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auto rewritten

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This commit is contained in:
DanTheMan-byte
2026-02-23 20:29:00 -06:00
parent 7a2b275e66
commit 1ae4e1c3ed
2 changed files with 94 additions and 115 deletions
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108
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
View File

@@ -318,8 +318,13 @@ public class Auto_LT_Close extends LinearOpMode {
obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
}
if (gateCycle) {
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
} else {
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
}
if (gateCycle) {
pickup1 = drive.actionBuilder(new Pose2d(xShootGate, yShootGate, Math.toRadians(hShootGate)))
@@ -344,10 +349,17 @@ public class Auto_LT_Close extends LinearOpMode {
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
}
if (gateCycle) {
pickup2 = drive.actionBuilder(new Pose2d(xShoot0, yShoot0, Math.toRadians(hShoot0)))
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
new TranslationalVelConstraint(pickupStackGateSpeed));
} else {
pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
new TranslationalVelConstraint(pickup1Speed));
}
if (gateCycle) {
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
@@ -368,13 +380,6 @@ public class Auto_LT_Close extends LinearOpMode {
shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
shoot0ToPickup2 = drive.actionBuilder(new Pose2d(0,0,0))
.strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0))
.waitSeconds(waitToPickupGate2)
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
new TranslationalVelConstraint(pickupStackGateSpeed));
if (withPartner) {
waitToPickupGate = waitToPickupGateWithPartner;
} else {
@@ -407,8 +412,10 @@ public class Auto_LT_Close extends LinearOpMode {
robot.transfer.setPower(1);
if (gateCycle) {
shoot0Gate();
startAutoGate();
shoot();
cycleStackMiddleGate();
shoot();
while (getRuntime() - stamp < endGateTime) {
cycleGateIntake();
@@ -460,12 +467,7 @@ public class Auto_LT_Close extends LinearOpMode {
}
void shoot() {
Actions.runBlocking(
new ParallelAction(
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease));
}
void startAuto() {
@@ -485,6 +487,23 @@ public class Auto_LT_Close extends LinearOpMode {
);
}
void startAutoGate() {
assert shoot0 != null;
Actions.runBlocking(
new ParallelAction(
shoot0.build(),
autoActions.manageShooterAuto(
flywheel0Time,
xShoot0,
yShoot0,
hShoot0,
false
)
)
);
}
void cycleStackClose() {
Actions.runBlocking(
new ParallelAction(
@@ -636,59 +655,30 @@ public class Auto_LT_Close extends LinearOpMode {
);
}
void shoot0Gate(){
void cycleStackMiddleGate() {
Actions.runBlocking(
new ParallelAction(
shoot0ToPickup2.build(),
new SequentialAction(
new ParallelAction(
autoActions.manageShooterManual(
waitToShoot0,
0.501,
velGate0Start,
hoodGate0Start,
velGate0Start,
hoodGate0Start,
0.501
)
),
autoActions.shootAllManual(
shootAllTime,
hood0MoveTime,
spindexerSpeedIncrease,
velGate0Start,
hoodGate0Start,
velGate0End,
hoodGate0End,
0.501),
pickup2.build(),
autoActions.intake(
intake2TimeGate,
xShootGate,
yShootGate,
hShootGate
)
intake2Time,
x3b,
y3b,
h3b
)
)
);
}
void cycleStackMiddleGate(){
servos.setSpinPos(spinStartPos);
Actions.runBlocking(
new ParallelAction(
shoot2.build(),
new SequentialAction(
new ParallelAction(
autoActions.manageShooterAuto(
shoot2GateTime,
autoActions.prepareShootAll(
colorSenseTime,
shoot2Time,
motif,
xShootGate,
yShootGate,
hShootGate,
false
)
),
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
hShootGate)
)
);
}
@@ -712,8 +702,6 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
gateCycleShoot.build(),
new SequentialAction(
new ParallelAction(
autoActions.manageShooterAuto(
shootGateTime,
xShootGate,
@@ -721,9 +709,6 @@ public class Auto_LT_Close extends LinearOpMode {
hShootGate,
false
)
),
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
)
);
}
@@ -747,8 +732,6 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
shoot1.build(),
new SequentialAction(
new ParallelAction(
autoActions.manageShooterAuto(
shoot1GateTime,
xLeaveGate,
@@ -756,9 +739,6 @@ public class Auto_LT_Close extends LinearOpMode {
hLeaveGate,
false
)
),
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
)
);
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
View File

@@ -131,7 +131,6 @@ public class Turret {
}
if (xPos != null){
if (zPos>0) {
limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);