From 661730ef1845143056a31dcdd3f326112ca5b67b Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Wed, 28 Jan 2026 19:31:52 -0600 Subject: [PATCH] stash --- .../teamcode/autonomous/Auto_LT_Indexed.java | 1744 ++++++++--------- .../autonomous/ProtoAutoClose_V4.java | 901 +++++++++ .../ftc/teamcode/constants/Poses.java | 13 +- .../ftc/teamcode/libs/RR/MecanumDrive.java | 6 +- 4 files changed, 1786 insertions(+), 878 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V4.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Indexed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Indexed.java index cab8505..518e821 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Indexed.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Indexed.java @@ -1,872 +1,872 @@ -package org.firstinspires.ftc.teamcode.autonomous; - -import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bHGate; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShoot1Tangent; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootH; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootX; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootY; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bXGate; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bYGate; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh1; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx1; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by1; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rHGate; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShoot1Tangent; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootH; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootX; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootY; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rXGate; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rYGate; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh1; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx1; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry1; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2a; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2b; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2c; -import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.teleStart; -import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in; -import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; - -import androidx.annotation.NonNull; - -import com.acmerobotics.dashboard.FtcDashboard; -import com.acmerobotics.dashboard.config.Config; -import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; -import com.acmerobotics.dashboard.telemetry.TelemetryPacket; -import com.acmerobotics.roadrunner.Action; -import com.acmerobotics.roadrunner.ParallelAction; -import com.acmerobotics.roadrunner.Pose2d; -import com.acmerobotics.roadrunner.SequentialAction; -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; -import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import com.qualcomm.robotcore.hardware.Servo; - -import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; -import org.firstinspires.ftc.teamcode.utils.Flywheel; -import org.firstinspires.ftc.teamcode.utils.Robot; -import org.firstinspires.ftc.teamcode.utils.Servos; -import org.firstinspires.ftc.teamcode.utils.Spindexer; -import org.firstinspires.ftc.teamcode.utils.Targeting; -import org.firstinspires.ftc.teamcode.utils.Turret; - -import java.util.ArrayList; -import java.util.List; - -@Autonomous(preselectTeleOp = "TeleopV3") -@Config -public class Auto_LT_Indexed extends LinearOpMode { - - public static double shoot0Vel = 2300, shoot0Hood = 0.93; - public static double autoSpinStartPos = 0.2; - public static double shoot0SpinSpeedIncrease = 0.014; - - public static double spindexerSpeedIncrease = 0.02; - - public static double obeliskTurrPos = 0.53; - public static double gatePickupTime = 3.0; - public static double shoot1Turr = 0.57; - public static double shoot0XTolerance = 1.0; - public static double turretShootPos = 0.72; - public static double shootAllTime = 1.8; - public static double shoot0Time = 1.6; - public static double intake1Time = 3.0; - public static double flywheel0Time = 3.5; - public static double pickup1Speed = 20.0; - public static double pickup2Speed = 20.0; - public static double pickup3Speed = 20.0; - - // ---- SECOND SHOT / PICKUP ---- - public static double shoot1Vel = 2300; - public static double shoot1Hood = 0.93; - - public static double shootAllVelocity = 2500; - public static double shootAllHood = 0.78; - // ---- 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; - public static double shootCycleTime = 2.5; - - List s1 = new ArrayList<>(); - - List s2 = new ArrayList<>(); - List s3 = new ArrayList<>(); - public int motif = 0; - Robot robot; - MultipleTelemetry TELE; - MecanumDrive drive; - Servos servos; - Spindexer spindexer; - Flywheel flywheel; - Turret turret; - Targeting targeting; - Targeting.Settings targetingSettings; - 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; - private double xGate, yGate, hGate; - - private double shoot1Tangent; - - // ---- OPEN GATE / MIDFIELD ---- - private double x3, y3, h3, t3; - - // ---- PICKUP 2 ---- - private double x4a, y4a, h4a; - private double x4b, y4b, h4b; - - // ---- PICKUP 3 ---- - private double x5a, y5a, h5a; - private double x5b, y5b, h5b; - - // ---- PARK ---- - private double xPark, yPark, hPark; - - public Action prepareShootIndexed(double time) { - return new Action() { - double stamp = 0.0; - int ticker = 0; - - boolean testColor = false; - - int s1Green = 0; - int s2Green = 0; - int s3Green = 0; - - - @Override - public boolean run(@NonNull TelemetryPacket telemetryPacket) { - if (ticker == 0) { - stamp = System.currentTimeMillis(); - } - ticker++; - - if ((System.currentTimeMillis() - stamp) < (goToDetectTime)) { //0.25-0.4 ish??? - robot.spin1.setPosition(colorDetectPos); //0.43 - robot.spin2.setPosition(1 - colorDetectPos); - } else if ((System.currentTimeMillis() - stamp) < (colorSenseTime + goToDetectTime)) { - - - double green1 = robot.color1.getNormalizedColors().green; - double red1 = robot.color1.getNormalizedColors().red; - double blue1 = robot.color1.getNormalizedColors().blue; - - double gP1 = green1 / (green1 + red1 + blue1); - - - if (gP1 >= color1Thresh) { - s1Green ++; - } - - double green2 = robot.color2.getNormalizedColors().green; - double