KeshavAnandCode/FTCDecodeMain
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small tweaks: added loop times measurement and simplified SortedSpindexerTest

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This commit is contained in:
DanTheMan-byte
2026-06-05 14:18:47 -05:00
parent 9d29e0b56c
commit 755d74a829
3 changed files with 12 additions and 18 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
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@@ -14,6 +14,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.constants.Color; import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
import org.firstinspires.ftc.teamcode.utilsv2.*; import org.firstinspires.ftc.teamcode.utilsv2.*;
import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed; import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
@@ -31,6 +32,7 @@ public class TeleopV4 extends LinearOpMode {
Flywheel flywheel; Flywheel flywheel;
VelocityCommander commander; VelocityCommander commander;
ParkTilter parkTilter; ParkTilter parkTilter;
MeasuringLoopTimes loopTimes;
public static Pose relocalizePose = new Pose(128, 83, 0); public static Pose relocalizePose = new Pose(128, 83, 0);
@@ -57,6 +59,9 @@ public class TeleopV4 extends LinearOpMode {
parkTilter = new ParkTilter(robot); parkTilter = new ParkTilter(robot);
parkTilter.unpark(); parkTilter.unpark();
loopTimes = new MeasuringLoopTimes();
loopTimes.init();
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander); shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
shooter.setState(Shooter.ShooterState.TRACK_GOAL); shooter.setState(Shooter.ShooterState.TRACK_GOAL);
shooter.setRedAlliance(Color.redAlliance); shooter.setRedAlliance(Color.redAlliance);
@@ -142,6 +147,11 @@ public class TeleopV4 extends LinearOpMode {
parkTilter.unpark(); parkTilter.unpark();
} }
loopTimes.loop();
TELE.addData("Average Loop Time", loopTimes.getAvgLoopTime());
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
TELE.addData("Distance From Goal", commander.getDistance()); TELE.addData("Distance From Goal", commander.getDistance());
TELE.addData("Hood Position", commander.getHoodPredicted()); TELE.addData("Hood Position", commander.getHoodPredicted());
TELE.addData("Transfer Power", robot.transfer.getPower()); TELE.addData("Transfer Power", robot.transfer.getPower());

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/SortedSpindexerTest.java
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@@ -106,22 +106,6 @@ public class SortedSpindexerTest extends LinearOpMode {
spindexerTransferIntake.startSortedShoot(); spindexerTransferIntake.startSortedShoot();
} }
if (gamepad1.right_trigger > 0.5 &&
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
spindexerTransferIntake.setRapidMode(
SpindexerTransferIntake.RapidMode.HOLD_BALLS
);
}
if (gamepad1.rightBumperWasPressed()
&& state == SpindexerTransferIntake.RapidMode.HOLD_BALLS) {
spindexerTransferIntake.setRapidMode(
SpindexerTransferIntake.RapidMode.INTAKE
);
}
if (gamepad1.dpad_down){ if (gamepad1.dpad_down){
parkTilter.park(); parkTilter.park();
} else if (gamepad1.dpad_up) { } else if (gamepad1.dpad_up) {

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/MeasuringLoopTimes.java
View File

@@ -43,13 +43,12 @@ public class MeasuringLoopTimes {
public void loop() { public void loop() {
currentTime = getTimeSeconds(); currentTime = getTimeSeconds();
if ((MeasurementStart + 5.0) < currentTime) if ((MeasurementStart + 60) < currentTime)
{ {
minLoopTime = 9999999.0; minLoopTime = 9999999.0;
maxLoopTime = 0.0; maxLoopTime = 0.0;
MeasurementStart = currentTime; MeasurementStart = currentTime;
avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
avgLoopTimeSum = 0.0; avgLoopTimeSum = 0.0;
avgLoopTimeTicker = 0; avgLoopTimeTicker = 0;
} }
@@ -59,6 +58,7 @@ public class MeasuringLoopTimes {
avgLoopTimeSum += mainLoopTime; avgLoopTimeSum += mainLoopTime;
avgLoopTimeTicker++; avgLoopTimeTicker++;
avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
minLoopTime = Math.min(minLoopTime,mainLoopTime); minLoopTime = Math.min(minLoopTime,mainLoopTime);
maxLoopTime = Math.max(maxLoopTime,mainLoopTime); maxLoopTime = Math.max(maxLoopTime,mainLoopTime);
} }