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gate auto in progress - 30% done

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This commit is contained in:
DanTheMan-byte
2026-02-20 22:13:52 -06:00
parent 1ee40b472a
commit 56b61ee88b
7 changed files with 52 additions and 41 deletions
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58
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
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@@ -44,7 +44,7 @@ public class Auto_LT_Close extends LinearOpMode {
public static double velGate0End = 2700, hoodGate0End = 0.35; public static double velGate0End = 2700, hoodGate0End = 0.35;
public static double hood0MoveTime = 2; public static double hood0MoveTime = 2;
public static double spindexerSpeedIncrease = 0.02; public static double spindexerSpeedIncrease = 0.016;
public static double shootAllTime = 4; public static double shootAllTime = 4;
public static double intake1Time = 3.3; public static double intake1Time = 3.3;
@@ -64,17 +64,16 @@ public class Auto_LT_Close extends LinearOpMode {
public static double colorSenseTime = 1.2; public static double colorSenseTime = 1.2;
public static double waitToShoot0 = 0.5; public static double waitToShoot0 = 0.5;
public static double waitToPickupGate2 = 0.3; public static double waitToPickupGate2 = 0.3;
public static double pickupStackGateSpeed = 50; public static double pickupStackGateSpeed = 30;
public static double intake2TimeGate = 3; public static double intake2TimeGate = 3;
public static double shoot2GateTime = 3; public static double shoot2GateTime = 1.7;
public static double endGateTime = 22; public static double endGateTime = 22;
public static double waitToPickupGateWithPartner = 2; public static double waitToPickupGateWithPartner = 1;
public static double waitToPickupGateSolo = 1; public static double waitToPickupGateSolo = 0.2;
public static double intakeGateTime = 5; public static double intakeGateTime = 3;
public static double shootGateTime = 3; public static double shootGateTime = 1.7;
public static double shoot1GateTime = 3; public static double shoot1GateTime = 1.7;
public static double intake1GateTime = 3.3; public static double intake1GateTime = 3.3;
public static double lastIntakeTime = 27;
public static double lastShootTime = 27; public static double lastShootTime = 27;
Robot robot; Robot robot;
@@ -162,7 +161,7 @@ public class Auto_LT_Close extends LinearOpMode {
servos.setTransferPos(transferServo_out); servos.setTransferPos(transferServo_out);
limelightUsed = false; limelightUsed = true;
robot.light.setPosition(1); robot.light.setPosition(1);
@@ -196,7 +195,13 @@ public class Auto_LT_Close extends LinearOpMode {
} }
if (gamepad2.squareWasPressed()){ if (gamepad2.squareWasPressed()){
turret.pipelineSwitch(1); if (!gateCycle){
turret.pipelineSwitch(1);
} else if (redAlliance){
turret.pipelineSwitch(4);
} else {
turret.pipelineSwitch(2);
}
robot.limelight.start(); robot.limelight.start();
gamepad2.rumble(500); gamepad2.rumble(500);
} }
@@ -396,6 +401,7 @@ public class Auto_LT_Close extends LinearOpMode {
if (isStopRequested()) return; if (isStopRequested()) return;
if (opModeIsActive()) { if (opModeIsActive()) {
double stamp = getRuntime(); double stamp = getRuntime();
robot.transfer.setPower(1); robot.transfer.setPower(1);
@@ -406,12 +412,11 @@ public class Auto_LT_Close extends LinearOpMode {
while (getRuntime() - stamp < endGateTime){ while (getRuntime() - stamp < endGateTime){
cycleGateIntake(); cycleGateIntake();
cycleGateShoot(); if (getRuntime() - stamp < lastShootTime){
} cycleGateShoot();
}
if (getRuntime() - stamp < lastIntakeTime){
cycleStackCloseIntakeGate();
} }
cycleStackCloseIntakeGate();
if (getRuntime() - stamp < lastShootTime){ if (getRuntime() - stamp < lastShootTime){
cycleStackCloseShootGate(); cycleStackCloseShootGate();
@@ -473,7 +478,8 @@ public class Auto_LT_Close extends LinearOpMode {
flywheel0Time, flywheel0Time,
x1, x1,
y1, y1,
h1 h1,
false
) )
) )
); );
@@ -677,9 +683,9 @@ public class Auto_LT_Close extends LinearOpMode {
shoot2GateTime, shoot2GateTime,
xShootGate, xShootGate,
yShootGate, yShootGate,
hShootGate hShootGate,
), false
autoActions.Wait(shoot2GateTime) )
), ),
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease) autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
) )
@@ -712,9 +718,9 @@ public class Auto_LT_Close extends LinearOpMode {
shootGateTime, shootGateTime,
xShootGate, xShootGate,
yShootGate, yShootGate,
hShootGate hShootGate,
), false
autoActions.Wait(shootGateTime) )
), ),
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease) autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
) )
@@ -747,9 +753,9 @@ public class Auto_LT_Close extends LinearOpMode {
shoot1GateTime, shoot1GateTime,
xLeaveGate, xLeaveGate,
yLeaveGate, yLeaveGate,
hLeaveGate hLeaveGate,
), false
autoActions.Wait(shoot1GateTime) )
), ),
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease) autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
) )

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
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@@ -327,7 +327,8 @@ public class Auto_LT_Far extends LinearOpMode {
flywheel0Time, flywheel0Time,
0.501, 0.501,
0.501, 0.501,
0.501 0.501,
true
) )
) )

