new teleop draft
This commit is contained in:
@@ -1,4 +1,5 @@
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package org.firstinspires.ftc.teamcode.constants;
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public class Color {
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public static boolean redAlliance = true;
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}
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@@ -0,0 +1,803 @@
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package org.firstinspires.ftc.teamcode.teleop;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.Color.*;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
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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.roadrunner.Pose2d;
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import com.qualcomm.hardware.limelightvision.LLResult;
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import com.qualcomm.hardware.limelightvision.LLResultTypes;
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import com.qualcomm.hardware.lynx.LynxModule;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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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.vision.apriltag.AprilTagDetection;
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import java.util.ArrayList;
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import java.util.List;
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@Config
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@TeleOp
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public class TeleopV3 extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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Servos servo;
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Flywheel flywheel;
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MecanumDrive drive;
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public static double manualVel = 3000;
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public static double hoodDefaultPos = 0.5;
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public static double desiredTurretAngle = 180;
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public static double shootStamp2 = 0.0;
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public double vel = 3000;
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public boolean autoVel = true;
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public double manualOffset = 0.0;
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public boolean autoHood = true;
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public boolean green1 = false;
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public boolean green2 = false;
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public boolean green3 = false;
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public double shootStamp = 0.0;
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public boolean circle = false;
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public boolean square = false;
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public boolean triangle = false;
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double autoHoodOffset = 0.0;
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boolean intake = false;
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boolean reject = false;
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double xOffset = 0.0;
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double yOffset = 0.0;
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double headingOffset = 0.0;
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int ticker = 0;
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int camTicker = 0;
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List<Double> s1G = new ArrayList<>();
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List<Double> s2G = new ArrayList<>();
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List<Double> s3G = new ArrayList<>();
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List<Double> s1T = new ArrayList<>();
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List<Double> s2T = new ArrayList<>();
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List<Double> s3T = new ArrayList<>();
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List<Boolean> s1 = new ArrayList<>();
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List<Boolean> s2 = new ArrayList<>();
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List<Boolean> s3 = new ArrayList<>();
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boolean oddBallColor = false;
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double hoodOffset = 0.0;
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boolean shootA = true;
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boolean shootB = true;
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boolean shootC = true;
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boolean manualTurret = false;
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List<Integer> shootOrder = new ArrayList<>();
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boolean outtake1 = false;
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boolean outtake2 = false;
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boolean outtake3 = false;
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boolean overrideTurr = false;
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private boolean shootAll = false;
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private double transferStamp = 0.0;
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private int tickerA = 1;
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private boolean transferIn = false;
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double turretPID = 0.0;
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double turretPos = 0.5;
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double spindexPID = 0.0;
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double spindexPos = spindexer_intakePos1;
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double error = 0.0;
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double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0, spinningPow = 0.15;
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boolean reverse = false;
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int intakeTicker = 0;
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@Override
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public void runOpMode() throws InterruptedException {
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List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
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for (LynxModule hub : allHubs) {
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hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
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}
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robot = new Robot(hardwareMap);
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TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
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servo = new Servos(hardwareMap);
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flywheel = new Flywheel();
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drive = new MecanumDrive(hardwareMap, teleStart);
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if (redAlliance) {
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robot.limelight.pipelineSwitch(3);
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} else {
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robot.limelight.pipelineSwitch(2);
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}
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robot.limelight.start();
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waitForStart();
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if (isStopRequested()) return;
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while (opModeIsActive()) {
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//DRIVETRAIN:
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double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
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double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
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double rx = gamepad1.left_stick_x;
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double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
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double frontLeftPower = (y + x + rx) / denominator;
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double backLeftPower = (y - x + rx) / denominator;
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double frontRightPower = (y - x - rx) / denominator;
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double backRightPower = (y + x - rx) / denominator;
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robot.frontLeft.setPower(frontLeftPower);
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robot.backLeft.setPower(backLeftPower);
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robot.frontRight.setPower(frontRightPower);
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robot.backRight.setPower(backRightPower);
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// PID SERVOS
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turretPID = servo.setTurrPos(turretPos);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
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spindexPID = servo.setSpinPos(spindexPos);
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robot.spin1.setPower(spindexPID);
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robot.spin2.setPower(-spindexPID);
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} else {
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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}
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// INTAKE
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if (gamepad1.right_bumper) {
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robot.transferServo.setPosition(transferServo_out);
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intakeTicker++;
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if (intakeTicker % 16 == 0) {
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spinCurrentPos = servo.getSpinPos();
