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This commit is contained in:
DanTheMan-byte
2026-01-30 19:59:18 -06:00
parent 8cce5448ca
commit 1b9f10693c
4 changed files with 40 additions and 31 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -16,11 +16,11 @@ public class ServoPositions {
public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6; public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4; public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
public static double spinStartPos = 0.25; public static double spinStartPos = 0.22;
public static double spinEndPos = 0.85; public static double spinEndPos = 0.85;
public static double shootAllAutoSpinStartPos = 0.2; public static double shootAllAutoSpinStartPos = 0.2;
public static double shootAllSpindexerSpeedIncrease = 0.04; public static double shootAllSpindexerSpeedIncrease = 0.02;
public static double shootAllTime = 1.8; public static double shootAllTime = 1.8;
public static double transferServo_out = 0.15; public static double transferServo_out = 0.15;

28
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -117,7 +117,7 @@ public class TeleopV3 extends LinearOpMode {
while (opModeIsActive()) { while (opModeIsActive()) {
TELE.addData("Is limelight on?", robot.limelight.getStatus()); //TELE.addData("Is limelight on?", robot.limelight.getStatus());
// LIGHT COLORS // LIGHT COLORS
spindexer.ballCounterLight(); spindexer.ballCounterLight();
@@ -259,21 +259,21 @@ public class TeleopV3 extends LinearOpMode {
if (shooterTicker == 0) { if (shooterTicker == 0) {
spindexer.prepareShootAllContinous(); spindexer.prepareShootAllContinous();
TELE.addLine("preparing to shoot"); //TELE.addLine("preparing to shoot");
// } else if (shooterTicker == 2) { // } else if (shooterTicker == 2) {
// //robot.transferServo.setPosition(transferServo_in); // //robot.transferServo.setPosition(transferServo_in);
// spindexer.shootAll(); // spindexer.shootAll();
// TELE.addLine("starting to shoot"); // TELE.addLine("starting to shoot");
} else if (!spindexer.shootAllComplete()) { } else if (!spindexer.shootAllComplete()) {
robot.transferServo.setPosition(transferServo_in); robot.transferServo.setPosition(transferServo_in);
TELE.addLine("shoot"); //TELE.addLine("shoot");
} else { } else {
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
//spindexPos = spindexer_intakePos1; //spindexPos = spindexer_intakePos1;
shootAll = false; shootAll = false;
spindexer.resetSpindexer(); spindexer.resetSpindexer();
//spindexer.processIntake(); //spindexer.processIntake();
TELE.addLine("stop shooting"); //TELE.addLine("stop shooting");
} }
shooterTicker++; shooterTicker++;
//spindexer.processIntake(); //spindexer.processIntake();
@@ -311,11 +311,11 @@ public class TeleopV3 extends LinearOpMode {
// TELE.addData("oddColor", oddBallColor); // TELE.addData("oddColor", oddBallColor);
// //
// // Spindexer Debug // // Spindexer Debug
TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1)); // TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition); // TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
TELE.addData("spinIntakeState", spindexer.currentIntakeState); // TELE.addData("spinIntakeState", spindexer.currentIntakeState);
TELE.addData("spinTestCounter", spindexer.counter); // TELE.addData("spinTestCounter", spindexer.counter);
TELE.addData("autoSpintake", autoSpintake); // TELE.addData("autoSpintake", autoSpintake);
// //
// TELE.addData("shootall commanded", shootAll); // TELE.addData("shootall commanded", shootAll);
// // Targeting Debug // // Targeting Debug
@@ -324,13 +324,13 @@ public class TeleopV3 extends LinearOpMode {
// TELE.addData("robotInchesX", targeting.robotInchesX); // TELE.addData("robotInchesX", targeting.robotInchesX);
// TELE.addData( "robotInchesY", targeting.robotInchesY); // TELE.addData( "robotInchesY", targeting.robotInchesY);
// TELE.addData("Targeting Interpolate", turretInterpolate); // TELE.addData("Targeting Interpolate", turretInterpolate);
TELE.addData("Targeting GridX", targeting.robotGridX); // TELE.addData("Targeting GridX", targeting.robotGridX);
TELE.addData("Targeting GridY", targeting.robotGridY); // TELE.addData("Targeting GridY", targeting.robotGridY);
TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM); // TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle); // TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
// TELE.addData("timeSinceStamp", getRuntime() - shootStamp); // TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
TELE.update(); // TELE.update();
ticker++; ticker++;
} }

19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
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@@ -49,16 +49,25 @@ public class Targeting {
KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93); KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93); KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78); KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62); // KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55); // KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
// KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
KNOWNTARGETING[1][3] = new Settings (2800.0, 0.68); // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
KNOWNTARGETING[1][4] = new Settings (3000.0, 0.58); // Real setting replaced with (0,4) new Settings (3000.0, 0.55);
KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50); KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
// ROW 2 // ROW 2
// KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
// KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
// KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
// KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
// KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
// KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78); KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78); KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60); KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53); KNOWNTARGETING[2][3] = new Settings (2800.0, 0.62); // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50); KNOWNTARGETING[2][4] = new Settings (3000.0, 0.55); // real settings replaces with (1,4) new Settings (3100.0, 0.50);
KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50); KNOWNTARGETING[2][5] = new Settings (3200.0, 0.50); // real settings replaced with (1,5) new Settings (3100.0, 0.50);
// ROW 3 // ROW 3
KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50); KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50); KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);

20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
View File

@@ -54,7 +54,7 @@ public class Turret {
LLResult result; LLResult result;
private PIDController bearingPID; private PIDController bearingPID;
public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05; public static double B_PID_P = 0.15, B_PID_I = 0.0, B_PID_D = 0.025;
boolean bearingAligned = false; boolean bearingAligned = false;
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) { public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
@@ -288,15 +288,15 @@ public class Turret {
/* ---------------- TELEMETRY ---------------- */ /* ---------------- TELEMETRY ---------------- */
TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg); // TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
TELE.addData("Target Pos", "%.3f", targetTurretPos); // TELE.addData("Target Pos", "%.3f", targetTurretPos);
TELE.addData("Current Pos", "%.3f", currentPos); // TELE.addData("Current Pos", "%.3f", currentPos);
TELE.addData("Commanded Pos", "%.3f", turretPos); // TELE.addData("Commanded Pos", "%.3f", turretPos);
TELE.addData("LL Valid", result.isValid()); // TELE.addData("LL Valid", result.isValid());
TELE.addData("LL getTx", result.getTx()); // TELE.addData("LL getTx", result.getTx());
TELE.addData("LL Offset", offset); // TELE.addData("LL Offset", offset);
//TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET"); // TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
TELE.addData("Learned Offset", "%.2f", offset); // TELE.addData("Learned Offset", "%.2f", offset);
} }
} }