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lights added to auto

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This commit is contained in:
DanTheMan-byte
2026-02-15 17:03:49 -06:00
parent 18d9857b7a
commit 2b9b0a140b
4 changed files with 28 additions and 6 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
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@@ -22,6 +22,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Light;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.teamcode.utils.Spindexer;
@@ -78,6 +79,7 @@ public class Auto_LT_Close extends LinearOpMode {
Targeting targeting;
Targeting.Settings targetingSettings;
AutoActions autoActions;
Light light;
double x1, y1, h1;
double x2a, y2a, h2a, t2a;
@@ -132,7 +134,11 @@ public class Auto_LT_Close extends LinearOpMode {
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
light = Light.getInstance();
light.init(robot.light, spindexer, turret);
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
servos.setSpinPos(spinStartPos);

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
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@@ -35,6 +35,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Light;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.teamcode.utils.Spindexer;
@@ -62,6 +63,7 @@ public class Auto_LT_Far extends LinearOpMode {
Targeting targeting;
Targeting.Settings targetingSettings;
AutoActions autoActions;
Light light;
double xShoot, yShoot, hShoot;
double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
double pickupZoneX = 0, pickupZoneY = 0, pickupZoneH = 0;
@@ -117,6 +119,10 @@ public class Auto_LT_Far extends LinearOpMode {
servos = new Servos(hardwareMap);
light = Light.getInstance();
light.init(robot.light, spindexer, turret);
robot.limelight.start();
robot.limelight.pipelineSwitch(1);
@@ -159,7 +165,7 @@ public class Auto_LT_Far extends LinearOpMode {
autoStart = new Pose2d(autoStartRX, autoStartRY, Math.toRadians(autoStartRH));
drive = new MecanumDrive(hardwareMap, autoStart);
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
xLeave = rLeaveX;
yLeave = rLeaveY;
@@ -192,7 +198,7 @@ public class Auto_LT_Far extends LinearOpMode {
autoStart = new Pose2d(autoStartBX, autoStartBY, Math.toRadians(autoStartBH));
drive = new MecanumDrive(hardwareMap, autoStart);
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
xLeave = bLeaveX;
yLeave = bLeaveY;

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java
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@@ -21,8 +21,10 @@ import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.Pose2d;
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
import org.firstinspires.ftc.teamcode.constants.StateEnums;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Light;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.teamcode.utils.Spindexer;
@@ -41,6 +43,7 @@ public class AutoActions{
Spindexer spindexer;
Targeting targeting;
Targeting.Settings targetingSettings;
Light light;
Turret turret;
private int driverSlotGreen = 0;
private int passengerSlotGreen = 0;
@@ -52,7 +55,7 @@ public class AutoActions{
public int motif = 0;
double spinEndPos = ServoPositions.spinEndPos;
public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig){
this.robot = rob;
this.drive = dri;
this.TELE = tel;
@@ -62,6 +65,7 @@ public class AutoActions{
this.targeting = tar;
this.targetingSettings = tS;
this.turret = tur;
this.light = lig;
}
public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
@@ -112,6 +116,8 @@ public class AutoActions{
servos.setTransferPos(transferServo_out);
drive.updatePoseEstimate();
light.setState(StateEnums.LightState.GOAL_LOCK);
teleStart = drive.localizer.getPose();
if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
@@ -215,6 +221,9 @@ public class AutoActions{
spindexer.setIntakePower(-0.1);
light.setState(StateEnums.LightState.BALL_COLOR);
light.update();
if (ticker == 1) {
stamp = System.currentTimeMillis();
}
@@ -276,8 +285,9 @@ public class AutoActions{
spindexer.processIntake();
spindexer.setIntakePower(1);
light.setState(StateEnums.LightState.BALL_COUNT);
light.update();
spindexer.ballCounterLight();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Light.java
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@@ -12,7 +12,7 @@ public final class Light {
private static Light instance;
public static double ballColorCycleTime = 1000; //in ms
public static double restingTime = 150; //in ms
public static double restingTime = 125; //in ms
private Servo lightServo;
private LightState state = LightState.DISABLED;