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if (Math.abs(spinCurrentPos - spinInitPos) == 0.0) {
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reverse = !reverse;
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}
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spinInitPos = spinCurrentPos;
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}
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if (reverse) {
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robot.spin1.setPower(spinningPow);
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robot.spin2.setPower(-spinningPow);
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} else {
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robot.spin1.setPower(-spinningPow);
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robot.spin2.setPower(spinningPow);
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}
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robot.intake.setPower(1);
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intakeStamp = getRuntime();
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TELE.addData("Reverse?", reverse);
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TELE.update();
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} else if (gamepad1.left_bumper) {
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robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
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spindexPos = spindexer_intakePos2;
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intakeTicker = 0;
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} else {
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if (getRuntime() - intakeStamp < 1) {
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robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
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} else {
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robot.intake.setPower(0);
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}
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intakeTicker = 0;
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}
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//COLOR:
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if (s1D < 43) {
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double green = robot.color1.getNormalizedColors().green;
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double red = robot.color1.getNormalizedColors().red;
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double blue = robot.color1.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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s1G.add(gP);
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if (gP >= 0.43) {
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s1.add(true);
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} else {
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s1.add(false);
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}
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s1T.add(getRuntime());
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}
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if (s2D < 60) {
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double green = robot.color2.getNormalizedColors().green;
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double red = robot.color2.getNormalizedColors().red;
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double blue = robot.color2.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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s2G.add(gP);
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if (gP >= 0.43) {
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s2.add(true);
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} else {
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s2.add(false);
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}
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s2T.add(getRuntime());
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}
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if (s3D < 33) {
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double green = robot.color3.getNormalizedColors().green;
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double red = robot.color3.getNormalizedColors().red;
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double blue = robot.color3.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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s3G.add(gP);
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if (gP >= 0.43) {
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s3.add(true);
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} else {
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s3.add(false);
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}
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s3T.add(getRuntime());
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}
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if (!s1.isEmpty()) {
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green1 = checkGreen(s1, s1T);
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}
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if (!s2.isEmpty()) {
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green2 = checkGreen(s2, s2T);
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}
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if (!s3.isEmpty()) {
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green3 = checkGreen(s3, s3T);
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}
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//SHOOTER:
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double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.transfer.setPower(1);
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double offset;
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double robX = drive.localizer.getPose().position.x;
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double robY = drive.localizer.getPose().position.y;
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double robotX = robX - xOffset;
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double robotY = robY - yOffset;
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double robotHeading = drive.localizer.getPose().heading.toDouble();
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double goalX = -10;
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double goalY = 0;
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double dx = goalX - robotX; // delta x from robot to goal
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double dy = goalY - robotY; // delta y from robot to goal
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double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
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desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
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desiredTurretAngle += manualOffset;
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offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
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if (offset > 135) {
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offset -= 360;
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}
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//TODO: test the camera teleop code
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double pos = turrDefault + (error / 8); // adds the overall error to the default
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TELE.addData("offset", offset);
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pos -= offset * (0.9 / 360);
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if (pos < 0.02) {
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pos = 0.02;
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} else if (pos > 0.97) {
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pos = 0.97;
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}
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if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1) { //not moving
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double bearing = 0.0;
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LLResult result = robot.limelight.getLatestResult();
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if (result != null) {
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if (result.isValid()) {
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bearing = result.getTx();
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overrideTurr = true;
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turretPos = servo.getTurrPos() - (bearing / 1300);
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double bearingCorrection = bearing / 1300;
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// deadband: ignore tiny noise
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if (Math.abs(bearing) > 0.3 && camTicker < 8) {
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// only accumulate if bearing direction is consistent
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if (Math.signum(bearingCorrection) == Math.signum(error) ||
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error == 0) {
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error += bearingCorrection;
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}
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}
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camTicker++;
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TELE.addData("tx", bearing);
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TELE.addData("ty", result.getTy());
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}
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}
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} else {
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camTicker = 0;
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overrideTurr = false;
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}
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if (manualTurret) {
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pos = turrDefault + (manualOffset / 100);
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}
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if (!overrideTurr) {
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turretPos = pos;
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}
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if (gamepad2.dpad_right) {
