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Some tele fixeds i hope

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KeshavAnandCode
2025-11-07 17:59:01 -06:00
parent 4e5f0dd43d
commit 238019d2ea
2 changed files with 63 additions and 13 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
View File

@@ -168,7 +168,7 @@ public class Shooter implements Subsystem {
public void setTurretMode(String mode){ turretMode = mode;}
public double trackGoal(Pose2d robotPose, Pose2d goalPose){
public double trackGoal(Pose2d robotPose, Pose2d goalPose, double offset){
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
@@ -196,7 +196,7 @@ public class Shooter implements Subsystem {
// hoodServo.setPosition(hoodAngle);
moveTurret(getTurretPosByDeltaPose(deltaPose));
moveTurret(getTurretPosByDeltaPose(deltaPose, offset));
return distance;
@@ -209,7 +209,7 @@ public class Shooter implements Subsystem {
}
public double getTurretPosByDeltaPose (Pose2d dPose){
public double getTurretPosByDeltaPose (Pose2d dPose, double offset){
double deltaAngle = Math.toDegrees(dPose.heading.toDouble());
@@ -235,7 +235,7 @@ public class Shooter implements Subsystem {
telemetry.addData("AtanAngle", aTanAngle);
return (0.30-deltaAngle) ;
return ((0.30-deltaAngle) + offset);

68
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
View File

@@ -47,7 +47,7 @@ public class TeleopV1 extends LinearOpMode {
public static double power = 0.0;
public static double pos = 0.5;
public static double pos = 0.54;
ToggleButtonReader g1RightBumper;
@@ -65,6 +65,10 @@ public class TeleopV1 extends LinearOpMode {
ToggleButtonReader g2DpadUp;
ToggleButtonReader g2DpadDown;
ToggleButtonReader g2DpadRight;
ToggleButtonReader g2DpadLeft;
public double g1RightBumperStamp = 0.0;
public double g2LeftBumperStamp = 0.0;
@@ -79,6 +83,10 @@ public class TeleopV1 extends LinearOpMode {
public boolean autotrack = true;
public double offset = 0.0;
public boolean notShooting = true;
@Override
@@ -89,6 +97,7 @@ public class TeleopV1 extends LinearOpMode {
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(
@@ -134,6 +143,16 @@ public class TeleopV1 extends LinearOpMode {
g2, GamepadKeys.Button.DPAD_DOWN
);
g2DpadLeft = new ToggleButtonReader(
g2, GamepadKeys.Button.DPAD_LEFT
);
g2DpadRight = new ToggleButtonReader(
g2, GamepadKeys.Button.DPAD_RIGHT
);
drivetrain = new Drivetrain(robot, TELE, g1);
@@ -204,9 +223,21 @@ public class TeleopV1 extends LinearOpMode {
pos +=0.02;
}
if (gamepad2.dpad_left){
g2DpadLeft.readValue();
g2DpadRight.readValue();
if(g2DpadLeft.wasJustPressed()){
offset -=0.02;
}
if(g2DpadRight.wasJustPressed()){
offset +=0.02;
}
if (gamepad2.right_trigger > 0.5){
pos = shooter.getAngleByDist(
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0))
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset)
);
}
@@ -218,18 +249,20 @@ public class TeleopV1 extends LinearOpMode {
if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0));
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
} else {
autotrack = false;
shooter.moveTurret(shooter.getTurretPosition() - gamepad2.right_stick_x* 0.04);
shooter.moveTurret(shooter.getTurretPosition() - gamepad2.right_stick_x* 0.02);
}
@@ -244,6 +277,8 @@ public class TeleopV1 extends LinearOpMode {
transfer.transferIn();
shooter.setManualPower(1);
notShooting = false;
}
if (g2RightBumper.wasJustReleased()){
@@ -260,13 +295,14 @@ public class TeleopV1 extends LinearOpMode {
if (g2LeftBumper.wasJustPressed()){
g2LeftBumperStamp = getRuntime();
notShooting = false;
scoreAll = true;
}
if (scoreAll) {
double time = getRuntime() - g2LeftBumperStamp;
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-2, 0, 0));
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
shooter.setManualPower(1);
@@ -335,7 +371,9 @@ public class TeleopV1 extends LinearOpMode {
if (g1RightBumper.wasJustPressed()){
shooter.setManualPower(0);
notShooting = true;
if (getRuntime() - g1RightBumperStamp < 0.3){
@@ -344,6 +382,13 @@ public class TeleopV1 extends LinearOpMode {
intake.toggle();
}
if (intake.getIntakeState()==1){
shooter.setManualPower(0);
}
spindexer.intake();
transfer.transferOut();
@@ -353,9 +398,14 @@ public class TeleopV1 extends LinearOpMode {
}
if (intake.getIntakeState()==1) {
if (intake.getIntakeState()==1 && notShooting) {
spindexer.intakeShake(getRuntime());
} else {
} else
{
if (g2Circle.wasJustPressed()){