red2 = robot.color2.getNormalizedColors().red; - double blue2 = robot.color2.getNormalizedColors().blue; - - double gP2 = green2 / (green2 + red2 + blue2); - - if (gP2 >= color2Thresh) { - s2Green ++; - } - - - double green3 = robot.color3.getNormalizedColors().green; - double red3 = robot.color3.getNormalizedColors().red; - double blue3 = robot.color3.getNormalizedColors().blue; - - double gP3 = green3 / (green3 + red3 + blue3); - - if (gP3 >= color3Thresh) { - s3Green ++; - } - - - testColor = true; - - - - } else { - - double spindexPos; - if (motif == 21) { - spindexPos = - } - } - - robot.transferServo.setPosition(transferServo_out); - - turret.manualSetTurret(turretShootPos); - - robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000); - - return (System.currentTimeMillis() - stamp) < (time * 1000); - - } - }; - } - - public Action shootAll(int vel, double shootTime, double spindexSpeed) { - return new Action() { - int ticker = 1; - - double stamp = 0.0; - - double velo = vel; - - int shooterTicker = 0; - - @Override - public boolean run(@NonNull TelemetryPacket telemetryPacket) { - TELE.addData("Velocity", velo); - TELE.addLine("shooting"); - TELE.update(); - - flywheel.manageFlywheel(vel); - velo = flywheel.getVelo(); - - drive.updatePoseEstimate(); - - teleStart = drive.localizer.getPose(); - - robot.intake.setPower(-0.3); - - if (ticker == 1) { - stamp = getRuntime(); - } - ticker++; - - robot.intake.setPower(0); - - if (getRuntime() - stamp < shootTime) { - - if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) { - robot.spin1.setPosition(autoSpinStartPos); - robot.spin2.setPosition(1 - autoSpinStartPos); - } else { - robot.transferServo.setPosition(transferServo_in); - shooterTicker++; - double prevSpinPos = robot.spin1.getPosition(); - robot.spin1.setPosition(prevSpinPos + spindexSpeed); - robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed); - } - - return true; - - } else { - robot.transferServo.setPosition(transferServo_out); - //spindexPos = spindexer_intakePos1; - - spindexer.resetSpindexer(); - spindexer.processIntake(); - - return false; - - } - - } - }; - } - - public Action shootAllAuto(double shootTime, double spindexSpeed) { - return new Action() { - int ticker = 1; - - double stamp = 0.0; - - double velo = 0.0; - - int shooterTicker = 0; - - @Override - public boolean run(@NonNull TelemetryPacket telemetryPacket) { - TELE.addData("Velocity", velo); - TELE.addLine("shooting"); - TELE.update(); - - velo = flywheel.getVelo(); - - drive.updatePoseEstimate(); - - teleStart = drive.localizer.getPose(); - - robot.intake.setPower(-0.3); - - if (ticker == 1) { - stamp = getRuntime(); - } - ticker++; - - robot.intake.setPower(0); - - if (getRuntime() - stamp < shootTime) { - - if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) { - robot.spin1.setPosition(autoSpinStartPos); - robot.spin2.setPosition(1 - autoSpinStartPos); - } else { - robot.transferServo.setPosition(transferServo_in); - shooterTicker++; - double prevSpinPos = robot.spin1.getPosition(); - robot.spin1.setPosition(prevSpinPos + spindexSpeed); - robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed); - } - - return true; - - } else { - robot.transferServo.setPosition(transferServo_out); - //spindexPos = spindexer_intakePos1; - - spindexer.resetSpindexer(); - spindexer.processIntake(); - - return false; - - } - - } - }; - } - - 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(); - - spindexer.ballCounterLight(); - - 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, - double time, - double posX, - double posY, - double posXTolerance, - double posYTolerance - ) { - - 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++; - - flywheel.manageFlywheel(vel); - robot.hood.setPosition(hoodPos); - - 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 manageShooterAuto( - double time, - double posX, - double posY, - double posXTolerance, - double posYTolerance - ) { - - 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++; - - double robotX = drive.localizer.getPose().position.x; - double robotY = drive.localizer.getPose().position.y; - - double robotHeading = drive.localizer.getPose().heading.toDouble(); - - double goalX = -15; - double goalY = 0; - - double dx = robotX - goalX; // delta x from robot to goal - double dy = robotY - goalY; // delta y from robot to goal - Pose2d deltaPose = new Pose2d(dx, dy, robotHeading); - - double distanceToGoal = Math.sqrt(dx * dx + dy * dy); - - targetingSettings = targeting.calculateSettings - (robotX, robotY, robotHeading, 0.0, false); - - turret.trackGoal(deltaPose); - - robot.hood.setPosition(targetingSettings.hoodAngle); - - flywheel.manageFlywheel(targetingSettings.flywheelRPM); - - 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 manageFlywheelAuto( - double time, - double posX, - double posY, - double posXTolerance, - double posYTolerance - ) { - - 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++; - - double robotX = drive.localizer.getPose().position.x; - double robotY = drive.localizer.getPose().position.y; - - double robotHeading = drive.localizer.getPose().heading.toDouble(); - - double goalX = -15; - double goalY = 0; - - double dx = robotX - goalX; // delta x from robot to goal - double dy = robotY - goalY; // delta y from robot to goal - Pose2d deltaPose = new Pose2d(dx, dy, robotHeading); - - double distanceToGoal = Math.sqrt(dx * dx + dy * dy); - - targetingSettings = targeting.calculateSettings - (robotX, robotY, robotHeading, 0.0, false); - - robot.hood.setPosition(targetingSettings.hoodAngle); - - flywheel.manageFlywheel(targetingSettings.flywheelRPM); - - 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; - - } - }; - } - - @Override - public void runOpMode() throws InterruptedException { - - hardwareMap.get(Servo.class, "light").setPosition(0); - - robot = new Robot(hardwareMap); - - TELE = new MultipleTelemetry( - telemetry, FtcDashboard.getInstance().getTelemetry() - ); - - flywheel = new Flywheel(hardwareMap); - - targeting = new Targeting(); - targetingSettings = new Targeting.Settings(0.0, 0.0); - - spindexer = new Spindexer(hardwareMap); - - servos = new Servos(hardwareMap); - - robot.limelight.pipelineSwitch(1); - - turret = new Turret(robot, TELE, robot.limelight); - - turret.manualSetTurret(0.4); - - drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); - - TrajectoryActionBuilder shoot0 = null; - - TrajectoryActionBuilder pickup1 = null; - TrajectoryActionBuilder shoot1 = null; - TrajectoryActionBuilder pickup2 = null; - TrajectoryActionBuilder shoot2 = null; - TrajectoryActionBuilder pickup3 = null; - TrajectoryActionBuilder shoot3 = null; - TrajectoryActionBuilder openGate = null; - TrajectoryActionBuilder park = null; - - robot.spin1.setPosition(autoSpinStartPos); - robot.spin2.setPosition(1 - autoSpinStartPos); - - robot.transferServo.setPosition(transferServo_out); - - robot.light.setPosition(1); - - while (opModeInInit()) { - - 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; - - // ===== SHOOT POSE ===== - xShoot = rShootX; - yShoot = rShootY; - hShoot = rShootH; - shoot1Tangent = rShoot1Tangent; - - // ===== GATE ===== - xGate = rXGate; - yGate = rYGate; - hGate = rHGate; - - } 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; - - // ===== SHOOT POSE ===== - xShoot = bShootX; - yShoot = bShootY; - hShoot = bShootH; - shoot1Tangent = bShoot1Tangent; - - // ===== GATE ===== - xGate = bXGate; - yGate = bYGate; - hGate = bHGate; - } - - 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)); - - openGate = drive.actionBuilder(new Pose2d(x2b, y2b, h2b)) - .setReversed(true) - .splineToConstantHeading(new Vector2d(x3, y3), t3); - - shoot1 = drive.actionBuilder(new Pose2d(x3, y3, h2b)) - .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); - - pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) - .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a) - .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b, - new TranslationalVelConstraint(pickup2Speed)); - shoot2 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b)) - .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); - - pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) - .strafeToLinearHeading(new Vector2d(x5a, y5a), h5a) - .strafeToLinearHeading(new Vector2d(x5b, y5b), h5b, - new TranslationalVelConstraint(pickup3Speed)); - shoot3 = drive.actionBuilder(new Pose2d(x5b, y5b, h5b)) - .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); - park = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) - .strafeToLinearHeading(new Vector2d(xPark, yPark), hPark); - - } - - waitForStart(); - - if (isStopRequested()) return; - - if (opModeIsActive()) { - - robot.transfer.setPower(1); - - assert shoot0 != null; - - Actions.runBlocking( - new ParallelAction( - shoot0.build(), - manageFlywheel( - shoot0Vel, - shoot0Hood, - flywheel0Time, - x1, - 0.501, - shoot0XTolerance, - 0.501 - ) - - ) - ); - - Actions.runBlocking( - shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease) - ); - - //WORKING SHOOT ALL for the preload - - //Pickup first pile - - Actions.runBlocking( - new SequentialAction( - new ParallelAction( - pickup1.build(), - manageFlywheel( - shootAllVelocity, - shootAllHood, - pickup1Time, - x2b, - y2b, - pickup1XTolerance, - pickup1YTolerance - ), - intake(intake1Time), - detectObelisk( - obelisk1Time, - x2b, - y2c, - obelisk1XTolerance, - obelisk1YTolerance, - obeliskTurrPos - ) - ), - new ParallelAction( - openGate.build() //TODO: Add other managing stuff here - ) - ) - - ); - - motif = turret.detectObelisk(); //Detect Obelisk if not alr - - Actions.runBlocking( - new ParallelAction( - manageFlywheel( - shootAllVelocity, - shootAllHood, - shoot1Time, - 0.501, - 0.501, - 0.501, - 0.501 - ), - shoot1.build(), - prepareShootIndexed(shoot1Time) - ) - ); - - Actions.runBlocking( - new ParallelAction( - manageShooterAuto( - shootAllTime, - 0.501, - 0.501, - 0.501, - 0.501 - ), - shootAllIndexed(shootAllTime, spindexerSpeedIncrease) - ) - - ); - - //Shoot from first pile - - } - - } -} +//package org.firstinspires.ftc.teamcode.autonomous; +// +//import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bHGate; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShoot1Tangent; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootH; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootX; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootY; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bXGate; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bYGate; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh1; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx1; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by1; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rHGate; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShoot1Tangent; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootH; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootX; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootY; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rXGate; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rYGate; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh1; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx1; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry1; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2a; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2b; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2c; +//import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.teleStart; +//import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in; +//import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; +// +//import androidx.annotation.NonNull; +// +//import com.acmerobotics.dashboard.FtcDashboard; +//import com.acmerobotics.dashboard.config.Config; +//import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +//import com.acmerobotics.dashboard.telemetry.TelemetryPacket; +//import com.acmerobotics.roadrunner.Action; +//import com.acmerobotics.roadrunner.ParallelAction; +//import com.acmerobotics.roadrunner.Pose2d; +//import com.acmerobotics.roadrunner.SequentialAction; +//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; +//import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +//import com.qualcomm.robotcore.hardware.Servo; +// +//import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; +//import org.firstinspires.ftc.teamcode.utils.Flywheel; +//import org.firstinspires.ftc.teamcode.utils.Robot; +//import org.firstinspires.ftc.teamcode.utils.Servos; +//import org.firstinspires.ftc.teamcode.utils.Spindexer; +//import org.firstinspires.ftc.teamcode.utils.Targeting; +//import org.firstinspires.ftc.teamcode.utils.Turret; +// +//import