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IOoverclocked a whole bunch of chaso @Daniel you got this bro

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This commit is contained in:
Keshav Anand
2026-02-26 17:07:54 -06:00
parent 64b2fed8d6
commit 194100e3c8
5 changed files with 57 additions and 29 deletions
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52
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
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@@ -29,6 +29,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.acmerobotics.roadrunner.ftc.PinpointIMU;
import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@@ -50,9 +51,9 @@ public class Auto_LT_Close extends LinearOpMode {
public static double velGate0End = 2700, hoodGate0End = 0.35;
public static double hood0MoveTime = 2;
public static double spindexerSpeedIncrease = 0.016;
public static double spindexerSpeedIncrease = 0.014;
public static double shootAllTime = 4;
public static double shootAllTime = 3.5;
public static double intake1Time = 3.3;
public static double intake2Time = 3.8;
@@ -70,18 +71,22 @@ public class Auto_LT_Close extends LinearOpMode {
public static double colorSenseTime = 1.2;
public static double waitToShoot0 = 0.5;
public static double waitToPickupGate2 = 0.3;
public static double pickupStackGateSpeed = 13;
public static double intake2TimeGate = 3;
public static double pickupStackGateSpeed = 19;
public static double intake2TimeGate = 5;
public static double shoot2GateTime = 1.7;
public static double endGateTime = 22;
public static double waitToPickupGateWithPartner = 0.01;
public static double waitToPickupGateWithPartner = 0.7;
public static double waitToPickupGateSolo = 0.01;
public static double intakeGateTime = 5;
public static double shootGateTime = 1.7;
public static double intakeGateTime = 5.6;
public static double shootGateTime = 1.5;
public static double shoot1GateTime = 1.7;
public static double intake1GateTime = 3.3;
public static double lastShootTime = 27;
public static double openGateX = 26;
public static double openGateY = 48;
public static double openGateH = Math.toRadians(155);
Robot robot;
MultipleTelemetry TELE;
MecanumDrive drive;
@@ -171,6 +176,9 @@ public class Auto_LT_Close extends LinearOpMode {
robot.light.setPosition(1);
hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
while (opModeInInit()) {
@@ -201,8 +209,11 @@ public class Auto_LT_Close extends LinearOpMode {
ballCycles--;
}
if (gamepad2.squareWasPressed()) {
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
@@ -352,7 +363,11 @@ public class Auto_LT_Close extends LinearOpMode {
new TranslationalVelConstraint(pickup1Speed));
}
if (gateCycle) {
if (gateCycle&& withPartner) {
shoot2 = pickup2.endTrajectory().fresh()
.strafeToLinearHeading(new Vector2d(openGateX, openGateY), Math.toRadians(openGateH))
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
} else if (gateCycle) {
shoot2 = pickup2.endTrajectory().fresh()
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
} else if (ballCycles < 3) {
@@ -366,7 +381,10 @@ public class Auto_LT_Close extends LinearOpMode {
gateCyclePickup = shoot2.endTrajectory().fresh()
.strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
.waitSeconds(waitToPickupGate)
.strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH));
.strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH))
.waitSeconds(0.1)
.strafeToLinearHeading(new Vector2d(pickupGateCX, pickupGateCY), Math.toRadians(pickupGateCH),
new TranslationalVelConstraint(13));
gateCycleShoot = gateCyclePickup.endTrajectory().fresh()
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
@@ -455,6 +473,8 @@ public class Auto_LT_Close extends LinearOpMode {
cycleStackCloseShootGate();
}
shoot();
} else {
startAuto();
shoot();
@@ -526,7 +546,7 @@ public class Auto_LT_Close extends LinearOpMode {
xShoot0,
yShoot0,
hShoot0,
true
false
)
)
);
@@ -693,7 +713,7 @@ public class Auto_LT_Close extends LinearOpMode {
new ParallelAction(
pickup2.build(),
autoActions.intake(
intake2Time,
intake2TimeGate,
x3b,
y3b,
h3b
@@ -711,7 +731,7 @@ public class Auto_LT_Close extends LinearOpMode {
motif,
xShootGate,
yShootGate,
hShootGate)
pickupGateAH)
)
);
}
@@ -719,10 +739,6 @@ public class Auto_LT_Close extends LinearOpMode {
void cycleGateIntake() {
drive.updatePoseEstimate();
gateCyclePickup = drive.actionBuilder(drive.localizer.getPose())
.strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
.waitSeconds(waitToPickupGate)
.strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH));
Actions.runBlocking(
new ParallelAction(
gateCyclePickup.build(),
@@ -742,7 +758,7 @@ public class Auto_LT_Close extends LinearOpMode {
servos.setSpinPos(spinStartPos);
gateCycleShoot = drive.actionBuilder(drive.localizer.getPose())
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
Actions.runBlocking(
new ParallelAction(
@@ -751,7 +767,7 @@ public class Auto_LT_Close extends LinearOpMode {
shootGateTime,
xShootGate,
yShootGate,
hShootGate,
pickupGateAH,
false
)
)

