hoopefully fixed auton
This commit is contained in:
@@ -63,6 +63,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
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import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
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import androidx.annotation.NonNull;
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@@ -102,21 +103,21 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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public static double finalSpindexerSpeedIncrease = 0.025;
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public static double redObeliskTurrPos1 = 0.52;
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public static double redObeliskTurrPos2 = 0.53;
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public static double redObeliskTurrPos3 = 0.54;
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public static double redObeliskTurrPos1 = turrDefault + 0.12;
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public static double redObeliskTurrPos2 = turrDefault + 0.13;
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public static double redObeliskTurrPos3 = turrDefault + 0.14;
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public static double blueObeliskTurrPos1 = 0.28;
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public static double blueObeliskTurrPos2 = 0.27;
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public static double blueObeliskTurrPos3 = 0.26;
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public static double blueObeliskTurrPos1 = turrDefault - 0.12;
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public static double blueObeliskTurrPos2 = turrDefault - 0.13;
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public static double blueObeliskTurrPos3 = turrDefault - 0.14;
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double obeliskTurrPos1 = 0.0;
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double obeliskTurrPos2 = 0.0;
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double obeliskTurrPos3 = 0.0;
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public static double normalIntakeTime = 3.3;
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public static double shoot1Turr = 0.57;
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public static double shoot0XTolerance = 1.0;
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public static double redTurretShootPos = 0.52;
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public static double blueTurretShootPos = 0.26;
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public static double redTurretShootPos = turrDefault + 0.12;
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public static double blueTurretShootPos = turrDefault - 0.14;
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double turretShootPos = 0.0;
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public static double finalShootAllTime = 3.0;
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@@ -752,7 +753,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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turret = new Turret(robot, TELE, robot.limelight);
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turret.manualSetTurret(0.4);
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turret.manualSetTurret(turrDefault);
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drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
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@@ -775,11 +776,33 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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while (opModeInInit()) {
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robot.hood.setPosition(shoot0Hood);
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turret.manualSetTurret(turrDefault);
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if (gamepad2.crossWasPressed()) {
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redAlliance = !redAlliance;
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}
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if (gamepad2.dpadLeftWasPressed()) {
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turrDefault -=0.01;
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}
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if (gamepad2.dpadRightWasPressed()) {
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turrDefault +=0.01;
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}
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redObeliskTurrPos1 = turrDefault + 0.12;
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redObeliskTurrPos2 = turrDefault + 0.13;
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redObeliskTurrPos3 = turrDefault + 0.14;
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blueObeliskTurrPos1 = turrDefault - 0.12;
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blueObeliskTurrPos2 = turrDefault - 0.13;
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blueObeliskTurrPos3 = turrDefault - 0.14;
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redTurretShootPos = turrDefault + 0.12;
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blueTurretShootPos = turrDefault - 0.14;
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if (redAlliance) {
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robot.light.setPosition(0.28);
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@@ -888,6 +911,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
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TELE.addData("Red?", redAlliance);
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TELE.addData("Turret Default", turrDefault);
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TELE.update();
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}
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@@ -33,24 +33,11 @@ public class ServoPositions {
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public static double hoodAuto = 0.27;
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public static double hoodAutoFar = 0.5; //TODO: change this;
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public static double hoodHigh = 0.21; //TODO: change this;
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public static double hoodLow = 1.0; //TODO: change this;
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public static double turret_redClose = 0.42;
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public static double turret_blueClose = 0.38;
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public static double turret_redFar = 0.5; //TODO: change this
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public static double turret_blueFar = 0.5; // TODO: change this
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public static double turret_detectRedClose = 0.2;
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public static double turret_detectBlueClose = 0.6;
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public static double turrDefault = 0.4;
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public static double turrMin = 0.2;
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public static double turrMax = 0.8;
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}
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@@ -1,898 +0,0 @@
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package org.firstinspires.ftc.teamcode.teleop;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
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import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.qualcomm.hardware.lynx.LynxModule;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
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import org.firstinspires.ftc.teamcode.utils.Flywheel;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
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import java.util.ArrayList;
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import java.util.List;
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@Disabled
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@TeleOp
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@Config
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public class TeleopV2 extends LinearOpMode {
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Servos servo;
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Flywheel flywheel;
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public static double manualVel = 3000;
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public static double hood = 0.5;
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public static double hoodDefaultPos = 0.5;
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public static double desiredTurretAngle = 180;
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public static double velMultiplier = 20;
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public static double shootStamp2 = 0.0;
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public double vel = 3000;
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public boolean autoVel = true;
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public double manualOffset = 0.0;
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public boolean autoHood = true;
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public boolean green1 = false;
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public boolean green2 = false;
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public boolean green3 = false;
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public double shootStamp = 0.0;
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public boolean circle = false;
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public boolean square = false;
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public boolean triangle = false;
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double autoHoodOffset = 0.0;
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Robot robot;
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MultipleTelemetry TELE;
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boolean intake = false;
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boolean reject = false;
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double xOffset = 0.0;
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double yOffset = 0.0;
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double headingOffset = 0.0;
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int ticker = 0;
