KeshavAnandCode/FTCDecodeMain
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

12 ball auto almost done - need to fine tune some poses and fix turret.track

Browse Source
This commit is contained in:
DanTheMan-byte
2026-01-29 20:03:58 -06:00
parent 5d2a2e1da8
commit 1ab0b214c3
3 changed files with 18 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java
View File

@@ -73,6 +73,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
import com.acmerobotics.roadrunner.Vector2d; import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions; import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.constants.Poses_V2; import org.firstinspires.ftc.teamcode.constants.Poses_V2;
@@ -84,6 +85,7 @@ import org.firstinspires.ftc.teamcode.utils.Spindexer;
import org.firstinspires.ftc.teamcode.utils.Targeting; import org.firstinspires.ftc.teamcode.utils.Targeting;
import org.firstinspires.ftc.teamcode.utils.Turret; import org.firstinspires.ftc.teamcode.utils.Turret;
@Disabled
@Config @Config
@Autonomous(preselectTeleOp = "TeleopV3") @Autonomous(preselectTeleOp = "TeleopV3")
public class Auto_LT_Close_12Ball extends LinearOpMode { public class Auto_LT_Close_12Ball extends LinearOpMode {

23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
View File

@@ -96,7 +96,7 @@ import java.util.Objects;
public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode { public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double shoot0Vel = 2300, shoot0Hood = 0.93; public static double shoot0Vel = 2300, shoot0Hood = 0.93;
public static double autoSpinStartPos = 0.2; public static double autoSpinStartPos = 0.2;
public static double shoot0SpinSpeedIncrease = 0.022; public static double shoot0SpinSpeedIncrease = 0.015;
public static double spindexerSpeedIncrease = 0.03; public static double spindexerSpeedIncrease = 0.03;
@@ -106,12 +106,12 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double normalIntakeTime = 3.0; public static double normalIntakeTime = 3.0;
public static double shoot1Turr = 0.57; public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0; public static double shoot0XTolerance = 1.0;
public static double turretShootPos = 0.53; public static double turretShootPos = 0.52;
public static double shootAllTime = 1.8; public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6; public static double shoot0Time = 1.6;
public static double intake1Time = 3.0; public static double intake1Time = 3.0;
public static double flywheel0Time = 3.5; public static double flywheel0Time = 3.5;
public static double pickup1Speed = 17; public static double pickup1Speed = 19;
// ---- SECOND SHOT / PICKUP ---- // ---- SECOND SHOT / PICKUP ----
public static double shoot1Vel = 2300; public static double shoot1Vel = 2300;
public static double shoot1Hood = 0.93; public static double shoot1Hood = 0.93;
@@ -128,12 +128,12 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double obelisk1YTolerance = 2.0; public static double obelisk1YTolerance = 2.0;
public static double shoot1ToleranceX = 2.0; public static double shoot1ToleranceX = 2.0;
public static double shoot1ToleranceY = 2.0; public static double shoot1ToleranceY = 2.0;
public static double shoot1Time = 2.5; public static double shoot1Time = 2;
public static double shoot2Time = 2.5; public static double shoot2Time = 2;
public static double shoot3Time = 2.5; public static double shoot3Time = 2;
public static double colorSenseTime = 0.8; public static double colorSenseTime = 1.2;
public static double firstShootTime = 0.5; public static double firstShootTime = 0.3;
public int motif = 0; public int motif = 0;
Robot robot; Robot robot;
@@ -488,8 +488,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
} }
ticker++; ticker++;
robot.limelight.pipelineSwitch(1);
motif = turret.detectObelisk(); motif = turret.detectObelisk();
if (redAlliance){
robot.limelight.pipelineSwitch(4);
} else {
robot.limelight.pipelineSwitch(2);
}
robot.turr1.setPosition(turrPos); robot.turr1.setPosition(turrPos);
robot.turr2.setPosition(1 - turrPos); robot.turr2.setPosition(1 - turrPos);

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -23,8 +23,8 @@ public class Poses {
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140); public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1); public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
public static double rx4a = 72, ry4a = 65, rh4a = Math.toRadians(145); public static double rx4a = 72, ry4a = 50, rh4a = Math.toRadians(145);
public static double rx4b = 37, ry4b = 85, rh4b = Math.toRadians(145.1); public static double rx4b = 42, ry4b = 80, rh4b = Math.toRadians(145.1);
public static double bx1 = 40, by1 = 7, bh1 = 0; public static double bx1 = 40, by1 = 7, bh1 = 0;
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140); public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);