Wip

2026-01-27 19:28:55 -06:00
parent 80f095cd57
commit 486bde729d
2 changed files with 321 additions and 38 deletions
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT.java
@@ -1,14 +1,39 @@
 package org.firstinspires.ftc.teamcode.autonomous;

 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.Poses_V2.*;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spindexPos;

 import androidx.annotation.NonNull;

@@ -20,6 +45,7 @@ import com.acmerobotics.roadrunner.Action;
 import com.acmerobotics.roadrunner.ParallelAction;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
@@ -38,22 +64,89 @@ import org.firstinspires.ftc.teamcode.utils.Turret;
@Config
 public class Auto_LT extends LinearOpMode {

-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-
-    Servos servos;
-    Spindexer spindexer;
-
-    Flywheel flywheel;
-
-
-    private double x1, y1, h1;
+    public int motif = 0;

    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
    public static double autoSpinStartPos = 0.2;
+    public static double shoot0SpinSpeedIncrease = 0.014;
+    public static double obeliskTurrPos = 0.53;

-    public static double shoot0SpinSpeedIncrease = 0.03;
+    public static double shoot1Turr = 0.57;
+
+    public static double shoot0XTolerance = 1.0;
+    public static double shoot0Time = 1.8;
+
+    public static double intake1Time = 5.0;
+
+    public static double flywheel0Time = 3.5;
+    public static double pickup1Speed = 20.0;
+
+    // ---- SECOND SHOT / PICKUP ----
+    public static double shoot1Vel = 2300;
+    public static double shoot1Hood = 0.93;
+
+    // ---- PICKUP TIMING ----
+    public static double pickup1Time = 3.0;
+
+    // ---- PICKUP POSITION TOLERANCES ----
+    public static double pickup1XTolerance = 2.0;
+    public static double pickup1YTolerance = 2.0;
+
+    // ---- OBELISK DETECTION ----
+    public static double obelisk1Time = 1.5;
+    public static double obelisk1XTolerance = 2.0;
+    public static double obelisk1YTolerance = 2.0;
+
+    public static double shoot1ToleranceX = 2.0;
+    public static double shoot1ToleranceY = 2.0;
+    public static double shoot1Time = 2.0;
+
+
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    private double x1, y1, h1;
+
+    private double x2a, y2a, h2a, t2a;
+
+    private double x2b, y2b, h2b, t2b;
+    private double x2c, y2c, h2c, t2c;
+    
+    private double xShoot, yShoot, hShoot;
+
+    public Action prepareShootAll(double time) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                robot.turr1.setPosition(shoot1Turr);
+                robot.turr1.setPosition(1-shoot1Turr);
+
+
+                robot.spin1.setPosition(autoSpinStartPos);
+                robot.spin2.setPosition(1 - autoSpinStartPos);
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.intake.setPower(-((System.currentTimeMillis() - stamp))/1000);
+
+                return (System.currentTimeMillis() - stamp) < (time * 1000);
+
+
+            }
+        };
+    }

    public Action shootAll(int vel, double shootTime) {
        return new Action() {
@@ -89,9 +182,9 @@ public class Auto_LT extends LinearOpMode {

                if (getRuntime() - stamp < shootTime) {

-                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)){
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
                        robot.spin1.setPosition(autoSpinStartPos);
-                        robot.spin2.setPosition(1-autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
                    } else {
                        robot.transferServo.setPosition(transferServo_in);
                        shooterTicker++;
@@ -106,7 +199,6 @@ public class Auto_LT extends LinearOpMode {
                    robot.transferServo.setPosition(transferServo_out);
                    //spindexPos = spindexer_intakePos1;

-
                    spindexer.resetSpindexer();
                    spindexer.processIntake();

@@ -117,6 +209,79 @@ public class Auto_LT extends LinearOpMode {
            }
        };
    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                robot.intake.setPower(1);
+
+                motif = turret.detectObelisk();
+
+                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
+
+
+            }
+        };
+    }
+
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                motif = turret.detectObelisk();
+
+                robot.turr1.setPosition(turrPos);
+                robot.turr2.setPosition(1 - turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
    public Action manageFlywheel(
            double vel,
            double hoodPos,
@@ -181,20 +346,25 @@ public class Auto_LT extends LinearOpMode {

        spindexer = new Spindexer(hardwareMap);

+        servos = new Servos(hardwareMap);
+
        robot.limelight.pipelineSwitch(1);

-        Turret turret = new Turret(robot, TELE, robot.limelight);
+        turret = new Turret(robot, TELE, robot.limelight);

        turret.manualSetTurret(0.4);

