[0].isEmpty) {
// Position 3
commandedIntakePosition = 0;
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else {
// Empty return to intake state
currentIntakeState = IntakeState.FINDNEXT;
@@ -452,16 +452,16 @@ public class Spindexer {
} else {
shootWaitCount++;
}
// wait 3 cycles
if ((shootWaitCount > 15) && (servos.spinEqual(outakePositions[commandedIntakePosition]))) {
// wait 10 cycles
if (shootWaitCount > 2) {
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
ballPositions[commandedIntakePosition].isEmpty = true;
shootWaitCount = 0;
//stopSpindexer();
//detectBalls(true, false);
} else {
// Keep moving the spindexer
moveSpindexerToPos(outakePositions[commandedIntakePosition]);
}
// Keep moving the spindexer
moveSpindexerToPos(outakePositions[commandedIntakePosition]+(shootWaitCount*0.01));
break;
default: