From 49a9e380d7e7a81aacd2ebfa2c208173d819691f Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Sat, 6 Jun 2026 21:52:04 -0500 Subject: [PATCH] small changes --- .../ftc/teamcode/utilsv2/Robot.java | 28 +++++++++---------- .../utilsv2/SpindexerTransferIntake.java | 5 ++-- .../teamcode/utilsv2/VelocityCommander.java | 9 +++--- 3 files changed, 22 insertions(+), 20 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java index cabc895..68eff26 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java @@ -174,7 +174,7 @@ public class Robot { private double prevFrontLeftPower = -10.501; public void setFrontLeftPower(double pow){ - pow = (double) Math.round(pow * roundingFactor) / roundingFactor; + pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor; if (pow != prevFrontLeftPower){ frontLeft.setPower(pow); } @@ -183,7 +183,7 @@ public class Robot { private double prevFrontRightPower = -10.501; public void setFrontRightPower(double pow){ - pow = (double) Math.round(pow * roundingFactor) / roundingFactor; + pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor; if (pow != prevFrontRightPower){ frontRight.setPower(pow); } @@ -192,7 +192,7 @@ public class Robot { private double prevBackLeftPower = -10.501; public void setBackLeftPower(double pow){ - pow = (double) Math.round(pow * roundingFactor) / roundingFactor; + pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor; if (pow != prevBackLeftPower){ backLeft.setPower(pow); } @@ -201,7 +201,7 @@ public class Robot { private double prevBackRightPower = -10.501; public void setBackRightPower(double pow){ - pow = (double) Math.round(pow * roundingFactor) / roundingFactor; + pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor; if (pow != prevBackRightPower){ backRight.setPower(pow); } @@ -210,7 +210,7 @@ public class Robot { private double prevIntakePower = -10.501; public void setIntakePower(double pow){ - pow = (double) Math.round(pow * roundingFactor) / roundingFactor; + pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor; if (pow != prevIntakePower){ intake.setPower(pow); } @@ -219,7 +219,7 @@ public class Robot { private double prevTransferPower = -10.501; public void setTransferPower(double pow){ - pow = (double) Math.round(pow * roundingFactor) / roundingFactor; + pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor; if (pow != prevTransferPower){ transfer.setPower(pow); } @@ -230,7 +230,7 @@ public class Robot { private double prevHoodPos = -10.501; public void setHoodPos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevHoodPos){ hood.setPosition(pos); } @@ -239,7 +239,7 @@ public class Robot { private double prevTransferServoPos = -10.501; public void setTransferServoPos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevTransferServoPos){ transferServo.setPosition(pos); } @@ -248,7 +248,7 @@ public class Robot { private double prevSpinPos = -10.501; public void setSpinPos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevSpinPos){ spin1.setPosition(pos); spin2.setPosition(pos); @@ -258,7 +258,7 @@ public class Robot { private double prevTurretPos = -10.501; public void setTurretPos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevTurretPos){ turr1.setPosition(pos); turr2.setPosition(pos); @@ -268,7 +268,7 @@ public class Robot { private double prevTilt1Pos = -10.501; public void setTilt1Pos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevTilt1Pos){ tilt1.setPosition(pos); } @@ -277,7 +277,7 @@ public class Robot { private double prevTilt2Pos = -10.501; public void setTilt2Pos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevTilt2Pos){ tilt2.setPosition(pos); } @@ -286,7 +286,7 @@ public class Robot { private double prevSpindexBlockerPos = -10.501; public void setSpindexBlockerPos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevSpindexBlockerPos){ spindexBlocker.setPosition(pos); } @@ -295,7 +295,7 @@ public class Robot { private double prevRapidFireBlockerPos = -10.501; public void setRapidFireBlockerPos(double pos){ - pos = (double) Math.round(pos * roundingFactor) / roundingFactor; + pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor; if (pos != prevRapidFireBlockerPos){ rapidFireBlocker.setPosition(pos); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java index 9b43763..129dd2d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java @@ -273,6 +273,7 @@ public class SpindexerTransferIntake { private int greenTicks = 0; private int ballTicks = 0; + private int holdBallsTicker = 0; public void update() { TELE.addData("Sorted State", sortedIntakeStates); @@ -365,12 +366,12 @@ public class SpindexerTransferIntake { case HOLD_BALLS: if (robot.insideBeam.isPressed() - && robot.outsideBeam.isPressed()) { + && robot.outsideBeam.isPressed() && holdBallsTicker > 5) { robot.setIntakePower(0.1); } else { - + holdBallsTicker++; robot.setIntakePower(1); } break; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java index 790c3c2..e1a6b9c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java @@ -10,7 +10,7 @@ public class VelocityCommander { public static double yAccK = 0.025; // TODO: Tune private double hoodPos = 0.88; private double transferPow = -1; - private double velo = 0; + private int velo = 0; public VelocityCommander() {} @@ -26,12 +26,13 @@ public class VelocityCommander { private final double veloJ = 272005.7124; private final double veloK = -2474581.713; private double distToRPM (double dist){ + double currentVelo = 0; if (dist < 49) { - velo = 2000; + currentVelo = 2000; } else if (dist > 165){ velo = 3760; } else { - velo = veloA*Math.pow(dist, 10) + + currentVelo = veloA*Math.pow(dist, 10) + veloB*Math.pow(dist, 9) + veloC*Math.pow(dist, 8) + veloD*Math.pow(dist, 7) + @@ -42,8 +43,8 @@ public class VelocityCommander { veloI*Math.pow(dist, 2) + veloJ*Math.pow(dist, 1) + veloK; - velo = Math.max(2000, Math.min(3760, velo)); } + velo = Math.round((float) Math.max(2000, Math.min(3760, currentVelo))); return velo; }