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updated all to use LLManager

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This commit is contained in:
abhiramtx
2026-01-13 18:57:49 -06:00
parent 0a81eb60d3
commit 73f804bd2f
1 changed files with 31 additions and 63 deletions
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94
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoFar_V1.java
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@@ -18,19 +18,16 @@ import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
import org.firstinspires.ftc.teamcode.utils.LimelightManager;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import java.util.List;
@Config
@Autonomous(preselectTeleOp = "TeleopV3")
public class AutoFar_V1 extends LinearOpMode {
@@ -39,20 +36,19 @@ public class AutoFar_V1 extends LinearOpMode {
MecanumDrive drive;
FlywheelV2 flywheel;
Servos servo;
LimelightManager limelightManager;
double velo = 0.0;
public static double intake1Time = 2.7;
public static double intake2Time = 3.0;
public static double colorDetect = 3.0;
boolean gpp = false;
boolean pgp = false;
boolean ppg = false;
public static double holdTurrPow = 0.1;
// Ball color detection: 0 = no ball, 1 = green, 2 = purple
int b1 = 0, b2 = 0, b3 = 0;
boolean gpp = false, pgp = false, ppg = false;
double powPID = 0.0;
double bearing = 0.0;
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
public static double holdTurrPow = 0.1; // power to hold turret in place
public Action initShooter(int vel) {
return new Action() {
@@ -72,52 +68,34 @@ public class AutoFar_V1 extends LinearOpMode {
public Action Obelisk() {
return new Action() {
int id = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
LLResult result = robot.limelight.getLatestResult();
if (result != null && result.isValid()) {
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
for (LLResultTypes.FiducialResult fiducial : fiducials) {
id = fiducial.getFiducialId();
TELE.addData("ID", id);
TELE.update();
}
limelightManager.update();
int id = limelightManager.detectFiducial();
}
if (id == 21) gpp = true;
else if (id == 22) pgp = true;
else if (id == 23) ppg = true;
if (id == 21){
gpp = true;
} else if (id == 22){
pgp = true;
} else if (id == 23){
ppg = true;
}
TELE.addData("Velocity", velo);
TELE.addData("Fiducial ID", id);
TELE.addData("21", gpp);
TELE.addData("22", pgp);
TELE.addData("23", ppg);
TELE.update();
if (gpp || pgp || ppg) {
if (redAlliance){
robot.limelight.pipelineSwitch(3);
double turretPID = servo.setTurrPos(turret_redFar);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
return !servo.turretEqual(turret_redFar);
LimelightManager.LimelightMode mode = redAlliance ?
LimelightManager.LimelightMode.RED_GOAL :
LimelightManager.LimelightMode.BLUE_GOAL;
limelightManager.switchMode(mode);
} else {
robot.limelight.pipelineSwitch(2);
double turretPID = servo.setTurrPos(turret_blueFar);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
return !servo.turretEqual(turret_blueFar);
}
} else {
return true;
double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
double turretPID = servo.setTurrPos(turretTarget);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
return !servo.turretEqual(turretTarget);
}
return true;
}
};
}
@@ -363,19 +341,13 @@ public class AutoFar_V1 extends LinearOpMode {
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
flywheel = new FlywheelV2();
TELE = new MultipleTelemetry(
telemetry, FtcDashboard.getInstance().getTelemetry()
);
drive = new MecanumDrive(hardwareMap, new Pose2d(
0, 0, 0
));
robot.limelight.pipelineSwitch(1);
robot.limelight.start();
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
servo = new Servos(hardwareMap);
limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
limelightManager.init();
limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
//TODO: add positions to develop auto
@@ -460,12 +432,8 @@ public class AutoFar_V1 extends LinearOpMode {
}
//TODO: adjust this according to Teleop numbers
public void detectTag() {
LLResult result = robot.limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
bearing = result.getTx();
}
}
limelightManager.update();
bearing = limelightManager.getBearing();
double turretPos = servo.getTurrPos() - (bearing / 1300);
double turretPID = servo.setTurrPos(turretPos);
robot.turr1.setPower(turretPID);