java.util.ArrayList; +//import java.util.List; +// +//@Autonomous(preselectTeleOp = "TeleopV3") +//@Config +//public class Auto_LT_Indexed extends LinearOpMode { +// +// public static double shoot0Vel = 2300, shoot0Hood = 0.93; +// public static double autoSpinStartPos = 0.2; +// public static double shoot0SpinSpeedIncrease = 0.014; +// +// public static double spindexerSpeedIncrease = 0.02; +// +// public static double obeliskTurrPos = 0.53; +// public static double gatePickupTime = 3.0; +// public static double shoot1Turr = 0.57; +// public static double shoot0XTolerance = 1.0; +// public static double turretShootPos = 0.72; +// public static double shootAllTime = 1.8; +// public static double shoot0Time = 1.6; +// public static double intake1Time = 3.0; +// public static double flywheel0Time = 3.5; +// public static double pickup1Speed = 20.0; +// public static double pickup2Speed = 20.0; +// public static double pickup3Speed = 20.0; +// +// // ---- SECOND SHOT / PICKUP ---- +// public static double shoot1Vel = 2300; +// public static double shoot1Hood = 0.93; +// +// public static double shootAllVelocity = 2500; +// public static double shootAllHood = 0.78; +// // ---- 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; +// public static double shootCycleTime = 2.5; +// +// List s1 = new ArrayList<>(); +// +// List s2 = new ArrayList<>(); +// List s3 = new ArrayList<>(); +// public int motif = 0; +// Robot robot; +// MultipleTelemetry TELE; +// MecanumDrive drive; +// Servos servos; +// Spindexer spindexer; +// Flywheel flywheel; +// Turret turret; +// Targeting targeting; +// Targeting.Settings targetingSettings; +// 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; +// private double xGate, yGate, hGate; +// +// private double shoot1Tangent; +// +// // ---- OPEN GATE / MIDFIELD ---- +// private double x3, y3, h3, t3; +// +// // ---- PICKUP 2 ---- +// private double x4a, y4a, h4a; +// private double x4b, y4b, h4b; +// +// // ---- PICKUP 3 ---- +// private double x5a, y5a, h5a; +// private double x5b, y5b, h5b; +// +// // ---- PARK ---- +// private double xPark, yPark, hPark; +// +// public Action prepareShootIndexed(double time) { +// return new Action() { +// double stamp = 0.0; +// int ticker = 0; +// +// boolean testColor = false; +// +// int s1Green = 0; +// int s2Green = 0; +// int s3Green = 0; +// +// +// @Override +// public boolean run(@NonNull TelemetryPacket telemetryPacket) { +// if (ticker == 0) { +// stamp = System.currentTimeMillis(); +// } +// ticker++; +// +// if ((System.currentTimeMillis() - stamp) < (goToDetectTime)) { //0.25-0.4 ish??? +// robot.spin1.setPosition(colorDetectPos); //0.43 +// robot.spin2.setPosition(1 - colorDetectPos); +// } else if ((System.currentTimeMillis() - stamp) < (colorSenseTime + goToDetectTime)) { +// +// +// double green1 = robot.color1.getNormalizedColors().green; +// double red1 = robot.color1.getNormalizedColors().red; +// double blue1 = robot.color1.getNormalizedColors().blue; +// +// double gP1 = green1 / (green1 + red1 + blue1); +// +// +// if (gP1 >= color1Thresh) { +// s1Green ++; +// } +// +// double green2 = robot.color2.getNormalizedColors().green; +// double red2 = robot.color2.getNormalizedColors().red; +// double blue2 = robot.color2.getNormalizedColors().blue; +// +// double gP2 = green2 / (green2 + red2 + blue2); +// +// if (gP2 >= color2Thresh) { +// s2Green ++; +// } +// +// +// double green3 = robot.color3.getNormalizedColors().green; +// double red3 = robot.color3.getNormalizedColors().red; +// double blue3 = robot.color3.getNormalizedColors().blue; +// +// double gP3 = green3 / (green3 + red3 + blue3); +// +// if (gP3 >= color3Thresh) { +// s3Green ++; +// } +// +// +// testColor = true; +// +// +// +// } else { +// +// double spindexPos; +// if (motif == 21) { +// spindexPos = +// } +// } +// +// robot.transferServo.setPosition(transferServo_out); +// +// turret.manualSetTurret(turretShootPos); +// +// robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000); +// +// return (System.currentTimeMillis() - stamp) < (time * 1000); +// +// } +// }; +// } +// +// public Action shootAll(int vel, double shootTime, double spindexSpeed) { +// return new Action() { +// int ticker = 1; +// +// double stamp = 0.0; +// +// double velo = vel; +// +// int shooterTicker = 0; +// +// @Override +// public boolean run(@NonNull TelemetryPacket telemetryPacket) { +// TELE.addData("Velocity", velo); +// TELE.addLine("shooting"); +// TELE.update(); +// +// flywheel.manageFlywheel(vel); +// velo = flywheel.getVelo(); +// +// drive.updatePoseEstimate(); +// +// teleStart = drive.localizer.getPose(); +// +// robot.intake.setPower(-0.3); +// +// if (ticker == 1) { +// stamp = getRuntime(); +// } +// ticker++; +// +// robot.intake.setPower(0); +// +// if (getRuntime() - stamp < shootTime) { +// +// if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) { +// robot.spin1.setPosition(autoSpinStartPos); +// robot.spin2.setPosition(1 - autoSpinStartPos); +// } else { +// robot.transferServo.setPosition(transferServo_in); +// shooterTicker++; +// double prevSpinPos = robot.spin1.getPosition(); +// robot.spin1.setPosition(prevSpinPos + spindexSpeed); +// robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed); +// } +// +// return true; +// +// } else { +// robot.transferServo.setPosition(transferServo_out); +// //spindexPos = spindexer_intakePos1; +// +// spindexer.resetSpindexer(); +// spindexer.processIntake(); +// +// return false; +// +// } +// +// } +// }; +// } +// +// public Action shootAllAuto(double shootTime, double spindexSpeed) { +// return new Action() { +// int ticker = 1; +// +// double stamp = 0.0; +// +// double velo = 0.0; +// +// int shooterTicker = 0; +// +// @Override +// public boolean run(@NonNull TelemetryPacket telemetryPacket) { +// TELE.addData("Velocity", velo); +// TELE.addLine("shooting"); +// TELE.update(); +// +// velo = flywheel.getVelo(); +// +// drive.updatePoseEstimate(); +// +// teleStart = drive.localizer.getPose(); +// +// robot.intake.setPower(-0.3); +// +// if (ticker == 1) { +// stamp = getRuntime(); +// } +// ticker++; +// +// robot.intake.setPower(0); +// +// if (getRuntime() - stamp < shootTime) { +// +// if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) { +// robot.spin1.setPosition(autoSpinStartPos); +// robot.spin2.setPosition(1 - autoSpinStartPos); +// } else { +// robot.transferServo.setPosition(transferServo_in); +// shooterTicker++; +// double prevSpinPos = robot.spin1.getPosition(); +// robot.spin1.setPosition(prevSpinPos + spindexSpeed); +// robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed); +// } +// +// return true; +// +// } else { +// robot.transferServo.setPosition(transferServo_out); +// //spindexPos = spindexer_intakePos1; +// +// spindexer.resetSpindexer(); +// spindexer.processIntake(); +// +// return false; +// +// } +// +// } +// }; +// } +// +// 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(); +// +// spindexer.ballCounterLight(); +// +// 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, +// double time, +// double posX, +// double posY, +// double posXTolerance, +// double posYTolerance +// ) { +// +// 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++; +// +// flywheel.manageFlywheel(vel); +// robot.hood.setPosition(hoodPos); +// +// 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 manageShooterAuto( +// double time, +// double posX, +// double posY, +// double posXTolerance, +// double posYTolerance +// ) { +// +// 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++; +// +// double robotX = drive.localizer.getPose().position.x; +// double robotY = drive.localizer.getPose().position.y; +// +// double robotHeading = drive.localizer.getPose().heading.toDouble(); +// +// double goalX = -15; +// double goalY = 0; +// +// double dx = robotX - goalX; // delta x from robot to goal +// double dy = robotY - goalY; // delta y from robot to goal +// Pose2d deltaPose = new Pose2d(dx, dy, robotHeading); +// +// double distanceToGoal = Math.sqrt(dx * dx + dy * dy); +// +// targetingSettings = targeting.calculateSettings +// (robotX, robotY, robotHeading, 0.0, false); +// +// turret.trackGoal(deltaPose); +// +// robot.hood.setPosition(targetingSettings.hoodAngle); +// +// flywheel.manageFlywheel(targetingSettings.flywheelRPM); +// +// 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 manageFlywheelAuto( +// double time, +// double posX, +// double posY, +// double posXTolerance, +// double posYTolerance +// ) { +// +// 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++; +// +// double robotX = drive.localizer.getPose().position.x; +// double robotY = drive.localizer.getPose().position.y; +// +// double robotHeading = drive.localizer.getPose().heading.toDouble(); +// +// double goalX = -15; +// double goalY = 0; +// +// double dx = robotX - goalX; // delta x from robot to goal +// double dy = robotY - goalY; // delta y from robot to goal +// Pose2d deltaPose = new Pose2d(dx, dy, robotHeading); +// +// double distanceToGoal = Math.sqrt(dx * dx + dy * dy); +// +// targetingSettings = targeting.calculateSettings +// (robotX, robotY, robotHeading, 0.0, false); +// +// robot.hood.setPosition(targetingSettings.hoodAngle); +// +// flywheel.manageFlywheel(targetingSettings.flywheelRPM); +// +// 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; +// +// } +// }; +// } +// +// @Override +// public void runOpMode() throws InterruptedException { +// +// hardwareMap.get(Servo.class, "light").setPosition(0); +// +// robot = new Robot(hardwareMap); +// +// TELE = new MultipleTelemetry( +// telemetry, FtcDashboard.getInstance().getTelemetry() +// ); +// +// flywheel = new Flywheel(hardwareMap); +// +// targeting = new Targeting(); +// targetingSettings = new Targeting.Settings(0.0, 0.0); +// +// spindexer = new Spindexer(hardwareMap); +// +// servos = new Servos(hardwareMap); +// +// robot.limelight.pipelineSwitch(1); +// +// turret = new Turret(robot, TELE, robot.limelight); +// +// turret.manualSetTurret(0.4); +// +// drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); +// +// TrajectoryActionBuilder shoot0 = null; +// +// TrajectoryActionBuilder pickup1 = null; +// TrajectoryActionBuilder shoot1 = null; +// TrajectoryActionBuilder pickup2 = null; +// TrajectoryActionBuilder shoot2 = null; +// TrajectoryActionBuilder pickup3 = null; +// TrajectoryActionBuilder shoot3 = null; +// TrajectoryActionBuilder openGate = null; +// TrajectoryActionBuilder park = null; +// +// robot.spin1.setPosition(autoSpinStartPos); +// robot.spin2.setPosition(1 - autoSpinStartPos); +// +// robot.transferServo.setPosition(transferServo_out); +// +// robot.light.setPosition(1); +// +// while (opModeInInit()) { +// +// 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; +// +// // ===== SHOOT POSE ===== +// xShoot = rShootX; +// yShoot = rShootY; +// hShoot = rShootH; +// shoot1Tangent = rShoot1Tangent; +// +// // ===== GATE ===== +// xGate = rXGate; +// yGate = rYGate; +// hGate = rHGate; +// +// } 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; +// +// // ===== SHOOT POSE ===== +// xShoot = bShootX; +// yShoot = bShootY; +// hShoot = bShootH; +// shoot1Tangent = bShoot1Tangent; +// +// // ===== GATE ===== +// xGate = bXGate; +// yGate = bYGate; +// hGate = bHGate; +// } +// +// 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)); +// +// openGate = drive.actionBuilder(new Pose2d(x2b, y2b, h2b)) +// .setReversed(true) +// .splineToConstantHeading(new Vector2d(x3, y3), t3); +// +// shoot1 = drive.actionBuilder(new Pose2d(x3, y3, h2b)) +// .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); +// +// pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) +// .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a) +// .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b, +// new TranslationalVelConstraint(pickup2Speed)); +// shoot2 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b)) +// .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); +// +// pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) +// .strafeToLinearHeading(new Vector2d(x5a, y5a), h5a) +// .strafeToLinearHeading(new Vector2d(x5b, y5b), h5b, +// new TranslationalVelConstraint(pickup3Speed)); +// shoot3 = drive.actionBuilder(new Pose2d(x5b, y5b, h5b)) +// .