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Made Robot Singleton

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This commit is contained in:
Keshav Anand
2026-06-02 16:31:33 -05:00
parent 88cf03a230
commit 1a1c99791d
8 changed files with 505 additions and 33 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Drivetrain.java
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@@ -18,8 +18,8 @@ public class Drivetrain {
private static final double STRAFE_MULTIPLIER = 1.2; private static final double STRAFE_MULTIPLIER = 1.2;
public static double FORWARD_ROTATION_CORRECTION = 0.03; public static double FORWARD_ROTATION_CORRECTION = 0;
public static double STRAFE_ROTATION_CORRECTION = -0.03; public static double STRAFE_ROTATION_CORRECTION = -0;
private boolean tele = false; private boolean tele = false;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
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@@ -5,7 +5,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.PIDFCoefficients; import com.qualcomm.robotcore.hardware.PIDFCoefficients;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utilsv2.Robot;
import java.util.LinkedList; import java.util.LinkedList;

20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Intake.java Normal file
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@@ -0,0 +1,20 @@
package org.firstinspires.ftc.teamcode.utilsv2;
import org.firstinspires.ftc.teamcode.utilsv2.Robot;
public class Intake {
Robot rob;
public Intake(Robot robot) {
this.rob = robot;
}
public void setIntakePower(double pow){
rob.intake.setPower(pow);
}
public void setTransferPower(double pow){
rob.transfer.setPower(pow);
}
}