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manualOffset -= 2;
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} else if (gamepad2.dpad_left) {
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manualOffset += 2;
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}
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//VELOCITY AUTOMATIC
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if (autoVel) {
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vel = velPrediction(distanceToGoal);
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} else {
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vel = manualVel;
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}
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if (gamepad2.right_stick_button) {
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autoVel = true;
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} else if (gamepad2.right_stick_y < -0.5) {
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autoVel = false;
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manualVel = 4100;
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} else if (gamepad2.right_stick_y > 0.5) {
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autoVel = false;
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manualVel = 2700;
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} else if (gamepad2.right_stick_x > 0.5) {
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autoVel = false;
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manualVel = 3600;
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} else if (gamepad2.right_stick_x < -0.5) {
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autoVel = false;
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manualVel = 3100;
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}
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//HOOD:
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if (autoHood) {
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robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
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} else {
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robot.hood.setPosition(hoodDefaultPos + hoodOffset);
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}
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if (gamepad2.dpadUpWasPressed()) {
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hoodOffset -= 0.03;
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autoHoodOffset -= 0.02;
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} else if (gamepad2.dpadDownWasPressed()) {
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hoodOffset += 0.03;
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autoHoodOffset += 0.02;
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}
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//TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
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if (gamepad2.left_stick_x > 0.5) {
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manualTurret = false;
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} else if (gamepad2.left_stick_x < -0.5) {
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manualOffset = 0;
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manualTurret = false;
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if (gamepad2.left_bumper) {
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drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
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sleep(1200);
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}
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}
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if (gamepad2.left_stick_y < -0.5) {
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autoHood = true;
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} else if (gamepad2.left_stick_y > 0.5) {
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autoHood = false;
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hoodOffset = 0;
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if (gamepad2.left_bumper) {
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xOffset = robotX;
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yOffset = robotY;
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headingOffset = robotHeading;
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}
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}
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if (shootAll) {
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TELE.addData("100% works", shootOrder);
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intake = false;
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reject = false;
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if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
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int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
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boolean shootingDone = false;
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if (!outtake1) {
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outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
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}
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if (!outtake2) {
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outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
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}
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if (!outtake3) {
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outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
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}
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switch (currentSlot) {
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case 1:
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shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
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TELE.addData("shootA", shootA);
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if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
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shootingDone = !shootA;
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} else {
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shootingDone = true;
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}
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break;
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case 2:
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shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
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TELE.addData("shootB", shootB);
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if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
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shootingDone = !shootB;
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} else {
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shootingDone = true;
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}
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break;
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case 3:
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shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
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TELE.addData("shootC", shootC);
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if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
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shootingDone = !shootC;
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} else {
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shootingDone = true;
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}
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break;
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}
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// Remove from the list only if shooting is complete
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if (shootingDone) {
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shootOrder.remove(0);
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shootStamp2 = getRuntime();
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}
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} else {
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// Finished shooting all balls
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spindexPos = spindexer_intakePos1;
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad1.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
|
||||
shootOrder.clear();
|
||||
|
||||
// Determine shooting order based on button pressed
|
||||
// square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad1.crossWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
}
|
||||
|
||||
//EXTRA STUFFINESS:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
TELE.addData("distanceToGoal", distanceToGoal);
|
||||
TELE.addData("hood", robot.hood.getPosition());
|
||||
TELE.addData("targetVel", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// Returns color of ball in slot i (1-based)
|
||||
boolean getBallColor(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
return green1;
|
||||
case 2:
|
||||
return green2;
|
||||
case 3:
|
||||
return green3;
|
||||
}
|
||||
return false; // default
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
List<Double> times =
|
||||
slot == 1 ? s1T :
|
||||
slot == 2 ? s2T :
|
||||
slot == 3 ? s3T : null;
|
||||
|
||||
if (times == null || times.isEmpty()) return false;
|
||||
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
}
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
// linear interpolation between 40->2650 and 120->3600
|
||||
double slope = (3700.0 - 2750.0) / (100.0 - 30);
|
||||
return (int) Math.round(2750 + slope * (distance - 30));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -86,8 +86,8 @@ public class IntakeTest extends LinearOpMode {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 0.5) {
|
||||
robot.intake.setPower(-1);
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
@@ -55,6 +55,8 @@ public class Robot {
|
||||
public RevColorSensorV3 color3;
|
||||
public Limelight3A limelight;
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
@@ -140,5 +142,9 @@ public class Robot {
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight){
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user