KeshavAnandCode/FTCDecodeMain
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This commit is contained in:
DanTheMan-byte
2026-01-05 16:13:19 -06:00
parent 475fc4fe1c
commit 7f3ca719fa
4 changed files with 10 additions and 7 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
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@@ -163,7 +163,9 @@ public class TeleopV2 extends LinearOpMode {
robot.turr1.setPower(turretPID); robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID); robot.turr2.setPower(-turretPID);
//TODO: make sure changing position works throughout opmode
if (!servo.spinEqual(spindexPos)){ if (!servo.spinEqual(spindexPos)){
spindexPID = servo.setSpinPos(spindexPos);
robot.spin1.setPower(spindexPID); robot.spin1.setPower(spindexPID);
robot.spin2.setPower(-spindexPID); robot.spin2.setPower(-spindexPID);
} else{ } else{
@@ -320,6 +322,7 @@ public class TeleopV2 extends LinearOpMode {
offset -= 360; offset -= 360;
} }
//TODO: test the camera teleop code
double pos = turrDefault + (error/8); // adds the overall error to the default double pos = turrDefault + (error/8); // adds the overall error to the default
TELE.addData("offset", offset); TELE.addData("offset", offset);

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/IntakeTest.java
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@@ -20,7 +20,7 @@ public class IntakeTest extends LinearOpMode {
Servos servo; Servos servo;
public static int mode = 0; // 0 for teleop, 1 for auto public static int mode = 0; // 0 for teleop, 1 for auto
public static double manualPow = 0.5; public static double manualPow = 1.0;
double stamp = 0; double stamp = 0;
int ticker = 0; int ticker = 0;
boolean b1 = false; boolean b1 = false;
@@ -40,6 +40,7 @@ public class IntakeTest extends LinearOpMode {
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()) { while (opModeIsActive()) {
//TODO: test tele intake with new spindexer
if (mode == 0) { if (mode == 0) {
if (gamepad1.cross) { if (gamepad1.cross) {
ticker = 0; ticker = 0;
@@ -59,6 +60,7 @@ public class IntakeTest extends LinearOpMode {
robot.intake.setPower(0); robot.intake.setPower(0);
} }
} }
//TODO: test this monstrosity
} else if (mode == 1) { } else if (mode == 1) {
if (gamepad1.cross){ if (gamepad1.cross){

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java
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@@ -6,9 +6,7 @@ import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
//TODO: fix to get the apriltag that it is reading
import java.util.List;
public class LimelightTest extends LinearOpMode { public class LimelightTest extends LinearOpMode {
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
@@ -20,7 +18,6 @@ public class LimelightTest extends LinearOpMode {
robot = new Robot(hardwareMap); robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
robot.limelight.pipelineSwitch(pipeline); robot.limelight.pipelineSwitch(pipeline);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
robot.limelight.start(); robot.limelight.start();

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
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@@ -15,8 +15,9 @@ public class Servos {
PIDFController turretPID; PIDFController turretPID;
//PID constants //PID constants
// TODO: get PIDF constants
public static double spinP = 2.85, spinI = 0.015, spinD = 0.09, spinF = 0.03; public static double spinP = 2.85, spinI = 0.015, spinD = 0.09, spinF = 0.03;
public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF; public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
public static double spin_scalar = 1.011; public static double spin_scalar = 1.011;
public static double spin_restPos = 0.0; public static double spin_restPos = 0.0;
@@ -34,7 +35,7 @@ public class Servos {
public double getSpinPos() { public double getSpinPos() {
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3); return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
} }
//TODO: PID warp so 0 and 1 are usable positions
public double setSpinPos(double pos) { public double setSpinPos(double pos) {
spinPID.setPIDF(spinP, spinI, spinD, spinF); spinPID.setPIDF(spinP, spinI, spinD, spinF);