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
View File

@@ -63,7 +63,7 @@ public class Auto_LT_Far extends LinearOpMode {
boolean stack3 = true;
double xStackPickupA, yStackPickupA, hStackPickupA;
double xStackPickupB, yStackPickupB, hStackPickupB;
public static int pickupStackSpeed = 12;
public static int pickupStackSpeed = 17;
public static int pickupGateSpeed = 25;
int prevMotif = 0;
public static double spindexerSpeedIncrease = 0.014;
@@ -74,8 +74,8 @@ public class Auto_LT_Far extends LinearOpMode {
public static double shootStackTime = 2;
public static double shootGateTime = 2.5;
public static double colorSenseTime = 1;
public static double intakeStackTime = 2.5;
public static double intakeGateTime = 2;
public static double intakeStackTime = 4.5;
public static double intakeGateTime = 8;
double obeliskTurrPos1 = 0.0;
double obeliskTurrPos2 = 0.0;
double obeliskTurrPos3 = 0.0;
@@ -184,6 +184,8 @@ public class Auto_LT_Far extends LinearOpMode {
if (gamepad2.squareWasPressed()){
turret.pipelineSwitch(4);
robot.limelight.start();
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
gamepad2.rumble(500);
}
} else {
@@ -221,6 +223,8 @@ public class Auto_LT_Far extends LinearOpMode {
if (gamepad2.squareWasPressed()){
turret.pipelineSwitch(2);
robot.limelight.start();
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
gamepad2.rumble(500);
}
}
@@ -240,7 +244,10 @@ public class Auto_LT_Far extends LinearOpMode {
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
pickupGate = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
.strafeToLinearHeading(new Vector2d(pickupGateX, pickupGateY), Math.toRadians(pickupGateH),
.strafeToLinearHeading(new Vector2d(pickupGateX, pickupGateY), Math.toRadians(pickupGateH))
.waitSeconds(0.2)
.strafeToLinearHeading(new Vector2d(pickupGateXB, pickupGateYB), Math.toRadians(pickupGateHB))
.strafeToLinearHeading(new Vector2d(pickupGateXC, pickupGateYC), Math.toRadians(pickupGateHC),
new TranslationalVelConstraint(pickupGateSpeed));
shootGate = drive.actionBuilder(new Pose2d(pickupGateX, pickupGateY, Math.toRadians(pickupGateH)))

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java
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@@ -10,14 +10,18 @@ public class Back_Poses {
public static double rShootX = 100, rShootY = 55, rShootH = 90;
public static double bShootX = 100, bShootY = -55, bShootH = -90;
public static double rStackPickupAX = 75, rStackPickupAY = 53, rStackPickupAH = 140;
public static double rStackPickupAX = 73, rStackPickupAY = 51, rStackPickupAH = 140;
public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
public static double rStackPickupBX = 55, rStackPickupBY = 73, rStackPickupBH = 140.1;
public static double rStackPickupBX = 53, rStackPickupBY = 71, rStackPickupBH = 140.1;
public static double bStackPickupBX = 55, bStackPickupBY = -73, bStackPickupBH = -140.1;
public static double rPickupGateX = 70, rPickupGateY = 90, rPickupGateH = 140;
public static double rPickupGateX = 50, rPickupGateY = 83, rPickupGateH = 140;
public static double bPickupGateX = 70, bPickupGateY = -90, bPickupGateH = -140;
public static double pickupGateXB = 84, pickupGateYB = 76, pickupGateHB = 140;
public static double pickupGateXC = 50, pickupGateYC = 83, pickupGateHC = 190;
public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 50;
public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -50;

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java
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@@ -51,11 +51,12 @@ public class Front_Poses {
public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
public static double rPickupGateAX = 26, rPickupGateAY = 48, rPickupGateAH = 140;
public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -140;
public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
public static double rPickupGateBX = 35, rPickupGateBY = 65, rPickupGateBH = 180;
public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;
public static Pose2d teleStart = new Pose2d(0, 0, 0);
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
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@@ -354,7 +354,7 @@ public final class MecanumDrive {
if ((t >= timeTrajectory.duration && error.position.norm() < 1
&& robotVelRobot.linearVel.norm() < 0.5)
|| t >= timeTrajectory.duration + 0.25) {
|| t >= timeTrajectory.duration + 0.01) {
leftFront.setPower(0);
leftBack.setPower(0);
rightBack.setPower(0);