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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.TranslationalVelConstraint;
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import com.acmerobotics.roadrunner.Vector2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.teamcode.constants.Poses_V2;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.Flywheel;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import org.firstinspires.ftc.teamcode.utils.Spindexer;
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import org.firstinspires.ftc.teamcode.utils.Targeting;
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import org.firstinspires.ftc.teamcode.utils.Turret;
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@Config
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class ProtoAutoClose_V4 extends LinearOpMode {
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public static double shoot0Vel = 2300, shoot0Hood = 0.93;
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public static double autoSpinStartPos = 0.2;
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public static double shoot0SpinSpeedIncrease = 0.014;
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public static double spindexerSpeedIncrease = 0.02;
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public static double obeliskTurrPos = 0.53;
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public static double normalIntakeTime = 3.0;
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public static double shoot1Turr = 0.57;
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public static double shoot0XTolerance = 1.0;
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public static double turretShootPos = 0.6;
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public static double shootAllTime = 1.8;
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public static double shoot0Time = 1.6;
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public static double intake1Time = 3.0;
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public static double flywheel0Time = 3.5;
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public static double pickup1Speed = 20;
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// ---- SECOND SHOT / PICKUP ----
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public static double shoot1Vel = 2300;
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public static double shoot1Hood = 0.93;
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public static double shootAllVelocity = 2500;
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public static double shootAllHood = 0.78;
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// ---- PICKUP TIMING ----
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public static double pickup1Time = 3.0;
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// ---- PICKUP POSITION TOLERANCES ----
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public static double pickup1XTolerance = 2.0;
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public static double pickup1YTolerance = 2.0;
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// ---- OBELISK DETECTION ----
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public static double obelisk1Time = 1.5;
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public static double obelisk1XTolerance = 2.0;
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public static double obelisk1YTolerance = 2.0;
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public static double shoot1ToleranceX = 2.0;
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public static double shoot1ToleranceY = 2.0;
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public static double shoot1Time = 2.0;
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public static double shootCycleTime = 2.5;
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public int motif = 0;
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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Servos servos;
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Spindexer spindexer;
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Flywheel flywheel;
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Turret turret;
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Targeting targeting;
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Targeting.Settings targetingSettings;
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private double x1, y1, h1;
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private double x2a, y2a, h2a, t2a;
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private double x2b, y2b, h2b, t2b;
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private double x2c, y2c, h2c, t2c;
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private double x3a, y3a, h3a;
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private double x3b, y3b, h3b;
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private double x4a, y4a, h4a;
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private double x4b, y4b, h4b;
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private double xShoot, yShoot, hShoot;
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private double xGate, yGate, hGate;
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private double xPrep, yPrep, hPrep;
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private double shoot1Tangent;
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public Action prepareShootAll(double time) {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = System.currentTimeMillis();
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}
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ticker++;
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robot.spin1.setPosition(autoSpinStartPos);
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robot.spin2.setPosition(1 - autoSpinStartPos);
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robot.transferServo.setPosition(transferServo_out);
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turret.manualSetTurret(turretShootPos);
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robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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return (System.currentTimeMillis() - stamp) < (time * 1000);
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}
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};
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}
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public Action shootAll(int vel, double shootTime, double spindexSpeed) {
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return new Action() {
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int ticker = 1;
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double stamp = 0.0;
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double velo = vel;
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int shooterTicker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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TELE.addData("Velocity", velo);
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TELE.addLine("shooting");
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TELE.update();
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flywheel.manageFlywheel(vel);
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velo = flywheel.getVelo();
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drive.updatePoseEstimate();
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Poses_V2.teleStart = drive.localizer.getPose();
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robot.intake.setPower(-0.3);
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if (ticker == 1) {
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stamp = getRuntime();
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}
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ticker++;
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robot.intake.setPower(0);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (getRuntime() - stamp < shootTime) {
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if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
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robot.spin1.setPosition(autoSpinStartPos);
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robot.spin2.setPosition(1 - autoSpinStartPos);
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} else {
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robot.transferServo.setPosition(transferServo_in);
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shooterTicker++;
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double prevSpinPos = robot.spin1.getPosition();
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robot.spin1.setPosition(prevSpinPos + spindexSpeed);
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robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
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}
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return true;
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} else {
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robot.transferServo.setPosition(transferServo_out);
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//spindexPos = spindexer_intakePos1;
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spindexer.resetSpindexer();
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spindexer.processIntake();
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return false;
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}
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}
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};
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}
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public Action shootAllAuto(double shootTime, double spindexSpeed) {
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return new Action() {
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int ticker = 1;
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double stamp = 0.0;
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double velo = 0.0;
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int shooterTicker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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TELE.addData("Velocity", velo);
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TELE.addLine("shooting");
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TELE.update();
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velo = flywheel.getVelo();
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drive.updatePoseEstimate();
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Poses_V2.teleStart = drive.localizer.getPose();
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robot.intake.setPower(-0.3);
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if (ticker == 1) {
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stamp = getRuntime();
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}
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ticker++;
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robot.intake.setPower(0);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (getRuntime() - stamp < shootTime) {
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if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
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robot.spin1.setPosition(autoSpinStartPos);
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robot.spin2.setPosition(1 - autoSpinStartPos);
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} else {
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robot.transferServo.setPosition(transferServo_in);
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shooterTicker++;
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double prevSpinPos = robot.spin1.getPosition();
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robot.spin1.setPosition(prevSpinPos + spindexSpeed);
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robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
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}
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return true;
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} else {
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robot.transferServo.setPosition(transferServo_out);
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//spindexPos = spindexer_intakePos1;
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spindexer.resetSpindexer();
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spindexer.processIntake();
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return false;
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}
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}
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};
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}
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public Action intake(double intakeTime) {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = System.currentTimeMillis();
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}
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ticker++;
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spindexer.processIntake();
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robot.intake.setPower(1);
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motif = turret.detectObelisk();
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spindexer.ballCounterLight();
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drive.updatePoseEstimate();
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||||
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||||
teleStart = drive.localizer.getPose();
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||||
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||||
return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
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||||
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||||
}
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||||
};
|
||||
}
|
||||
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||||
public Action detectObelisk(
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||||
double time,
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||||
double posX,
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||||
double posY,
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||||
double posXTolerance,
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||||
double posYTolerance,
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||||
double turrPos
|
||||
) {
|
||||
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||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
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||||
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||||
return new Action() {
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||||
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||||
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);
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||||
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||||
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);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -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);
|
||||
|
||||
}
|
||||
|
||||
@@ -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
|
||||
|
||||
Reference in New Issue
Block a user