312
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java Normal file
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@@ -0,0 +1,312 @@
package org.firstinspires.ftc.teamcode.utilsv2;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.rev.RevColorSensorV3;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.TouchSensor;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
public class Robot {
// Singleton instance
private static Robot instance;
/**
* Returns the existing Robot instance or creates one if it doesn't exist.
*/
public static Robot getInstance(HardwareMap hardwareMap) {
if (instance == null) {
instance = new Robot(hardwareMap);
}
return instance;
}
/**
* Optional: clears the singleton.
* Useful when switching OpModes.
*/
public static void resetInstance() {
instance = null;
}
public static boolean usingLimelight = true;
public static boolean usingCamera = false;
public DcMotorEx frontLeft;
public DcMotorEx frontRight;
public DcMotorEx backLeft;
public DcMotorEx backRight;
public DcMotorEx intake;
public DcMotorEx transfer;
public PIDFCoefficients shooterPIDF;
public static double shooterPIDF_P = 255;
public static double shooterPIDF_I = 0.0;
public static double shooterPIDF_D = 0.0;
public static double shooterPIDF_F = 75;
// public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
public DcMotorEx shooter1;
public DcMotorEx shooter2;
public Servo hood;
public Servo transferServo;
public Servo spindexBlocker;
public Servo rapidFireBlocker;
public Servo tilt1;
public Servo tilt2;
public Servo turr1;
public Servo turr2;
public Servo spin1;
public Servo spin2;
public TouchSensor beam1;
public TouchSensor beam2;
public TouchSensor beam3;
public RevColorSensorV3 revSensor;
public VoltageSensor voltage;
// Below is disregarded
public AnalogInput spin1Pos;
public AnalogInput spin2Pos;
public AnalogInput turr1Pos;
public AnalogInput transferServoPos;
public AprilTagProcessor aprilTagProcessor;
public WebcamName webcam;
public RevColorSensorV3 color1;
public RevColorSensorV3 color2;
public RevColorSensorV3 color3;
public Limelight3A limelight;
public Servo light;
public Robot(HardwareMap hardwareMap) {
//Define components w/ hardware map
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
backRight = hardwareMap.get(DcMotorEx.class, "br");
frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
intake = hardwareMap.get(DcMotorEx.class, "intake");
intake.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
shooter1.setVelocity(0);
shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
shooter2.setVelocity(0);
hood = hardwareMap.get(Servo.class, "hood");
turr1 = hardwareMap.get(Servo.class, "turr1");
turr2 = hardwareMap.get(Servo.class, "turr2");
spin1 = hardwareMap.get(Servo.class, "spin1");
spin2 = hardwareMap.get(Servo.class, "spin2");
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
transferServo = hardwareMap.get(Servo.class, "transferServo");
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
spindexBlocker = hardwareMap.get(Servo.class, "spinB");
rapidFireBlocker = hardwareMap.get(Servo.class, "rapidB");
tilt1 = hardwareMap.get(Servo.class, "tilt1");
tilt2 = hardwareMap.get(Servo.class, "tilt2");
// beam1 = hardwareMap.get(TouchSensor.class, "beam1");
// beam2 = hardwareMap.get(TouchSensor.class, "beam2");
// beam3 = hardwareMap.get(TouchSensor.class, "beam3");
revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
// Below is disregarded
// turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
//
// spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
//
// spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
//
// transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
//
// color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
//
// color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
//
// color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
if (usingLimelight) {
limelight = hardwareMap.get(Limelight3A.class, "limelight");
} else if (usingCamera) {
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
}
// light = hardwareMap.get(Servo.class, "light");
voltage = hardwareMap.voltageSensor.iterator().next();
}
// Voids below are used to minimize hardware calls to minimize loop times
// Used to cut off digits that are negligible
private final int maxDigits = 5;
private final int roundingFactor = (int) Math.pow(10, maxDigits);
private double prevFrontLeftPower = -10.501;
public void setFrontLeftPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
if (pow != prevFrontLeftPower){
frontLeft.setPower(pow);
}
prevFrontLeftPower = pow;
}
private double prevFrontRightPower = -10.501;
public void setFrontRightPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
if (pow != prevFrontRightPower){
frontRight.setPower(pow);
}
prevFrontRightPower = pow;
}
private double prevBackLeftPower = -10.501;
public void setBackLeftPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
if (pow != prevBackLeftPower){
backLeft.setPower(pow);
}
prevBackLeftPower = pow;
}
private double prevBackRightPower = -10.501;
public void setBackRightPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
if (pow != prevBackRightPower){
backRight.setPower(pow);
}
prevBackRightPower = pow;
}
private double prevIntakePower = -10.501;
public void setIntakePower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
if (pow != prevIntakePower){
intake.setPower(pow);
}
prevIntakePower = pow;
}
private double prevTransferPower = -10.501;
public void setTransferPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
if (pow != prevTransferPower){
transfer.setPower(pow);
}
prevTransferPower = pow;
}
// shooter motors are done in separate class
private double prevHoodPos = -10.501;
public void setHoodPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevHoodPos){
hood.setPosition(pos);
}
prevHoodPos = pos;
}
private double prevTransferServoPos = -10.501;
public void setTransferServoPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevTransferServoPos){
transferServo.setPosition(pos);
}
prevTransferServoPos = pos;
}
private double prevSpinPos = -10.501;
public void setSpinPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevSpinPos){
spin1.setPosition(pos);
spin2.setPosition(pos);
}
prevSpinPos = pos;
}
private double prevTurretPos = -10.501;
public void setTurretPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevTurretPos){
turr1.setPosition(pos);
turr2.setPosition(pos);
}
prevTurretPos = pos;
}
private double prevTilt1Pos = -10.501;
public void setTilt1Pos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevTilt1Pos){
tilt1.setPosition(pos);
}
prevTilt1Pos = pos;
}
private double prevTilt2Pos = -10.501;
public void setTilt2Pos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevTilt2Pos){
tilt2.setPosition(pos);
}
prevTilt2Pos = pos;
}
private double prevSpindexBlockerPos = -10.501;
public void setSpindexBlockerPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevSpindexBlockerPos){
spindexBlocker.setPosition(pos);
}
prevSpindexBlockerPos = pos;
}
private double prevRapidFireBlockerPos = -10.501;
public void setRapidFireBlockerPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
if (pos != prevRapidFireBlockerPos){
rapidFireBlocker.setPosition(pos);
}
prevRapidFireBlockerPos = pos;
}
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
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@@ -3,7 +3,6 @@ package org.firstinspires.ftc.teamcode.utilsv2;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.pedropathing.follower.Follower; import com.pedropathing.follower.Follower;
import org.firstinspires.ftc.teamcode.utils.Robot;
public class Shooter { public class Shooter {

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Spindexer.java
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@@ -1,18 +0,0 @@
package org.firstinspires.ftc.teamcode.utilsv2;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.utils.Robot;
public class Spindexer {
private Servo spin1;
private Servo spin2;
public Spindexer (Robot rob, MultipleTelemetry TELE) {
}
}

