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Working red auto apparently...blue is theoretial atp

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This commit is contained in:
Keshav Anand
2026-01-17 13:50:58 -06:00
parent fde0880225
commit 1c292e77c7
6 changed files with 154 additions and 79 deletions
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16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java
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@@ -233,6 +233,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);
if (ticker == 1) {
stamp = getRuntime();
}
@@ -240,7 +242,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
robot.intake.setPower(0);
if (getRuntime() - stamp < 3) {
if (getRuntime() - stamp < 2.7) {
robot.transferServo.setPosition(transferServo_in);
@@ -265,6 +267,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
ticker++;
if (ticker == 1) {
@@ -283,7 +287,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
if (getRuntime() - stamp > jamTime+0.4) {
robot.intake.setPower(0);
robot.intake.setPower(0.5);
return false;
}
@@ -506,6 +510,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
if (gamepad2.crossWasPressed()) {
redAlliance = !redAlliance;
}
double turretPID;
@@ -562,6 +567,13 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
new TranslationalVelConstraint(slowSpeed));
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
}
robot.turr1.setPosition(turretPID);

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -15,16 +15,16 @@ public class Poses {
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
public static double rx1 = 40, ry1 = -7, rh1 = 0;
public static double rx2a = 45, ry2a = 18, rh2a = Math.toRadians(140);
public static double rx2b = 25, ry2b = 38, rh2b = Math.toRadians(140);
public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
public static double rx3a = 55, ry3a = 43, rh3a = Math.toRadians(140);
public static double rx3b = 37, ry3b = 61, rh3b = Math.toRadians(140);
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
public static double rx4b = 50, ry4b = 77, rh4b = Math.toRadians(140);
public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
public static double bx1 = 40, by1 = 7, bh1 = 0;
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
@@ -35,7 +35,7 @@ public class Poses {
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
public static double bx4b = 50, by4b = -77, bh4b = Math.toRadians(-140);
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -11,10 +11,10 @@ public class ServoPositions {
public static double spindexer_intakePos3 = 0.66;
public static double spindexer_outtakeBall3 = 0.42;
public static double spindexer_outtakeBall3 = 0.47;
public static double spindexer_outtakeBall2 = 0.74;
public static double spindexer_outtakeBall1 = 0.58;
public static double spindexer_outtakeBall2 = 0.31;
public static double spindexer_outtakeBall1 = 0.15;
public static double transferServo_out = 0.15;
@@ -24,7 +24,7 @@ public class ServoPositions {
public static double hoodDefault = 0.6;
public static double hoodAuto = 0.43;
public static double hoodAuto = 0.25;
public static double hoodAutoFar = 0.5; //TODO: change this;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
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@@ -19,6 +19,6 @@ public class ShooterVars {
public static double maxStep = 0.06; // prevents sudden jumps
// VELOCITY CONSTANTS
public static int AUTO_CLOSE_VEL = 3000; //3300;
public static int AUTO_CLOSE_VEL = 3300; //3300;
public static int AUTO_FAR_VEL = 4000; //TODO: test this
}

