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For Daniel to update Poses

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Keshav Anand
2026-01-29 15:11:09 -06:00
parent 8bc0b1043a
commit 6c6ea03cac
1 changed files with 6 additions and 62 deletions
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68
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Indexed.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_12Ball.java
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@@ -80,7 +80,7 @@ import java.util.List;
@Autonomous(preselectTeleOp = "TeleopV3") @Autonomous(preselectTeleOp = "TeleopV3")
@Config @Config
public class Auto_LT_Indexed extends LinearOpMode { public class Auto_LT_12Ball extends LinearOpMode {
public static double shoot0Vel = 2300, shoot0Hood = 0.93; public static double shoot0Vel = 2300, shoot0Hood = 0.93;
public static double autoSpinStartPos = 0.2; public static double autoSpinStartPos = 0.2;
@@ -161,18 +161,11 @@ public class Auto_LT_Indexed extends LinearOpMode {
// ---- PARK ---- // ---- PARK ----
private double xPark, yPark, hPark; private double xPark, yPark, hPark;
public Action prepareShootIndexed(double time) { public Action prepareShootAll(double time) {
return new Action() { return new Action() {
double stamp = 0.0; double stamp = 0.0;
int ticker = 0; int ticker = 0;
boolean testColor = false;
int s1Green = 0;
int s2Green = 0;
int s3Green = 0;
@Override @Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) { if (ticker == 0) {
@@ -180,56 +173,8 @@ public class Auto_LT_Indexed extends LinearOpMode {
} }
ticker++; ticker++;
if ((System.currentTimeMillis() - stamp) < (goToDetectTime)) { //0.25-0.4 ish??? robot.spin1.setPosition(autoSpinStartPos);
robot.spin1.setPosition(colorDetectPos); //0.43 robot.spin2.setPosition(1 - autoSpinStartPos);
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); robot.transferServo.setPosition(transferServo_out);
@@ -242,7 +187,6 @@ public class Auto_LT_Indexed extends LinearOpMode {
} }
}; };
} }
public Action shootAll(int vel, double shootTime, double spindexSpeed) { public Action shootAll(int vel, double shootTime, double spindexSpeed) {
return new Action() { return new Action() {
int ticker = 1; int ticker = 1;
@@ -846,7 +790,7 @@ public class Auto_LT_Indexed extends LinearOpMode {
0.501 0.501
), ),
shoot1.build(), shoot1.build(),
prepareShootIndexed(shoot1Time) prepareShootAll(shoot1Time)
) )
); );
@@ -859,7 +803,7 @@ public class Auto_LT_Indexed extends LinearOpMode {
0.501, 0.501,
0.501 0.501
), ),
shootAllIndexed(shootAllTime, spindexerSpeedIncrease) shootAllAuto(shootAllTime, spindexerSpeedIncrease)
) )
); );