KeshavAnandCode/FTCDecodeMain
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This commit is contained in:
DanTheMan-byte
2026-06-06 21:52:04 -05:00
parent 12cabd40db
commit 49a9e380d7
3 changed files with 22 additions and 20 deletions
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28
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java
View File

@@ -174,7 +174,7 @@ public class Robot {
private double prevFrontLeftPower = -10.501; private double prevFrontLeftPower = -10.501;
public void setFrontLeftPower(double pow){ public void setFrontLeftPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor; pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevFrontLeftPower){ if (pow != prevFrontLeftPower){
frontLeft.setPower(pow); frontLeft.setPower(pow);
} }
@@ -183,7 +183,7 @@ public class Robot {
private double prevFrontRightPower = -10.501; private double prevFrontRightPower = -10.501;
public void setFrontRightPower(double pow){ public void setFrontRightPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor; pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevFrontRightPower){ if (pow != prevFrontRightPower){
frontRight.setPower(pow); frontRight.setPower(pow);
} }
@@ -192,7 +192,7 @@ public class Robot {
private double prevBackLeftPower = -10.501; private double prevBackLeftPower = -10.501;
public void setBackLeftPower(double pow){ public void setBackLeftPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor; pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevBackLeftPower){ if (pow != prevBackLeftPower){
backLeft.setPower(pow); backLeft.setPower(pow);
} }
@@ -201,7 +201,7 @@ public class Robot {
private double prevBackRightPower = -10.501; private double prevBackRightPower = -10.501;
public void setBackRightPower(double pow){ public void setBackRightPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor; pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevBackRightPower){ if (pow != prevBackRightPower){
backRight.setPower(pow); backRight.setPower(pow);
} }
@@ -210,7 +210,7 @@ public class Robot {
private double prevIntakePower = -10.501; private double prevIntakePower = -10.501;
public void setIntakePower(double pow){ public void setIntakePower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor; pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevIntakePower){ if (pow != prevIntakePower){
intake.setPower(pow); intake.setPower(pow);
} }
@@ -219,7 +219,7 @@ public class Robot {
private double prevTransferPower = -10.501; private double prevTransferPower = -10.501;
public void setTransferPower(double pow){ public void setTransferPower(double pow){
pow = (double) Math.round(pow * roundingFactor) / roundingFactor; pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
if (pow != prevTransferPower){ if (pow != prevTransferPower){
transfer.setPower(pow); transfer.setPower(pow);
} }
@@ -230,7 +230,7 @@ public class Robot {
private double prevHoodPos = -10.501; private double prevHoodPos = -10.501;
public void setHoodPos(double pos){ public void setHoodPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevHoodPos){ if (pos != prevHoodPos){
hood.setPosition(pos); hood.setPosition(pos);
} }
@@ -239,7 +239,7 @@ public class Robot {
private double prevTransferServoPos = -10.501; private double prevTransferServoPos = -10.501;
public void setTransferServoPos(double pos){ public void setTransferServoPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevTransferServoPos){ if (pos != prevTransferServoPos){
transferServo.setPosition(pos); transferServo.setPosition(pos);
} }
@@ -248,7 +248,7 @@ public class Robot {
private double prevSpinPos = -10.501; private double prevSpinPos = -10.501;
public void setSpinPos(double pos){ public void setSpinPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevSpinPos){ if (pos != prevSpinPos){
spin1.setPosition(pos); spin1.setPosition(pos);
spin2.setPosition(pos); spin2.setPosition(pos);
@@ -258,7 +258,7 @@ public class Robot {
private double prevTurretPos = -10.501; private double prevTurretPos = -10.501;
public void setTurretPos(double pos){ public void setTurretPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevTurretPos){ if (pos != prevTurretPos){
turr1.setPosition(pos); turr1.setPosition(pos);
turr2.setPosition(pos); turr2.setPosition(pos);
@@ -268,7 +268,7 @@ public class Robot {
private double prevTilt1Pos = -10.501; private double prevTilt1Pos = -10.501;
public void setTilt1Pos(double pos){ public void setTilt1Pos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevTilt1Pos){ if (pos != prevTilt1Pos){
tilt1.setPosition(pos); tilt1.setPosition(pos);
} }
@@ -277,7 +277,7 @@ public class Robot {
private double prevTilt2Pos = -10.501; private double prevTilt2Pos = -10.501;
public void setTilt2Pos(double pos){ public void setTilt2Pos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevTilt2Pos){ if (pos != prevTilt2Pos){
tilt2.setPosition(pos); tilt2.setPosition(pos);
} }
@@ -286,7 +286,7 @@ public class Robot {
private double prevSpindexBlockerPos = -10.501; private double prevSpindexBlockerPos = -10.501;
public void setSpindexBlockerPos(double pos){ public void setSpindexBlockerPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevSpindexBlockerPos){ if (pos != prevSpindexBlockerPos){
spindexBlocker.setPosition(pos); spindexBlocker.setPosition(pos);
} }
@@ -295,7 +295,7 @@ public class Robot {
private double prevRapidFireBlockerPos = -10.501; private double prevRapidFireBlockerPos = -10.501;
public void setRapidFireBlockerPos(double pos){ public void setRapidFireBlockerPos(double pos){
pos = (double) Math.round(pos * roundingFactor) / roundingFactor; pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
if (pos != prevRapidFireBlockerPos){ if (pos != prevRapidFireBlockerPos){
rapidFireBlocker.setPosition(pos); rapidFireBlocker.setPosition(pos);
} }

