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Sattempt for spindexer

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KeshavAnandCode
2025-12-03 21:07:44 -06:00
parent 3f25463181
commit 263bd46320
1 changed files with 158 additions and 80 deletions
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238
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -1,6 +1,5 @@
package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Poses.goalPose;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -18,7 +17,6 @@ import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.sca
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -34,10 +32,15 @@ import java.util.List;
@Config
public class TeleopV2 extends LinearOpMode {
public double vel = 3000;
public static double manualVel = 3000;
public boolean autoVel = true;
public static double hood = 0.5;
public static double hoodDefaultPos = 0.5;
public static double desiredTurretAngle = 180;
public static double velMultiplier = 20;
public double vel = 3000;
public boolean autoVel = true;
public double manualOffset = 0.0;
public boolean autoHood = true;
Robot robot;
MultipleTelemetry TELE;
boolean intake = false;
@@ -52,26 +55,44 @@ public class TeleopV2 extends LinearOpMode {
List<Boolean> s1 = new ArrayList<>();
List<Boolean> s2 = new ArrayList<>();
List<Boolean> s3 = new ArrayList<>();
public static double desiredTurretAngle = 180;
MecanumDrive drive;
private double lastEncoderRevolutions = 0.0;
private double lastTimeStamp = 0.0;
private double velo1, velo;
private double stamp1, stamp, initPos;
private boolean shootAll = false;
double hoodOffset = 0.0;
boolean shoot1 = false;
// Make these class-level flags
boolean shootA = true;
boolean shootB = true;
boolean shootC = true;
public static double velMultiplier = 20;
public boolean green1 = false;
public boolean green2 = false;
public boolean green3 = false;
public double manualOffset = 0.0;
List<Integer> shootOrder = new ArrayList<>();
private double lastEncoderRevolutions = 0.0;
private double lastTimeStamp = 0.0;
private double velo1, velo;
private double stamp1, stamp, initPos;
private boolean shootAll = false;
private double transferStamp = 0.0;
private int tickerA = 1;
private boolean transferIn = false;
public static double velPrediction(double distance) {
if (distance < 40) {
return 2650;
} else if (distance > 120) {
if (distance > 160) {
return 4200;
}
return 3600;
} else {
// linear interpolation between 40->2650 and 120->3600
double slope = (3600.0 - 2650.0) / (120.0 - 40.0);
return (int) Math.round(2650 + slope * (distance - 40));
}
}
@Override
public void runOpMode() throws InterruptedException {
@@ -124,7 +145,6 @@ public class TeleopV2 extends LinearOpMode {
robot.transferServo.setPosition(transferServo_out);
robot.intake.setPower(1);
double position;
@@ -211,17 +231,15 @@ public class TeleopV2 extends LinearOpMode {
s3T.add(getRuntime());
}
boolean green1 = false;
boolean green2 = false;
boolean green3 = false;
if (!s1.isEmpty()) {
green1 = checkGreen(s1, s1T);
}
if (!s2.isEmpty()) {
green2 = checkGreen(s2, s2T);
if (!s3.isEmpty()) {
green3 = checkGreen(s3, s3T); }
if (!s3.isEmpty()) {
green3 = checkGreen(s3, s3T);
}
}
//SHOOTER:
@@ -244,7 +262,6 @@ public class TeleopV2 extends LinearOpMode {
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
}
// --- PROPORTIONAL CORRECTION ---
double error = vel - velo1;
double correction = kP * error;
@@ -268,15 +285,11 @@ public class TeleopV2 extends LinearOpMode {
TELE.addData("vel", velo1);
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
robot.transfer.setPower(1);
robot.hood.setPosition(hood);
//TURRET:
double offset;
@@ -290,10 +303,7 @@ public class TeleopV2 extends LinearOpMode {
double dx = goalX - robotX; // delta x from robot to goal
double dy = goalY - robotY; // delta y from robot to goal
double distanceToGoal = Math.sqrt (dx*dx +dy*dy);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
@@ -301,17 +311,14 @@ public class TeleopV2 extends LinearOpMode {
offset = desiredTurretAngle - 180 - Math.toDegrees(drive.localizer.getPose().heading.toDouble());
if (offset > 90) {
if (offset > 135) {
offset -= 360;
}
double pos = 0.3;
double pos = 0.4;
TELE.addData("offset", offset);
pos -= offset * (0.9 / 360);
if (pos < 0.02) {
@@ -323,63 +330,87 @@ public class TeleopV2 extends LinearOpMode {
robot.turr1.setPosition(pos);
robot.turr2.setPosition(1 - pos);
if (gamepad2.dpad_right){
if (gamepad2.dpad_right) {
manualOffset -= 4;
} else if (gamepad2.dpad_left) {
manualOffset += 4;
} else if (gamepad2.dpad_left){
manualOffset -=4;
}
//VELOCITY AUTOMATIC
if (autoVel){
vel = velPrediction(distanceToGoal)
if (autoVel) {
vel = velPrediction(distanceToGoal);
} else {
vel = manualVel;
}
if (gamepad2.right_stick_button){
if (gamepad2.right_stick_button) {
autoVel = true;
} else if (Math.abs(gamepad2.right_stick_y) > 0.5 ){
vel -= gamepad2.right_stick_y * velMultiplier;