13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java
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@@ -118,7 +118,7 @@ public class AutoActions {
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) { if (ticker == 0) {
stamp = System.currentTimeMillis(); stamp = System.currentTimeMillis();
manageShooter = manageShooterAuto(time, posX, posY, posH); manageShooter = manageShooterAuto(time, posX, posY, posH, false);
} }
ticker++; ticker++;
servos.setTransferPos(transferServo_out); servos.setTransferPos(transferServo_out);
@@ -231,7 +231,7 @@ public class AutoActions {
if (ticker == 1) { if (ticker == 1) {
stamp = System.currentTimeMillis(); stamp = System.currentTimeMillis();
manageShooter = manageShooterAuto(shootTime, 0.501, 0.501, 0.501); manageShooter = manageShooterAuto(shootTime, 0.501, 0.501, 0.501, false);
} }
ticker++; ticker++;
@@ -364,7 +364,7 @@ public class AutoActions {
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) { if (ticker == 0) {
stamp = System.currentTimeMillis(); stamp = System.currentTimeMillis();
manageShooter = manageShooterAuto(time, posX, posY, posH); manageShooter = manageShooterAuto(time, posX, posY, posH, false);
} }
ticker++; ticker++;
@@ -453,7 +453,8 @@ public class AutoActions {
double time, double time,
double posX, double posX,
double posY, double posY,
double posH double posH,
boolean flywheelSensor
) { ) {
return new Action() { return new Action() {
@@ -488,8 +489,10 @@ public class AutoActions {
Pose2d deltaPose; Pose2d deltaPose;
if (posX != 0.501) { if (posX != 0.501) {
deltaPose = new Pose2d(posX, posY, Math.toRadians(posH)); deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
Turret.limelightUsed = false;
} else { } else {
deltaPose = new Pose2d(dx, dy, robotHeading); deltaPose = new Pose2d(dx, dy, robotHeading);
Turret.limelightUsed = true;
} }
// double distanceToGoal = Math.sqrt(dx * dx + dy * dy); // double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
@@ -508,7 +511,7 @@ public class AutoActions {
flywheel.manageFlywheel(targetingSettings.flywheelRPM); flywheel.manageFlywheel(targetingSettings.flywheelRPM);
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000; boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
boolean shouldFinish = timeDone || flywheel.getSteady(); boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
teleStart = currentPose; teleStart = currentPose;

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java
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@@ -45,16 +45,16 @@ public class Front_Poses {
public static double rShoot0X = 40, rShoot0Y = 0.1, rShoot0H = 0.1; public static double rShoot0X = 40, rShoot0Y = 0.1, rShoot0H = 0.1;
public static double bShoot0X = 40, bShoot0Y = -0.1, bShoot0H = -0.1; public static double bShoot0X = 40, bShoot0Y = -0.1, bShoot0H = -0.1;
public static double rShootGateX = 40, rShootGateY = 0.2, rShootGateH = 90; public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
public static double bShootGateX = 40, bShootGateY = -0.2, bShootGateH = -90; public static double bShootGateX = 40, bShootGateY = 1, bShootGateH = -90;
public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55; public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55; public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
public static double rPickupGateAX = 36, rPickupGateAY = 50, rPickupGateAH = 140; public static double rPickupGateAX = 24, rPickupGateAY = 50, rPickupGateAH = 140;
public static double bPickupGateAX = 36, bPickupGateAY = -50, bPickupGateAH = -140; public static double bPickupGateAX = 36, bPickupGateAY = -50, bPickupGateAH = -140;
public static double rPickupGateBX = 46, rPickupGateBY = 60, rPickupGateBH = 180; public static double rPickupGateBX = 38, rPickupGateBY = 68, rPickupGateBH = 180;
public static double bPickupGateBX = 46, bPickupGateBY = -60, bPickupGateBH = -180; public static double bPickupGateBX = 46, bPickupGateBY = -60, bPickupGateBH = -180;
public static Pose2d teleStart = new Pose2d(0, 0, 0); public static Pose2d teleStart = new Pose2d(0, 0, 0);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -27,7 +27,7 @@ public class ServoPositions {
public static double hoodAuto = 0.27; public static double hoodAuto = 0.27;
public static double hoodOffset = -0.05; public static double hoodOffset = 0.05; // offset from 0.93
public static double turret_redClose = 0; public static double turret_redClose = 0;
public static double turret_blueClose = 0; public static double turret_blueClose = 0;

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance; import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart; import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -128,9 +129,9 @@ public class ShooterTest extends LinearOpMode {
if (hoodPos != 0.501) { if (hoodPos != 0.501) {
if (enableHoodAutoOpen) { if (enableHoodAutoOpen) {
robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity))); robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
} else { } else {
robot.hood.setPosition(hoodPos); robot.hood.setPosition(hoodPos + hoodOffset);
} }
} }

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -24,8 +24,8 @@ public class Turret {
public static double turrPosScalar = 0.00011264432; public static double turrPosScalar = 0.00011264432;
public static double turret180Range = 0.4; public static double turret180Range = 0.4;
public static double turrDefault = 0.37; public static double turrDefault = 0.37;
public static double turrMin = 0.15; public static double turrMin = 0.05;
public static double turrMax = 0.8; public static double turrMax = 0.7;
public static boolean limelightUsed = true; public static boolean limelightUsed = true;
public static double manualOffset = 0.0; public static double manualOffset = 0.0;