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); +// park = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) +// .strafeToLinearHeading(new Vector2d(xPark, yPark), hPark); +// +// } +// +// waitForStart(); +// +// if (isStopRequested()) return; +// +// if (opModeIsActive()) { +// +// robot.transfer.setPower(1); +// +// assert shoot0 != null; +// +// Actions.runBlocking( +// new ParallelAction( +// shoot0.build(), +// manageFlywheel( +// shoot0Vel, +// shoot0Hood, +// flywheel0Time, +// x1, +// 0.501, +// shoot0XTolerance, +// 0.501 +// ) +// +// ) +// ); +// +// Actions.runBlocking( +// shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease) +// ); +// +// //WORKING SHOOT ALL for the preload +// +// //Pickup first pile +// +// Actions.runBlocking( +// new SequentialAction( +// new ParallelAction( +// pickup1.build(), +// manageFlywheel( +// shootAllVelocity, +// shootAllHood, +// pickup1Time, +// x2b, +// y2b, +// pickup1XTolerance, +// pickup1YTolerance +// ), +// intake(intake1Time), +// detectObelisk( +// obelisk1Time, +// x2b, +// y2c, +// obelisk1XTolerance, +// obelisk1YTolerance, +// obeliskTurrPos +// ) +// ), +// new ParallelAction( +// openGate.build() //TODO: Add other managing stuff here +// ) +// ) +// +// ); +// +// motif = turret.detectObelisk(); //Detect Obelisk if not alr +// +// Actions.runBlocking( +// new ParallelAction( +// manageFlywheel( +// shootAllVelocity, +// shootAllHood, +// shoot1Time, +// 0.501, +// 0.501, +// 0.501, +// 0.501 +// ), +// shoot1.build(), +// prepareShootIndexed(shoot1Time) +// ) +// ); +// +// Actions.runBlocking( +// new ParallelAction( +// manageShooterAuto( +// shootAllTime, +// 0.501, +// 0.501, +// 0.501, +// 0.501 +// ), +// shootAllIndexed(shootAllTime, spindexerSpeedIncrease) +// ) +// +// ); +// +// //Shoot from first pile +// +// } +// +// } +//} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V4.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V4.java new file mode 100644 index 0000000..9e00607 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V4.java @@ -0,0 +1,901 @@ +package org.firstinspires.ftc.teamcode.autonomous; + +import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance; +import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH; +import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX; +import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh1; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a; +import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b; +import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx1; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a; +import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b; +import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep; +import static org.firstinspires.ftc.teamcode.constants.Poses.by1; +import static org.firstinspires.ftc.teamcode.constants.Poses.by2a; +import static org.firstinspires.ftc.teamcode.constants.Poses.by2b; +import static org.firstinspires.ftc.teamcode.constants.Poses.by3a; +import static org.firstinspires.ftc.teamcode.constants.Poses.by3b; +import static org.firstinspires.ftc.teamcode.constants.Poses.by4a; +import static org.firstinspires.ftc.teamcode.constants.Poses.by4b; +import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep; +import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH; +import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX; +import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh1; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a; +import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b; +import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx1; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a; +import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b; +import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry1; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a; +import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b; +import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep; +import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart; +import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in; +import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; + +import androidx.annotation.NonNull; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.dashboard.telemetry.TelemetryPacket; +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; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.teamcode.constants.Poses_V2; +import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; +import org.firstinspires.ftc.teamcode.utils.Flywheel; +import org.firstinspires.ftc.teamcode.utils.Robot; +import org.firstinspires.ftc.teamcode.utils.Servos; +import org.firstinspires.ftc.teamcode.utils.Spindexer; +import org.firstinspires.ftc.teamcode.utils.Targeting; +import org.firstinspires.ftc.teamcode.utils.Turret; + +@Config +@Autonomous(preselectTeleOp = "TeleopV3") +public class ProtoAutoClose_V4 extends LinearOpMode { + public static double shoot0Vel = 2300, shoot0Hood = 0.93; + public static double autoSpinStartPos = 0.2; + public static double shoot0SpinSpeedIncrease = 0.014; + + public static double spindexerSpeedIncrease = 0.02; + + public static double obeliskTurrPos = 0.53; + public static double normalIntakeTime = 3.0; + public static double shoot1Turr = 0.57; + public static double shoot0XTolerance = 1.0; + public static double turretShootPos = 0.6; + public static double shootAllTime = 1.8; + public static double shoot0Time = 1.6; + public static double intake1Time = 3.0; + public static double flywheel0Time = 3.5; + public static double pickup1Speed = 20; + // ---- SECOND SHOT / PICKUP ---- + public static double shoot1Vel = 2300; + public static double shoot1Hood = 0.93; + + public static double shootAllVelocity = 2500; + public static double shootAllHood = 0.78; + // ---- 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; + public static double shootCycleTime = 2.5; + public int motif = 0; + Robot robot; + MultipleTelemetry TELE; + MecanumDrive drive; + Servos servos; + Spindexer spindexer; + Flywheel flywheel; + Turret turret; + Targeting targeting; + Targeting.Settings targetingSettings; + 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 x3a, y3a, h3a; + private double x3b, y3b, h3b; + private double x4a, y4a, h4a; + private double x4b, y4b, h4b; + + private double xShoot, yShoot, hShoot; + private double xGate, yGate, hGate; + private double xPrep, yPrep, hPrep; + + private double shoot1Tangent; + + + 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.spin1.setPosition(autoSpinStartPos); + robot.spin2.setPosition(1 - autoSpinStartPos); + + robot.transferServo.setPosition(transferServo_out); + + turret.manualSetTurret(turretShootPos); + + robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000); + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + return (System.currentTimeMillis() - stamp) < (time * 1000); + + } + }; + } + + public Action shootAll(int vel, double shootTime, double spindexSpeed) { + return new Action() { + int ticker = 1; + + double stamp = 0.0; + + double velo = vel; + + int shooterTicker = 0; + + @Override + public boolean run(@NonNull TelemetryPacket telemetryPacket) { + TELE.addData("Velocity", velo); + TELE.addLine("shooting"); + TELE.update(); + + flywheel.manageFlywheel(vel); + velo = flywheel.getVelo(); + + drive.updatePoseEstimate(); + + Poses_V2.teleStart = drive.localizer.getPose(); + + robot.intake.setPower(-0.3); + + if (ticker == 1) { + stamp = getRuntime(); + } + ticker++; + + robot.intake.setPower(0); + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + if (getRuntime() - stamp < shootTime) { + + if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) { + robot.spin1.setPosition(autoSpinStartPos); + robot.spin2.setPosition(1 - autoSpinStartPos); + } else { + robot.transferServo.setPosition(transferServo_in); + shooterTicker++; + double prevSpinPos = robot.spin1.getPosition(); + robot.spin1.setPosition(prevSpinPos + spindexSpeed); + robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed); + } + + return true; + + } else { + robot.transferServo.setPosition(transferServo_out); + //spindexPos = spindexer_intakePos1; + + spindexer.resetSpindexer(); + spindexer.processIntake(); + + return false; + + } + + } + }; + } + + public Action shootAllAuto(double shootTime, double spindexSpeed) { + return new Action() { + int ticker = 1; + + double stamp = 0.0; + + double velo = 0.0; + + int shooterTicker = 0; + + @Override + public boolean run(@NonNull TelemetryPacket telemetryPacket) { + TELE.addData("Velocity", velo); + TELE.addLine("shooting"); + TELE.update(); + + velo = flywheel.getVelo(); + + drive.updatePoseEstimate(); + + Poses_V2.teleStart = drive.localizer.getPose(); + + robot.intake.setPower(-0.3); + + if (ticker == 1) { + stamp = getRuntime(); + } + ticker++; + + robot.intake.setPower(0); + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + if (getRuntime() - stamp < shootTime) { + + if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) { + robot.spin1.setPosition(autoSpinStartPos); + robot.spin2.setPosition(1 - autoSpinStartPos); + } else { + robot.transferServo.setPosition(transferServo_in); + shooterTicker++; + double prevSpinPos = robot.spin1.getPosition(); + robot.spin1.setPosition(prevSpinPos + spindexSpeed); + robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed); + } + + return true; + + } else { + robot.transferServo.setPosition(transferServo_out); + //spindexPos = spindexer_intakePos1; + + spindexer.resetSpindexer(); + spindexer.processIntake(); + + return false; + + } + + } + }; + } + + 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(); + + spindexer.ballCounterLight(); + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + 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; + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + return !shouldFinish; + + } + }; + } + + public Action manageFlywheel( + double vel, + double hoodPos, + double time, + double posX, + double posY, + double posXTolerance, + double posYTolerance + ) { + + 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++; + + flywheel.manageFlywheel(vel); + robot.hood.setPosition(hoodPos); + + 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; + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + return !shouldFinish; + + } + }; + } + + public Action manageShooterAuto( + double time, + double posX, + double posY, + double posXTolerance, + double posYTolerance + ) { + + 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++; + + double robotX = drive.localizer.getPose().position.x; + double robotY = drive.localizer.getPose().position.y; + + double robotHeading = drive.localizer.getPose().heading.toDouble(); + + double goalX = -15; + double goalY = 0; + + double dx = robotX - goalX; // delta x from robot to goal + double dy = robotY - goalY; // delta y from robot to goal + Pose2d deltaPose = new Pose2d(dx, dy, robotHeading); + + double distanceToGoal = Math.sqrt(dx * dx + dy * dy); + + targetingSettings = targeting.calculateSettings + (robotX, robotY, robotHeading, 0.0, false); + + turret.trackGoal(deltaPose); + + robot.hood.setPosition(targetingSettings.hoodAngle); + + flywheel.manageFlywheel(targetingSettings.flywheelRPM); + + 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; + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + return !shouldFinish; + + } + }; + } + + public Action manageFlywheelAuto( + double time, + double posX, + double posY, + double posXTolerance, + double posYTolerance + ) { + + 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++; + + double robotX = drive.localizer.getPose().position.x; + double robotY = drive.localizer.getPose().position.y; + + double robotHeading = drive.localizer.getPose().heading.toDouble(); + + double goalX = -15; + double goalY = 0; + + double dx = robotX - goalX; // delta x from robot to goal + double dy = robotY - goalY; // delta y from robot to goal + Pose2d deltaPose = new Pose2d(dx, dy, robotHeading); + + double distanceToGoal = Math.sqrt(dx * dx + dy * dy); + + targetingSettings = targeting.calculateSettings + (robotX, robotY, robotHeading, 0.0, false); + + + robot.hood.setPosition(targetingSettings.hoodAngle); + + flywheel.manageFlywheel(targetingSettings.flywheelRPM); + + 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; + drive.updatePoseEstimate(); + + teleStart = drive.localizer.getPose(); + + return !shouldFinish; + + } + }; + } + + @Override + public void runOpMode() throws InterruptedException { + + robot = new Robot(hardwareMap); + + TELE = new MultipleTelemetry( + telemetry, FtcDashboard.getInstance().getTelemetry() + ); + + flywheel = new Flywheel(hardwareMap); + + targeting = new Targeting(); + targetingSettings = new Targeting.Settings(0.0, 0.0); + + spindexer = new Spindexer(hardwareMap); + + servos = new Servos(hardwareMap); + + robot.limelight.pipelineSwitch(1); + + turret = new Turret(robot, TELE, robot.limelight); + + turret.manualSetTurret(0.4); + + drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); + + robot.spin1.setPosition(autoSpinStartPos); + robot.spin2.setPosition(1 - autoSpinStartPos); + + robot.transferServo.setPosition(transferServo_out); + + TrajectoryActionBuilder shoot0 = null; + TrajectoryActionBuilder pickup1 = null; + TrajectoryActionBuilder shoot1 = null; + TrajectoryActionBuilder pickup2 = null; + TrajectoryActionBuilder shoot2 = null; + TrajectoryActionBuilder pickup3 = null; + TrajectoryActionBuilder shoot3 = null; + + robot.light.setPosition(1); + + while (opModeInInit()) { + + 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; + x2b = rx2b; + y2b = ry2b; + h2b = rh2b; + x3a = rx3a; + y3a = ry3a; + h3a = rh3a; + x3b = rx3b; + y3b = ry3b; + h3b = rh3b; + x4a = rx4a; + y4a = ry4a; + h4a = rh4a; + x4b = rx4b; + y4b = ry4b; + h4b = rh4b; + xPrep = rxPrep; + yPrep = ryPrep; + hPrep = rhPrep; + 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; + x2b = bx2b; + y2b = by2b; + h2b = bh2b; + x3a = bx3a; + y3a = by3a; + h3a = bh3a; + x3b = bx3b; + y3b = by3b; + h3b = bh3b; + x4a = bx4a; + y4a = by4a; + h4a = bh4a; + x4b = bx4b; + y4b = by4b; + h4b = bh4b; + + xPrep = bxPrep; + yPrep = byPrep; + hPrep = bhPrep; + 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(xPrep, yPrep), hPrep) + .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); + + pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot)) + .strafeToLinearHeading(new Vector2d(x3a, y3a), h3a) + .strafeToLinearHeading(new Vector2d(x3b, y3b), h3b, + new TranslationalVelConstraint(pickup1Speed)); + + shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b)) + .strafeToLinearHeading(new Vector2d(xPrep, yPrep), hPrep) + .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); + + pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1)) + .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a) + .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b, + new TranslationalVelConstraint(pickup1Speed)); + shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b)) + .strafeToLinearHeading(new Vector2d(xPrep, yPrep), hPrep) + .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot); + + + + TELE.addData("Red?", redAlliance); + TELE.update(); + } + + waitForStart(); + + if (isStopRequested()) return; + + if (opModeIsActive()) { + + robot.transfer.setPower(1); + + assert shoot0 != null; + + Actions.runBlocking( + new ParallelAction( + shoot0.build(), + manageFlywheel( + shoot0Vel, + shoot0Hood, + flywheel0Time, + x1, + 0.501, + shoot0XTolerance, + 0.501 + ) + + ) + ); + + Actions.runBlocking( + shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease) + ); + + Actions.runBlocking( + new ParallelAction( + pickup1.build(), + manageFlywheel( + shootAllVelocity, + shootAllHood, + pickup1Time, + x2b, + y2b, + pickup1XTolerance, + pickup1YTolerance + ), + intake(intake1Time) + + ) + ); + + Actions.runBlocking( + new ParallelAction( + manageFlywheel( + shootAllVelocity, + shootAllHood, + shoot1Time, + 0.501, + 0.501, + 0.501, + 0.501 + ), + shoot1.build(), + prepareShootAll(shoot1Time) + ) + ); + + Actions.runBlocking( + new ParallelAction( + manageShooterAuto( + shootAllTime, + 0.501, + 0.501, + 0.501, + 0.501 + ), + shootAllAuto(shootAllTime, spindexerSpeedIncrease) + ) + + ); + + Actions.runBlocking( + new ParallelAction( + pickup2.build(), + manageShooterAuto( + normalIntakeTime, + x2b, + y2b, + pickup1XTolerance, + pickup1YTolerance + ), + intake(normalIntakeTime) + + ) + ); + + Actions.runBlocking( + new ParallelAction( + manageFlywheelAuto( + shootCycleTime, + 0.501, + 0.501, + 0.501, + 0.501 + ), + shoot2.build(), + prepareShootAll(shootCycleTime) + ) + ); + + Actions.runBlocking( + new ParallelAction( + manageShooterAuto( + shootAllTime, + 0.501, + 0.501, + 0.501, + 0.501 + ), + shootAllAuto(shootAllTime, spindexerSpeedIncrease) + ) + + ); + + Actions.runBlocking( + new ParallelAction( + pickup3.build(), + manageShooterAuto( + normalIntakeTime, + x2b, + y2b, + pickup1XTolerance, + pickup1YTolerance + ), + intake(normalIntakeTime) + + ) + ); + + Actions.runBlocking( + new ParallelAction( + manageFlywheelAuto( + shootCycleTime, + 0.501, + 0.501, + 0.501, + 0.501 + ), + shoot3.build(), + prepareShootAll(shootCycleTime) + ) + ); + + Actions.runBlocking( + new ParallelAction( + manageShooterAuto( + shootAllTime, + 0.501, + 0.501, + 0.501, + 0.501 + ), + shootAllAuto(shootAllTime, spindexerSpeedIncrease) + ) + + ); + + + TELE.addLine("finished"); + TELE.update(); + + sleep(2000); + + } + + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java index bf2fa34..94196a8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java @@ -14,7 +14,7 @@ public class Poses { public static Pose2d goalPose = new Pose2d(-10, 0, 0); - public static double rx1 = 40, ry1 = -7, rh1 = 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); @@ -23,8 +23,8 @@ public class Poses { 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 rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140); - public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140); + public static double rx4a = 68, ry4a = 59, rh4a = Math.toRadians(140); + public static double rx4b = 40, ry4b = 87, rh4b = Math.toRadians(140); public static double bx1 = 40, by1 = 7, bh1 = 0; public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140); @@ -38,6 +38,13 @@ public class Poses { 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 rShootX = 40, rShootY = 0, rShootH = Math.toRadians(50); + public static double rxPrep = 50, ryPrep = 10, rhPrep = Math.toRadians(50); + + public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140); + public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140); + + public static Pose2d teleStart = new Pose2d(0, 0, 0); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java index 40d48c8..d2f9547 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java @@ -201,9 +201,9 @@ public final class MecanumDrive { public double kA = 0.000046; // path profile parameters (in inches) - public double maxWheelVel = 250; + public double maxWheelVel = 180; public double minProfileAccel = -40; - public double maxProfileAccel = 250; + public double maxProfileAccel = 180; // turn profile parameters (in radians) public double maxAngVel = 4 * Math.PI; // shared with path @@ -496,4 +496,4 @@ public final class MecanumDrive { c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2); } } -} +} \ No newline at end of file