} else if (Math.abs(gamepad2.right_stick_y) > 0.5) {
autoVel = false;
manualVel -= gamepad2.right_stick_y * velMultiplier;
}
//HOOD:
if (autoHood) {
hood
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal));
} else {
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
}
if (gamepad2.dpadUpWasPressed()) {
hoodOffset -= 0.03;
} else if (gamepad2.dpadDownWasPressed()) {
hoodOffset += 0.03;
}
//TODO: ADD CODE TO CHANGE VARIABLE HOOD ANGLE BASED ON POSITION
if (gamepad2.leftStickButtonWasPressed()) {
autoHood = !autoHood;
}
//SHOOT ALL:
if (gamepad2.rightBumperWasPressed()) {
shootAll = true;
}
if (shootAll) {
TELE.addData("works","w");
intake = false;
reject = false;
if (!shootOrder.isEmpty()) {
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
boolean shootingDone = false;
switch (currentSlot) {
case 1:
shootA = shootTeleop(spindexer_outtakeBall3);
TELE.addData("shootA", shootA);
shootingDone = !shootA; // shootA is false when done
break;
case 2:
shootB = shootTeleop(spindexer_outtakeBall2);
TELE.addData("shootB", shootB);
shootingDone = !shootB;
break;
case 3:
shootC = shootTeleop(spindexer_outtakeBall1);
TELE.addData("shootC", shootC);
shootingDone = !shootC;
break;
}
if (shootA) {
shootA = shootTeleop(spindexer_outtakeBall3);
TELE.addData("shootA", shootA);
} else if (shootB) {
shootB = shootTeleop(spindexer_outtakeBall2);
TELE.addData("shootB", shootB);
} else if (shootC) {
shootC = shootTeleop(spindexer_outtakeBall1);
TELE.addData("shootC", shootC);
// Remove from the list only if shooting is complete
if (shootingDone) {
shootOrder.remove(0);
}
} else {
// Finished shooting all balls
robot.spin1.setPosition(spindexer_intakePos1);
robot.spin2.setPosition(1 - spindexer_intakePos1);
shootA = true;
@@ -388,23 +419,54 @@ public class TeleopV2 extends LinearOpMode {
shootAll = false;
}
TELE.update();
}
if (gamepad2.squareWasPressed() || gamepad2.triangleWasPressed() || gamepad2.circleWasPressed()) {
//SPINDEXER:
// Count green balls
int greenCount = 0;
if (green1) greenCount++;
if (green2) greenCount++;
if (green3) greenCount++;
if (gamepad2.squareWasPressed()){
shoot1 = true;
// Determine the odd ball color
boolean oddBallColor = greenCount < 2; // true = green, false = purple
shootOrder.clear();
// Determine shooting order based on button pressed
// square = odd ball first, triangle = odd ball second, circle = odd ball third
if (gamepad2.squareWasPressed()) {
// Odd ball first
addOddThenRest(shootOrder, oddBallColor);
} else if (gamepad2.triangleWasPressed()) {
// Odd ball second
addOddInMiddle(shootOrder, oddBallColor);
} else if (gamepad2.circleWasPressed()) {
// Odd ball last
addOddLast(shootOrder, oddBallColor);
}
shootAll = true;
}
// Right bumper shoots all balls fastest, ignoring colors
if (gamepad2.rightBumperWasPressed()) {
shootOrder.clear();
// Fastest order (example: slot 3 → 2 → 1)
shootOrder.add(3);
shootOrder.add(2);
shootOrder.add(1);
shootAll = true;
}
//MISC:
drive.updatePoseEstimate();
for (LynxModule hub : allHubs) {
@@ -418,7 +480,10 @@ public class TeleopV2 extends LinearOpMode {
TELE.addData("pose", drive.localizer.getPose());
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
TELE.addData("distanceToGoal", distanceToGoal);
TELE.addData("hood", robot.hood.getPosition());
TELE.addData("targetVel", manualVel);
TELE.addData("shootOrder", shootOrder);
TELE.update();
@@ -453,16 +518,11 @@ public class TeleopV2 extends LinearOpMode {
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
}
private double transferStamp = 0.0;
private int tickerA = 1;
private boolean transferIn = false;
public boolean shootTeleop(double spindexer) {
// Set spin positions
robot.spin1.setPosition(spindexer);
robot.spin2.setPosition(1 - spindexer);
// Check if spindexer has reached the target position
if (spindexPosEqual(spindexer)) {
if (tickerA == 1) {
@@ -486,7 +546,6 @@ public class TeleopV2 extends LinearOpMode {
TELE.addLine("shotFinished");
return false; // finished shooting
} else {
TELE.addLine("sIP");
@@ -501,19 +560,38 @@ public class TeleopV2 extends LinearOpMode {
}
}
public static double velPrediction(double distance) {
public double hoodAnglePrediction(double distance) {
double x = Math.sqrt(distance * distance + 24 * 24);
double A = -211149.992;
double B = -1.19943;
double C = 3720.15909;
return A * Math.pow(x, B) + C;
return 0.4;
}
void addOddThenRest(List<Integer> order, boolean oddColor) {
// Odd ball first
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
}
void addOddInMiddle(List<Integer> order, boolean oddColor) {
// Odd ball second
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor && !order.contains(i)) order.add(i);
}
void addOddLast(List<Integer> order, boolean oddColor) {
// Odd ball last
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
}
// Returns color of ball in slot i (1-based)
boolean getBallColor(int slot) {
switch(slot) {
case 1: return green1;
case 2: return green2;
case 3: return green3;
}
return false; // default
}
}