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int camTicker = 0;
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List<Double> s1G = new ArrayList<>();
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List<Double> s2G = new ArrayList<>();
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List<Double> s3G = new ArrayList<>();
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List<Double> s1T = new ArrayList<>();
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List<Double> s2T = new ArrayList<>();
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List<Double> s3T = new ArrayList<>();
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List<Boolean> s1 = new ArrayList<>();
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List<Boolean> s2 = new ArrayList<>();
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List<Boolean> s3 = new ArrayList<>();
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boolean oddBallColor = false;
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AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
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MecanumDrive drive;
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double hoodOffset = 0.0;
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boolean shoot1 = false;
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// Make these class-level flags
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boolean shootA = true;
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boolean shootB = true;
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boolean shootC = true;
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boolean manualTurret = false;
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boolean outtake1 = false;
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boolean outtake2 = false;
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boolean outtake3 = false;
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boolean overrideTurr = false;
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List<Integer> shootOrder = new ArrayList<>();
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boolean emergency = false;
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private double lastEncoderRevolutions = 0.0;
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private double lastTimeStamp = 0.0;
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private double velo1, velo;
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private double stamp1, stamp, initPos;
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private boolean shootAll = false;
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private double transferStamp = 0.0;
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private int tickerA = 1;
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private boolean transferIn = false;
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double turretPID = 0.0;
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double turretPos = 0.5;
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double spindexPID = 0.0;
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double spindexPos = spindexer_intakePos1;
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double error = 0.0;
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public static double velPrediction(double distance) {
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if (distance < 30) {
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return 2750;
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} else if (distance > 100) {
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if (distance > 160) {
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return 4200;
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}
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return 3700;
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} else {
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// linear interpolation between 40->2650 and 120->3600
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double slope = (3700.0 - 2750.0) / (100.0 - 30);
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return (int) Math.round(2750 + slope * (distance - 30));
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}
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}
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@Override
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public void runOpMode() throws InterruptedException {
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List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
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for (LynxModule hub : allHubs) {
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hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
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}
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robot = new Robot(hardwareMap);
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TELE = new MultipleTelemetry(
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telemetry, FtcDashboard.getInstance().getTelemetry()
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);
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servo = new Servos(hardwareMap);
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flywheel = new Flywheel(hardwareMap);
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drive = new MecanumDrive(hardwareMap, teleStart);
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Pose2d shootPos = teleStart;
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aprilTagWebcam.init(new Robot(hardwareMap), TELE);
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waitForStart();
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if (isStopRequested()) return;
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while (opModeIsActive()) {
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//DRIVETRAIN:
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double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
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double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
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double rx = gamepad1.left_stick_x;
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double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
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double frontLeftPower = (y + x + rx) / denominator;
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double backLeftPower = (y - x + rx) / denominator;
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double frontRightPower = (y - x - rx) / denominator;
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double backRightPower = (y + x - rx) / denominator;
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robot.frontLeft.setPower(frontLeftPower);
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robot.backLeft.setPower(backLeftPower);
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robot.frontRight.setPower(frontRightPower);
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robot.backRight.setPower(backRightPower);
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//TODO: make sure changing position works throughout opmode
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if (!servo.spinEqual(spindexPos)){
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spindexPID = servo.setSpinPos(spindexPos);
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robot.spin1.setPosition(spindexPID);
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robot.spin2.setPosition(-spindexPID);
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} else{
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robot.spin1.setPosition(0);
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robot.spin2.setPosition(0);
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}
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//INTAKE:
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if (gamepad1.rightBumperWasPressed()) {
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intake = !intake;
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reject = false;
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shootAll = false;
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emergency = false;
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overrideTurr = false;
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}
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if (gamepad1.leftBumperWasPressed()) {
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intake = false;
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emergency = !emergency;
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}
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if (intake) {
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robot.transferServo.setPosition(transferServo_out);
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robot.intake.setPower(1);
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if ((getRuntime() % 0.3) > 0.15) {
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spindexPos = spindexer_intakePos1 + 0.015;
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} else {
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spindexPos = spindexer_intakePos1 - 0.015;
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}
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} else if (reject) {
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robot.intake.setPower(-1);
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spindexPos = spindexer_intakePos1;
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} else {
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robot.intake.setPower(0);
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}
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//COLOR:
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if (s1D < 40) {
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double green = robot.color1.getNormalizedColors().green;
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double red = robot.color1.getNormalizedColors().red;
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double blue = robot.color1.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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s1G.add(gP);
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if (gP >= 0.43) {
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s1.add(true);
