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This commit is contained in:
DanTheMan-byte
2026-01-23 21:44:29 -06:00
parent fbdeb6e291
commit 78d38481a7
4 changed files with 7 additions and 18 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -19,6 +19,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
import com.acmerobotics.roadrunner.Vector2d; import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions; import com.acmerobotics.roadrunner.ftc.Actions;
import com.arcrobotics.ftclib.controller.PIDFController; import com.arcrobotics.ftclib.controller.PIDFController;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.lynx.LynxModule; import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -26,7 +27,6 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
import org.firstinspires.ftc.teamcode.utils.Flywheel; import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos; import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -165,10 +165,7 @@ public class TeleopV3 extends LinearOpMode {
// robot.limelight.start(); // robot.limelight.start();
AprilTagWebcam webcam = new AprilTagWebcam(); Turret turret = new Turret(robot, TELE, robot.limelight);
webcam.init(robot, TELE);
Turret turret = new Turret(robot, TELE, webcam);
waitForStart(); waitForStart();
waitForStart(); waitForStart();
@@ -398,8 +395,6 @@ public class TeleopV3 extends LinearOpMode {
turret.trackGoal(deltaPose); turret.trackGoal(deltaPose);
webcam.update();
//VELOCITY AUTOMATIC //VELOCITY AUTOMATIC
if (targetingVel) { if (targetingVel) {
vel = targetingSettings.flywheelRPM; vel = targetingSettings.flywheelRPM;

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/TurretTest.java
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@@ -24,10 +24,7 @@ public class TurretTest extends LinearOpMode {
telemetry, FtcDashboard.getInstance().getTelemetry() telemetry, FtcDashboard.getInstance().getTelemetry()
); );
AprilTagWebcam webcam = new AprilTagWebcam(); Turret turret = new Turret(robot, TELE, robot.limelight);
webcam.init(robot, TELE);
Turret turret = new Turret(robot, TELE, webcam);
waitForStart(); waitForStart();
@@ -38,10 +35,6 @@ public class TurretTest extends LinearOpMode {
drive.updatePoseEstimate(); drive.updatePoseEstimate();
turret.trackGoal(drive.localizer.getPose()); turret.trackGoal(drive.localizer.getPose());
webcam.update();
webcam.displayAllTelemetry();
TELE.update(); TELE.update();
} }

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -20,7 +20,7 @@ public class Robot {
//Initialize Public Components //Initialize Public Components
public static boolean usingLimelight = false; public static boolean usingLimelight = true;
public static boolean usingCamera = true; public static boolean usingCamera = true;
public DcMotorEx frontLeft; public DcMotorEx frontLeft;
public DcMotorEx frontRight; public DcMotorEx frontRight;

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -5,6 +5,7 @@ import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.Pose2d; import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
@@ -23,7 +24,7 @@ public class Turret {
public static double angleMultiplier = 0.0; public static double angleMultiplier = 0.0;
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
AprilTagWebcam webcam; Limelight3A webcam;
private int obeliskID = 0; private int obeliskID = 0;
private double turrPos = 0.0; private double turrPos = 0.0;
private double offset = 0.0; private double offset = 0.0;
@@ -31,7 +32,7 @@ public class Turret {
public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) { public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
this.TELE = tele; this.TELE = tele;
this.robot = rob; this.robot = rob;
this.webcam = cam; this.webcam = cam;