189
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -21,6 +21,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.arcrobotics.ftclib.controller.PIDFController;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -45,10 +46,10 @@ public class TeleopV3 extends LinearOpMode {
public static double shootStamp2 = 0.0;
public static double spinningPow = 0.2;
public static double spindexPos = spindexer_intakePos1;
public static double spinPow = 0.08;
public static double bMult = -1, bDiv = 130000;
public static double spinPow = 0.09;
public static double bMult = 1, bDiv = 2200;
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
public static boolean manualTurret = false;
public static boolean manualTurret = true;
public double vel = 3000;
public boolean autoVel = true;
public double manualOffset = 0.0;
@@ -146,8 +147,6 @@ public class TeleopV3 extends LinearOpMode {
tController.setTolerance(0.001);
if (redAlliance) {
robot.limelight.pipelineSwitch(3);
} else {
@@ -234,31 +233,24 @@ public class TeleopV3 extends LinearOpMode {
if (gamepad1.right_bumper) {
robot.transferServo.setPosition(transferServo_out);
intakeTicker++;
if (intakeTicker % 4 == 0) {
spinCurrentPos = servo.getSpinPos();
if (Math.abs(spinCurrentPos - spinInitPos) < 0.02) {
reverse = true;
} else {
reverse = false;
}
spinInitPos = spinCurrentPos;
}
if (intakeTicker % 12 < 3) {
if (intakeTicker % 20 < 2) {
robot.spin1.setPower(-1);
robot.spin2.setPower(1);
} else if (reverse) {
} else if (intakeTicker % 20 < 10) {
robot.spin1.setPower(-0.5);
robot.spin2.setPower(0.5);
} else if (intakeTicker % 20 < 12) {
robot.spin1.setPower(1);
robot.spin2.setPower(-1);
} else {
robot.spin1.setPower(-spinningPow);
robot.spin2.setPower(spinningPow);
robot.spin1.setPower(0.5);
robot.spin2.setPower(-0.5);
}
robot.intake.setPower(1);
intakeStamp = getRuntime();
TELE.addData("Reverse?", reverse);
@@ -386,7 +378,7 @@ public class TeleopV3 extends LinearOpMode {
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
desiredTurretAngle += manualOffset;
desiredTurretAngle += manualOffset + error;
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
@@ -406,7 +398,6 @@ public class TeleopV3 extends LinearOpMode {
pos = 0.83;
}
//SHOOTER:
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
@@ -440,67 +431,56 @@ public class TeleopV3 extends LinearOpMode {
//TODO: test the camera teleop code
TELE.addData("posS2", pos);
// if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
// double bearing;
//
// LLResult result = robot.limelight.getLatestResult();
// if (result != null) {
// if (result.isValid()) {
// bearing = result.getTx() * bMult;
// overrideTurr = true;
//
// double bearingCorrection = bearing / bDiv;
//
// // deadband: ignore tiny noise
// if (Math.abs(bearing) > 0.3 && camTicker < 8) {
//
// error += bearingCorrection;
//
// }
// camTicker++;
// TELE.addData("tx", bearing);
// TELE.addData("ty", result.getTy());
// }
// }
//
// } else {
// camTicker = 0;
// overrideTurr = false;
// }
if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
double bearing;
LLResult result = robot.limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
bearing = result.getTx() * bMult;
double bearingCorrection = bearing / bDiv;
error += bearingCorrection;
camTicker++;
TELE.addData("tx", bearingCorrection);
TELE.addData("ty", result.getTy());
}
}
} else {
camTicker = 0;
overrideTurr = false;
}
if (!overrideTurr) {
turretPos = pos;
}
TELE.addData("posS3", turretPos);
if (manualTurret) {
pos = turrDefault + (manualOffset / 100);
pos = turrDefault + (manualOffset / 100) + error;
}
if (!overrideTurr) {
turretPos = pos;
}
if (gamepad2.dpad_right || gamepad1.dpad_right) {
manualOffset -= 2;
} else if (gamepad2.dpad_left || gamepad1.dpad_left) {
manualOffset += 2;
if (Math.abs(gamepad2.left_stick_x)>0.2) {
manualOffset += 1.35 * gamepad2.left_stick_x;
}
robot.turr1.setPosition(pos);
robot.turr2.setPosition(1-pos);
robot.turr2.setPosition(1 - pos);
//HOOD:
if (autoHood) {
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
robot.hood.setPosition(0.15 + hoodOffset);
} else {
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
}
@@ -518,7 +498,7 @@ public class TeleopV3 extends LinearOpMode {
if (gamepad2.cross) {
manualOffset = 0;
fixedTurret = true;
overrideTurr = true;
}
if (gamepad2.squareWasPressed()) {
@@ -552,21 +532,40 @@ public class TeleopV3 extends LinearOpMode {
// }
// }
if (gamepad1.leftBumperWasPressed()) {
if (gamepad1.left_bumper) {
robot.transferServo.setPosition(transferServo_out);
autoSpintake = false;
intakeTicker++;
if (intakeTicker % 10 < 1) {
robot.spin1.setPower(-1);
robot.spin2.setPower(1);
} else if (intakeTicker % 10 < 5) {
robot.spin1.setPower(-0.5);
robot.spin2.setPower(0.5);
} else if (intakeTicker % 10 < 6) {
robot.spin1.setPower(1);
robot.spin2.setPower(-1);
} else {
robot.spin1.setPower(0.5);
robot.spin2.setPower(-0.5);
}
intake = false;
reject = false;
robot.intake.setPower(0.5);
}
if (gamepad1.leftBumperWasReleased()) {
shootStamp = getRuntime();
shootAll = true;
spindexPos = spindexer_intakePos1;
shooterTicker = 0;
}
@@ -603,6 +602,70 @@ public class TeleopV3 extends LinearOpMode {
}
}
//
// if (shootAll) {
//
// TELE.addData("100% works", shootOrder);
//
// intake = false;
// reject = false;
//
// shooterTicker++;
//
// spindexPos = spindexer_intakePos1;
//
// if (getRuntime() - shootStamp < 1) {
//
// if (servo.spinEqual(spindexer_outtakeBall3) || ((getRuntime()-shootStamp)>0.4)){
// robot.transferServo.setPosition(transferServo_in);
//
// } else {
// robot.transferServo.setPosition(transferServo_out);
//
// }
//
//
// autoSpintake = true;
//
// spindexPos = spindexer_outtakeBall3;
// robot.intake.setPower(0.5);
//
// }
//
// else if (getRuntime() - shootStamp < 1.8) {
//
// robot.transferServo.setPosition(transferServo_in);
//
// autoSpintake = true;
// robot.intake.setPower(0);
//
// spindexPos = spindexer_outtakeBall2;
//
// }
// else if (getRuntime() - shootStamp < 2.6) {
//
// robot.transferServo.setPosition(transferServo_in);
//
// autoSpintake = false;
//
// robot.spin1.setPower(1);
// robot.spin2.setPower(-1);
//
// }
//
// else {
// robot.transferServo.setPosition(transferServo_out);
// spindexPos = spindexer_intakePos1;
//
// shootAll = false;
//
// autoSpintake = true;
//
// robot.transferServo.setPosition(transferServo_out);
// }
//
// }
// if (gamepad1.squareWasPressed()) {
// square = true;
// shootStamp = getRuntime();

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java
View File

@@ -20,7 +20,7 @@ public class LimelightTest extends LinearOpMode {
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
@Override
public void runOpMode() throws InterruptedException {
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
limelight.pipelineSwitch(pipeline);
waitForStart();