-
        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));

-        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+        TrajectoryActionBuilder shoot0;
+
+        TrajectoryActionBuilder pickup1;
+        TrajectoryActionBuilder shoot1;

        robot.spin1.setPosition(autoSpinStartPos);
-        robot.spin2.setPosition(1-autoSpinStartPos);
+        robot.spin2.setPosition(1 - autoSpinStartPos);
+
+        robot.transferServo.setPosition(transferServo_out);

        robot.light.setPosition(1);

@@ -202,46 +372,101 @@ public class Auto_LT extends LinearOpMode {

            robot.hood.setPosition(shoot0Hood);

-
-
            if (gamepad2.crossWasPressed()) {
                redAlliance = !redAlliance;
            }

            if (redAlliance) {
                robot.light.setPosition(0.28);
+
+                // ---- FIRST SHOT ----
                x1 = rx1;
                y1 = ry1;
                h1 = rh1;

+                // ---- PICKUP PATH ----
+                x2a = rx2a;
+                y2a = ry2a;
+                h2a = rh2a;
+                t2a = rt2a;
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                t2b = rt2b;
+                x2c = rx2c;
+                y2c = ry2c;
+                h2c = rh2c;
+                t2c = rt2c;
+                
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+
            } else {
                robot.light.setPosition(0.6);
+
+                // ---- FIRST SHOT ----
                x1 = bx1;
                y1 = by1;
                h1 = bh1;
-            }

+                // ---- PICKUP PATH ----
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                t2a = bt2a;
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                t2b = bt2b;
+                x2c = bx2c;
+                y2c = by2c;
+                h2c = bh2c;
+                t2c = bt2c;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+            }
            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);

+            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                            new TranslationalVelConstraint(pickup1Speed));
+            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+            
+
        }

+        shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+        pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                        new TranslationalVelConstraint(pickup1Speed));
+        shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+                .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
        waitForStart();

        if (isStopRequested()) return;

        if (opModeIsActive()) {

+            robot.transfer.setPower(1);
+
            Actions.runBlocking(
                    new ParallelAction(
                            shoot0.build(),
                            manageFlywheel(
                                    shoot0Vel,
                                    shoot0Hood,
-                                    3.0,
+                                    flywheel0Time,
                                    x1,
                                    0.501,
-                                    1,
+                                    shoot0XTolerance,
                                    0.501
                            )

@@ -249,9 +474,63 @@ public class Auto_LT extends LinearOpMode {
            );

            Actions.runBlocking(
-                    shootAll(2300, 3.0)
+                    shootAll((int) shoot0Vel, shoot0Time)
            );

+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            manageFlywheel(
+                                    shoot1Vel,
+                                    shoot1Hood,
+                                    pickup1Time,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(intake1Time),
+                            detectObelisk(
+                                    obelisk1Time,
+                                    x2b,
+                                    y2c,
+                                    obelisk1XTolerance,
+                                    obelisk1YTolerance,
+                                    obeliskTurrPos
+                            )
+                    )
+            );
+
+            motif = turret.detectObelisk();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheel(
+                                    shoot1Vel,
+                                    shoot1Hood,
+                                    shoot1Time,
+                                    xShoot,
+                                    yShoot,
+                                    shoot1ToleranceX,
+                                    shoot1ToleranceY
+                            ),
+                            shoot1.build(),
+                            prepareShootAll(shoot1Time)
+                    )
+            );
+
+            Actions.runBlocking(
+                    shootAll((int) shoot1Vel, shoot0Time)
+            );
+
+
+
+
+            TELE.addData("ID", motif);
+
+            TELE.update();
+
+            robot.intake.setPower(0);

            sleep(5000);
        }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
@@ -15,10 +15,10 @@ public class Poses_V2 {
    public static Pose2d goalPose = new Pose2d(-10, 0, 0);

    public static double rx1 = 20, ry1 = 0, rh1 = 0;
-    public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
-    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
+    public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a  = Math.toRadians(Math.PI/2);
+    public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b  = Math.toRadians(Math.PI/2);

-    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c  = Math.toRadians(Math.PI/2);

    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
@@ -27,9 +27,13 @@ public class Poses_V2 {
    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);

    public static double bx1 = 20, by1 = 0, bh1 = 0;
-    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
-    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
-    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a  = Math.toRadians(140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b  = Math.toRadians(140);
+    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c  = Math.toRadians(140);
+
+    public static double rShootX = 40, rShootY = 30, rShootH = Math.toRadians(140);
+
+    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);

    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);