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This commit is contained in:
DanTheMan-byte
2026-06-09 22:48:11 -05:00
parent 12f433a221
commit 20137025c1
5 changed files with 70 additions and 23 deletions
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28
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
View File

@@ -217,7 +217,7 @@ public class TeleopV4 extends LinearOpMode {
}
if (intakeFull && firstTickFull){
gamepad1.rumble(100);
gamepad1.rumble(250);
firstTickFull = false;
}
@@ -276,25 +276,25 @@ public class TeleopV4 extends LinearOpMode {
// TELE.addData("Loop Time Max", loopTimes.getMaxLoopTimeOneMin());
// TELE.addData("Loop Time Min", loopTimes.getMinLoopTimeOneMin());
//
TELE.addData("Distance From Goal", commander.getDistance());
// TELE.addData("Distance From Goal", commander.getDistance());
// TELE.addData("Hood Position", commander.getHoodPredicted());
// TELE.addData("Transfer Power", robot.transfer.getPower());
TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
TELE.addData("Velocity 1", flywheel.getVelo1());
TELE.addData("Velocity 2", flywheel.getVelo2());
// TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
// TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
// TELE.addData("Velocity 1", flywheel.getVelo1());
// TELE.addData("Velocity 2", flywheel.getVelo2());
TELE.addData("Flywheel Offset", flywheelOffset);
TELE.addData("Hood Offset", hoodOffset);
TELE.addData("FR Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
TELE.addData("FL Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
TELE.addData("BL Drive", robot.backLeft.getCurrent(CurrentUnit.AMPS));
TELE.addData("BR Drive", robot.backRight.getCurrent(CurrentUnit.AMPS));
// TELE.addData("FR Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
// TELE.addData("FL Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
// TELE.addData("BL Drive", robot.backLeft.getCurrent(CurrentUnit.AMPS));
// TELE.addData("BR Drive", robot.backRight.getCurrent(CurrentUnit.AMPS));
TELE.addData("Flywheel 1", robot.shooter1.getCurrent(CurrentUnit.AMPS));
TELE.addData("Flywheel 2", robot.shooter2.getCurrent(CurrentUnit.AMPS));
TELE.addData("Transfer", robot.transfer.getCurrent(CurrentUnit.AMPS));
TELE.addData("Intake", robot.intake.getCurrent(CurrentUnit.AMPS));
// TELE.addData("Flywheel 1", robot.shooter1.getCurrent(CurrentUnit.AMPS));
// TELE.addData("Flywheel 2", robot.shooter2.getCurrent(CurrentUnit.AMPS));
// TELE.addData("Transfer", robot.transfer.getCurrent(CurrentUnit.AMPS));
// TELE.addData("Intake", robot.intake.getCurrent(CurrentUnit.AMPS));
//
// TELE.addData("Current Position", currentPose);
//

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

@@ -36,7 +36,7 @@ public class NewShooterTest extends LinearOpMode {
private boolean shooting = false;
public static int flywheelVelo = 0;
public static double hoodPos = 0.5;
public static double transferPower = -1;
public static double transferPower = -0.8;
@Override
public void runOpMode() throws InterruptedException {

50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java
View File

@@ -15,6 +15,7 @@ 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.robotcore.external.navigation.CurrentUnit;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
public class Robot {
@@ -80,6 +81,11 @@ public class Robot {
public Limelight3A limelight;
public Servo light;
// Current Limits
public static double intakeCurrentLimit = 6.0;
public static double transferCurrentLimit = 5.0;
public static double drivetrainCurrentLimit = 7.0;
public Robot(HardwareMap hardwareMap) {
//Define components w/ hardware map
@@ -120,7 +126,6 @@ public class Robot {
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
transferServo = hardwareMap.get(Servo.class, "transferServo");
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
@@ -138,6 +143,13 @@ public class Robot {
revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
frontLeft.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
frontRight.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
backLeft.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
backRight.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
intake.setCurrentAlert(intakeCurrentLimit, CurrentUnit.AMPS);
transfer.setCurrentAlert(transferCurrentLimit, CurrentUnit.AMPS);
// Below is disregarded
// turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
@@ -174,6 +186,12 @@ public class Robot {
private double prevFrontLeftPower = -10.501;
public void setFrontLeftPower(double pow){
if (frontLeft.isOverCurrent()){
double current = frontLeft.getCurrent(CurrentUnit.AMPS);
if (current != 0) {
pow = pow * drivetrainCurrentLimit / current;
}
}
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevFrontLeftPower){
frontLeft.setPower(pow);
@@ -183,6 +201,12 @@ public class Robot {
private double prevFrontRightPower = -10.501;
public void setFrontRightPower(double pow){
if (frontRight.isOverCurrent()){
double current = frontRight.getCurrent(CurrentUnit.AMPS);
if (current != 0) {
pow = pow * drivetrainCurrentLimit / current;
}
}
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevFrontRightPower){
frontRight.setPower(pow);
@@ -192,6 +216,12 @@ public class Robot {
private double prevBackLeftPower = -10.501;
public void setBackLeftPower(double pow){
if (backLeft.isOverCurrent()){
double current = backLeft.getCurrent(CurrentUnit.AMPS);
if (current != 0) {
pow = pow * drivetrainCurrentLimit / current;
}
}
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevBackLeftPower){
backLeft.setPower(pow);
@@ -201,6 +231,12 @@ public class Robot {
private double prevBackRightPower = -10.501;
public void setBackRightPower(double pow){
if (backRight.isOverCurrent()){
double current = backRight.getCurrent(CurrentUnit.AMPS);
if (current != 0) {
pow = pow * drivetrainCurrentLimit / current;
}
}
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevBackRightPower){
backRight.setPower(pow);
@@ -210,6 +246,12 @@ public class Robot {
private double prevIntakePower = -10.501;
public void setIntakePower(double pow){
if (intake.isOverCurrent()){
double current = intake.getCurrent(CurrentUnit.AMPS);
if (current != 0) {
pow = pow * intakeCurrentLimit / current;
}
}
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevIntakePower){
intake.setPower(pow);
@@ -220,6 +262,12 @@ public class Robot {
private double prevTransferPower = -10.501;
public void setTransferPower(double pow){
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
// if (transfer.isOverCurrent()){
// double current = transfer.getCurrent(CurrentUnit.AMPS);
// if (current != 0) {
// pow = pow * transferCurrentLimit / current;
// }
// }
if (pow != prevTransferPower){
transfer.setPower(pow);
}

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
View File

@@ -318,24 +318,23 @@ public class SpindexerTransferIntake {
case INTAKE:
robot.setIntakePower(1);
robot.setIntakePower(0.8);
robot.setRapidFireBlockerPos(
ServoPositions.rapidFireBlocker_Closed
);
robot.setSpinPos(
ServoPositions.spindexer_A2
);
robot.setTransferPower(-1);
robot.setTransferPower(-0.8);
robot.setTransferServoPos(
ServoPositions.transferServo_out
);
if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
if (robot.insideBeam.isPressed()) {
holdBallsTicker++;
}
if (holdBallsTicker > 20){
if (holdBallsTicker > 15){
setRapidMode(RapidMode.TRANSFER_OFF);
holdBallsTicker = 0;
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java
View File

@@ -79,9 +79,9 @@ public class VelocityCommander {
private void distToTransferPow(double dist, double voltage){
if (dist < 140){
transferPow = -1;
transferPow = -0.8;
} else {
transferPow = -0.6;
transferPow = -0.7;
}
}
public double getTransferPow(){return transferPow;}