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} else {
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s1.add(false);
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}
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s1T.add(getRuntime());
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}
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if (s2D < 40) {
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double green = robot.color2.getNormalizedColors().green;
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double red = robot.color2.getNormalizedColors().red;
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double blue = robot.color2.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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s2G.add(gP);
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if (gP >= 0.43) {
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s2.add(true);
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} else {
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s2.add(false);
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}
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s2T.add(getRuntime());
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}
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if (s3D < 30) {
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double green = robot.color3.getNormalizedColors().green;
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double red = robot.color3.getNormalizedColors().red;
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double blue = robot.color3.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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s3G.add(gP);
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if (gP >= 0.43) {
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s3.add(true);
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} else {
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s3.add(false);
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}
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s3T.add(getRuntime());
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}
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if (!s1.isEmpty()) {
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green1 = checkGreen(s1, s1T);
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}
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if (!s2.isEmpty()) {
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green2 = checkGreen(s2, s2T);
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}
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if (!s3.isEmpty()) {
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green3 = checkGreen(s3, s3T);
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}
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//SHOOTER:
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double powPID = flywheel.manageFlywheel((int) vel);
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robot.transfer.setPower(1);
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//TURRET:
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double offset;
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double robX = drive.localizer.getPose().position.x;
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double robY = drive.localizer.getPose().position.y;
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double robotX = robX - xOffset;
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double robotY = robY - yOffset;
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double robotHeading = drive.localizer.getPose().heading.toDouble();
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double goalX = -10;
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double goalY = 0;
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double dx = goalX - robotX; // delta x from robot to goal
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double dy = goalY - robotY; // delta y from robot to goal
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double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
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desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
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desiredTurretAngle += manualOffset;
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offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
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if (offset > 135) {
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offset -= 360;
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}
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//TODO: test the camera teleop code
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double pos = turrDefault + (error/8); // adds the overall error to the default
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TELE.addData("offset", offset);
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pos -= offset * (0.9 / 360);
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if (pos < 0.02) {
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pos = 0.02;
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} else if (pos > 0.97) {
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pos = 0.97;
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}
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if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
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AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
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AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
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double bearing = 0.0;
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if (d20 != null || d24 != null){
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if (d20 != null) {
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bearing = d20.ftcPose.bearing;
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}
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if (d24 != null) {
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bearing = d24.ftcPose.bearing;
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}
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overrideTurr = true;
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turretPos = servo.getTurrPos() - (bearing/1300);
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TELE.addData("Bear", bearing);
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double bearingCorrection = bearing / 1300;
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// deadband: ignore tiny noise
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if (Math.abs(bearing) > 0.3 && camTicker < 8) {
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// only accumulate if bearing direction is consistent
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if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
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error += bearingCorrection;
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}
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}
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camTicker++;
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||||
|
||||
}
|
||||
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
|
||||
if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4100;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualOffset = 0;
|
||||
manualTurret = false;
|
||||
if (gamepad2.left_bumper) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
|
||||
sleep(1200);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y < -0.5) {
|
||||
autoHood = true;
|
||||
} else if (gamepad2.left_stick_y > 0.5) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
//SHOOT ALL:]
|
||||
|
||||
if (emergency) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
|
||||
if (getRuntime() % 3 > 1.5) {
|
||||
spindexPos = 1;
|
||||
} else {
|
||||
spindexPos = 0;
|
||||
}
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
} else if (shootAll) {
|
||||
|
||||
TELE.addData("100% works", shootOrder);
|
||||
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
case 1:
|
||||
shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
|
||||
TELE.addData("shootA", shootA);
|
||||
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootA;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
|
||||
TELE.addData("shootB", shootB);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootB;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
|
||||
TELE.addData("shootC", shootC);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootC;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// Remove from the list only if shooting is complete
|
||||
if (shootingDone) {
|
||||
shootOrder.remove(0);
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
// Finished shooting all balls
|
||||
spindexPos = spindexer_intakePos1;
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
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 (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
// // Right bumper shoots all balls fastest, ignoring colors
|
||||
// if (gamepad2.leftBumperWasPressed()) {
|
||||
// shootOrder.clear();
|
||||
// shootStamp = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// // Fastest order (example: slot 3 → 2 → 1)
|
||||
//
|
||||
// if (ballIn(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
// if (ballIn(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
// shootAll = true;
|
||||
// shootPos = drive.localizer.getPose();
|
||||
//
|
||||
// }
|
||||
//
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = true;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
emergency = false;
|
||||
}
|
||||
|
||||
//MISC:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
|
||||
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", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
aprilTagWebcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// 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
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
|
||||
if (!s1T.isEmpty()) {
|
||||
|
||||
return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 2:
|
||||
|
||||
if (!s2T.isEmpty()) {
|
||||
|
||||
return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 3:
|
||||
|
||||
if (!s3T.isEmpty()) {
|
||||
|
||||
return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
|
||||
|
||||
}
|
||||
}
|
||||
return true; // default
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user