161
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java Normal file
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@@ -0,0 +1,161 @@
package org.firstinspires.ftc.teamcode.utilsv2;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.hardware.Servo;
public class SpindexerTransferIntake {
private Servo spin1;
private Servo spin2;
public SpindexerTransferIntake(Robot rob, MultipleTelemetry TELE) {
this.spin1 = rob.spin1;
this.spin2 = rob.spin2;
}
enum SpindexerMode {
RAPID,
SORTED
}
enum RapidMode {
INTAKE, // Normal intake operation
TRANSFER_OFF, // Slow transfer, waiting for rings to settle
BEFORE_PULSE_OUT, // Brief forward delay before pulse
PULSE_OUT, // Small reverse pulse to unjam/reposition rings
PULSE_IN, // Feed rings back forward
HOLD_BALLS, // Maintain ring position
OPEN_GATE, // Open shooter gate
SHOOT // Feed ring into shooter
}
private SpindexerMode mode = SpindexerMode.RAPID;
private RapidMode rapidMode = RapidMode.INTAKE;
public void setRapidMode (RapidMode rMode) {
this.rapidMode = rMode;
}
public void setSpindexerMode (SpindexerMode spindexerMode){
this.mode = spindexerMode;
}
public void update() {
switch (mode) {
case RAPID:
switch (rapidMode) {
case INTAKE:
// Run front intake
// Run transfer intake
// Keep shooter gate closed
// Keep kicker retracted
// Keep spindexer in default position
// If first beam break sees ring:
// rapidMode = TRANSFER_OFF;
// If shoot button pressed:
// rapidMode = OPEN_GATE;
break;
case TRANSFER_OFF:
// Slow down transfer intake
// Allow rings to settle into storage
// If both beam breaks occupied:
// rapidMode = BEFORE_PULSE_OUT;
// If shoot button pressed:
// rapidMode = OPEN_GATE;
break;
case BEFORE_PULSE_OUT:
// Continue running intake forward
// After ~0.3 sec:
// rapidMode = PULSE_OUT;
break;
case PULSE_OUT:
// Reverse intake slightly
// Helps separate rings and prevent jams
// After pulse time:
// rapidMode = PULSE_IN;
break;
case PULSE_IN:
// Run intake forward again
// Re-seat rings after pulse
// After ~0.2 sec:
// rapidMode = HOLD_BALLS;
break;
case HOLD_BALLS:
// If both sensors occupied:
// hold intake at low power
// Else:
// run intake forward to pull rings back in
// If shoot button pressed:
// rapidMode = OPEN_GATE;
// If resume intake button pressed:
// rapidMode = INTAKE;
break;
case OPEN_GATE:
// Open upper gate
// Keep intake feeding
// After ~0.1 sec:
// rapidMode = SHOOT;
break;
case SHOOT:
// Activate kicker
// Feed ring into shooter
// After ~0.4 sec:
// rapidMode = INTAKE;
break;
}
break;
case SORTED:
// Future sorted-intake logic
// Color sorting
// Alliance filtering
// Different spindexer behavior
break;
}
}
}

20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
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@@ -5,7 +5,6 @@ import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes; import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.robotcore.util.Range; import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.teamcode.utils.Robot;
import java.util.List; import java.util.List;
@@ -13,10 +12,10 @@ import java.util.List;
public class Turret { public class Turret {
Robot robot; Robot robot;
private final double servoTicksPer180 = 0.6; // TODO: Tune private final double servoTicksPer180 = 0.58;
private final double neutralPosition = 0.5; //TODO: Tune private final double neutralPosition = 0.51;
private final double turretMin = 0.04; //TODO: Tune private final double turretMin = 0.05;
private final double turretMax = 0.94; //TODO: Tune private final double turretMax = 0.95;
private final double hVelK = 0; // TODO: Tune private final double hVelK = 0; // TODO: Tune
private final double xVelK = 0; // TODO: Tune private final double xVelK = 0; // TODO: Tune
private final double xAccK = 0; // TODO: Tune private final double xAccK = 0; // TODO: Tune
@@ -53,8 +52,8 @@ public class Turret {
servoAngle = Range.clip(servoAngle, turretMin, turretMax); servoAngle = Range.clip(servoAngle, turretMin, turretMax);
robot.turr1.setPosition(servoAngle); robot.setTurretPos(servoAngle);
robot.turr2.setPosition(1.0 - servoAngle);
detectObelisk(); detectObelisk();
@@ -81,8 +80,8 @@ public class Turret {
} }
public void manual (double pos) { public void manual (double pos) {
robot.turr1.setPosition(pos); robot.setTurretPos(pos);
robot.turr2.setPosition(pos);
} }
@@ -107,7 +106,6 @@ public class Turret {
servoAngle = Range.clip(servoAngle, turretMin, turretMax); servoAngle = Range.clip(servoAngle, turretMin, turretMax);
robot.turr1.setPosition(servoAngle); robot.setTurretPos(servoAngle);
robot.turr2.setPosition(servoAngle);
} }
} }