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DanTheMan-byte
2026-01-28 20:22:25 -06:00
parent 7ae7574703
commit 53290a5982
2 changed files with 32 additions and 13 deletions
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31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V4.java
View File

@@ -97,12 +97,12 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
public static double normalIntakeTime = 3.0; public static double normalIntakeTime = 3.0;
public static double shoot1Turr = 0.57; public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0; public static double shoot0XTolerance = 1.0;
public static double turretShootPos = 0.5; public static double turretShootPos = 0.53;
public static double shootAllTime = 1.8; public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6; public static double shoot0Time = 1.6;
public static double intake1Time = 3.0; public static double intake1Time = 3.0;
public static double flywheel0Time = 3.5; public static double flywheel0Time = 3.5;
public static double pickup1Speed = 20; public static double pickup1Speed = 25;
// ---- SECOND SHOT / PICKUP ---- // ---- SECOND SHOT / PICKUP ----
public static double shoot1Vel = 2300; public static double shoot1Vel = 2300;
public static double shoot1Hood = 0.93; public static double shoot1Hood = 0.93;
@@ -175,6 +175,10 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return (System.currentTimeMillis() - stamp) < (time * 1000); return (System.currentTimeMillis() - stamp) < (time * 1000);
} }
@@ -193,8 +197,8 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
@Override @Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", velo); TELE.addData("Velocity", flywheel.getVelo());
TELE.addLine("shooting"); TELE.addData("Hood", robot.hood.getPosition());
TELE.update(); TELE.update();
flywheel.manageFlywheel(vel); flywheel.manageFlywheel(vel);
@@ -258,8 +262,8 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
@Override @Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", velo); TELE.addData("Velocity", flywheel.getVelo());
TELE.addLine("shooting"); TELE.addData("Hood", robot.hood.getPosition());
TELE.update(); TELE.update();
velo = flywheel.getVelo(); velo = flywheel.getVelo();
@@ -331,6 +335,9 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return (System.currentTimeMillis() - stamp) < (intakeTime * 1000); return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
@@ -381,6 +388,9 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish; return !shouldFinish;
@@ -430,6 +440,9 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish; return !shouldFinish;
@@ -497,6 +510,9 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish; return !shouldFinish;
@@ -563,6 +579,9 @@ public class ProtoAutoClose_V4 extends LinearOpMode {
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish; return !shouldFinish;

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -14,17 +14,17 @@ public class Poses {
public static Pose2d goalPose = new Pose2d(-10, 0, 0); public static Pose2d goalPose = new Pose2d(-10, 0, 0);
public static double rx1 = 20, ry1 = 0, rh1 = 0; public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140); 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 rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140.1);
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140); public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140); public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140); public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
public static double rx4a = 68, ry4a = 59, rh4a = Math.toRadians(140); public static double rx4a = 72, ry4a = 65, rh4a = Math.toRadians(145);
public static double rx4b = 40, ry4b = 87, rh4b = Math.toRadians(140); public static double rx4b = 37, ry4b = 85, rh4b = Math.toRadians(145.1);
public static double bx1 = 40, by1 = 7, bh1 = 0; public static double bx1 = 40, by1 = 7, bh1 = 0;
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140); public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
@@ -38,8 +38,8 @@ public class Poses {
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140); public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static double rShootX = 40, rShootY = 0, rShootH = Math.toRadians(50); public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
public static double rxPrep = 50, ryPrep = 10, rhPrep = Math.toRadians(50); public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140); public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140); public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);