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
View File

@@ -273,6 +273,7 @@ public class SpindexerTransferIntake {
private int greenTicks = 0; private int greenTicks = 0;
private int ballTicks = 0; private int ballTicks = 0;
private int holdBallsTicker = 0;
public void update() { public void update() {
TELE.addData("Sorted State", sortedIntakeStates); TELE.addData("Sorted State", sortedIntakeStates);
@@ -365,12 +366,12 @@ public class SpindexerTransferIntake {
case HOLD_BALLS: case HOLD_BALLS:
if (robot.insideBeam.isPressed() if (robot.insideBeam.isPressed()
&& robot.outsideBeam.isPressed()) { && robot.outsideBeam.isPressed() && holdBallsTicker > 5) {
robot.setIntakePower(0.1); robot.setIntakePower(0.1);
} else { } else {
holdBallsTicker++;
robot.setIntakePower(1); robot.setIntakePower(1);
} }
break; break;

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java
View File

@@ -10,7 +10,7 @@ public class VelocityCommander {
public static double yAccK = 0.025; // TODO: Tune public static double yAccK = 0.025; // TODO: Tune
private double hoodPos = 0.88; private double hoodPos = 0.88;
private double transferPow = -1; private double transferPow = -1;
private double velo = 0; private int velo = 0;
public VelocityCommander() {} public VelocityCommander() {}
@@ -26,12 +26,13 @@ public class VelocityCommander {
private final double veloJ = 272005.7124; private final double veloJ = 272005.7124;
private final double veloK = -2474581.713; private final double veloK = -2474581.713;
private double distToRPM (double dist){ private double distToRPM (double dist){
double currentVelo = 0;
if (dist < 49) { if (dist < 49) {
velo = 2000; currentVelo = 2000;
} else if (dist > 165){ } else if (dist > 165){
velo = 3760; velo = 3760;
} else { } else {
velo = veloA*Math.pow(dist, 10) + currentVelo = veloA*Math.pow(dist, 10) +
veloB*Math.pow(dist, 9) + veloB*Math.pow(dist, 9) +
veloC*Math.pow(dist, 8) + veloC*Math.pow(dist, 8) +
veloD*Math.pow(dist, 7) + veloD*Math.pow(dist, 7) +
@@ -42,8 +43,8 @@ public class VelocityCommander {
veloI*Math.pow(dist, 2) + veloI*Math.pow(dist, 2) +
veloJ*Math.pow(dist, 1) + veloJ*Math.pow(dist, 1) +
veloK; veloK;
velo = Math.max(2000, Math.min(3760, velo));
} }
velo = Math.round((float) Math.max(2000, Math.min(3760, currentVelo)));
return velo; return velo;
} }