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Keshav Anand
2025-10-11 22:03:40 -05:00
parent aea3f0b2d4
commit 458b6f53a2
12 changed files with 46 additions and 15 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/blank.java
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@@ -1,4 +0,0 @@
package org.firstinspires.ftc.teamcode.constants;
public class blank {
}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
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@@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.libs.RR;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.canvas.Canvas;
@@ -211,6 +212,7 @@ public final class MecanumDrive {
headingDelta
));
return twist.velocity().value();
}
}
@@ -222,7 +224,7 @@ public final class MecanumDrive {
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
}
// TODO: make sure your config has motors with these names (or change them)
// TODO: make sure your HardwareConfig has motors with these names (or change them)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
@@ -237,7 +239,7 @@ public final class MecanumDrive {
// TODO: reverse motor directions if needed
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/OTOSLocalizer.java
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@@ -28,7 +28,7 @@ public class OTOSLocalizer implements Localizer {
private Pose2d currentPose;
public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
// TODO: make sure your config has an OTOS device with this name
// TODO: make sure your HardwareConfig has an OTOS device with this name
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
currentPose = initialPose;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/PinpointLocalizer.java
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@@ -29,7 +29,7 @@ public final class PinpointLocalizer implements Localizer {
private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
// TODO: make sure your config has a Pinpoint device with this name
// TODO: make sure your HardwareConfig has a Pinpoint device with this name
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/TankDrive.java
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@@ -232,7 +232,7 @@ public final class TankDrive {
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
}
// TODO: make sure your config has motors with these names (or change them)
// TODO: make sure your HardwareConfig has motors with these names (or change them)
// add additional motors on each side if you have them
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
@@ -248,7 +248,7 @@ public final class TankDrive {
// TODO: reverse motor directions if needed
// leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/ThreeDeadWheelLocalizer.java
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@@ -37,7 +37,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
private Pose2d pose;
public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
// TODO: make sure your config has **motors** with these names (or change them)
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
// the encoders should be plugged into the slot matching the named motor
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/TwoDeadWheelLocalizer.java
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@@ -46,7 +46,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
private Pose2d pose;
public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
// TODO: make sure your config has **motors** with these names (or change them)
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
// the encoders should be plugged into the slot matching the named motor
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java
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@@ -6,10 +6,10 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.subsystems.Limelight;
@Autonomous
@Config
@@ -21,12 +21,21 @@ public class LimelightTest extends LinearOpMode {
MultipleTelemetry TELE;
Robot robot;
@Override
public void runOpMode() throws InterruptedException {
HardwareConfig.USING_LL= true;
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
@@ -51,6 +60,7 @@ public class LimelightTest extends LinearOpMode {
TELE.update();
}
}

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -1,7 +1,10 @@
package org.firstinspires.ftc.teamcode.utils;
import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
public class Robot {
@@ -15,5 +18,12 @@ public class Robot {
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
if (USING_LL) {
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
limelight3A.start(); // This tells Limelight to start looking!
}
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/functions/DistanceToTarget.java
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@@ -1,4 +1,8 @@
package org.firstinspires.ftc.teamcode.utils.functions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
public class DistanceToTarget {
}

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/subsystems/Limelight.java
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@@ -11,6 +11,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Subsystem;
@@ -49,6 +50,9 @@ public class Limelight implements Subsystem {
private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
public Limelight(Robot robot, MultipleTelemetry tele) {
HardwareConfig.USING_LL= true;
this.limelight = robot.limelight3A;
this.telemetry = tele;
limelight.pipelineSwitch(1);
@@ -65,6 +69,9 @@ public class Limelight implements Subsystem {
/** ✅ MAIN UPDATE LOOP */
@Override
public void update() {
limelight.updateRobotOrientation();
result = limelight.getLatestResult();
status = limelight.getStatus();

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Vars.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/variables/HardwareConfig.java
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@@ -1,10 +1,12 @@
package org.firstinspires.ftc.teamcode.utils;
package org.firstinspires.ftc.teamcode.variables;
import com.acmerobotics.dashboard.config.Config;
@Config
public class Vars {
public class HardwareConfig {
public static boolean USING_LL = false;
}