From f14dc3681ace33865443721aac5fe21552d61b26 Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Tue, 2 Jun 2026 15:41:01 -0500 Subject: [PATCH 1/2] setup robot confg --- .../teamcode/constants/ServoPositions.java | 25 +++++++++-- .../ftc/teamcode/pedroPathing/Constants.java | 2 +- .../ftc/teamcode/tests/Hardware_Tester.java | 12 ++++-- .../ftc/teamcode/utils/Robot.java | 41 ++++++++++--------- .../ftc/teamcode/utils/Turret.java | 8 ++-- 5 files changed, 58 insertions(+), 30 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java index 24ad1be..50cc8cc 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java @@ -5,6 +5,19 @@ import com.acmerobotics.dashboard.config.Config; @Config public class ServoPositions { + public static double rapidFireBlocker_Closed = 0.3; + public static double rapidFireBlocker_Open = 0.5; + + public static double spindexBlocker_Closed = 0.31; + public static double spindexBlocker_Open = 0.5; + + public static double spindexer_A1 = 0.16; + public static double spindexer_A2 = 0.35; + public static double spindexer_A3 = 0.54; + public static double spindexer_B1 = 0.73; + public static double spindexer_B2 = 0.92; + + public static double spindexer_intakePos1 = 0.18; //0.13; public static double spindexer_intakePos2 = 0.37; //0.33;//0.5; @@ -21,13 +34,13 @@ public class ServoPositions { public static double shootAllSpindexerSpeedIncrease = 0.01; - public static double transferServo_out = 0.15; + public static double transferServo_out = 0.57; - public static double transferServo_in = 0.38; + public static double transferServo_in = 0.77; public static double hoodAuto = 0.27; - public static double hoodOffset = -0.05; // offset from 0.93 (or position at 0,0 in targeting class) + public static double hoodOffset = 0; // offset from 0.93 (or position at 0,0 in targeting class) public static double turret_redClose = 0; public static double turret_blueClose = 0; @@ -44,4 +57,10 @@ public class ServoPositions { public static double redTurretShootPos = 0.05; public static double blueTurretShootPos = -0.05; + public static double tilt1_down = 0.6; + public static double tilt2_down = 0.4; + public static double tilt1_up = 0.08; + public static double tilt2_up = 0.97; + + } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 1c931de..1611063 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -17,7 +17,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; @Config public class Constants { public static FollowerConstants followerConstants = new FollowerConstants() - .mass(15.5) + .mass(14.37888) .forwardZeroPowerAcceleration(-29.512) .lateralZeroPowerAcceleration(-72.872) .translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012)) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java index 283ae86..0dc08ab 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java @@ -4,6 +4,7 @@ import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.NormalizedRGBA; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; @@ -52,6 +53,11 @@ public class Hardware_Tester extends LinearOpMode { robot = new Robot(hardwareMap); TELE = new MultipleTelemetry(); + robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + + waitForStart(); + if (isStopRequested()) return; while (opModeIsActive()){ // Non-subsystem based components @@ -116,9 +122,9 @@ public class Hardware_Tester extends LinearOpMode { // Sensor Data - TELE.addData("Beam Break 1?", robot.beam1.isPressed()); - TELE.addData("Beam Break 2?", robot.beam2.isPressed()); - TELE.addData("Beam Break 3?", robot.beam3.isPressed()); +// TELE.addData("Beam Break 1?", robot.beam1.isPressed()); +// TELE.addData("Beam Break 2?", robot.beam2.isPressed()); +// TELE.addData("Beam Break 3?", robot.beam3.isPressed()); NormalizedRGBA revColor = robot.revSensor.getNormalizedColors(); TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.MM)); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java index 5635b5b..b8a8702 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java @@ -83,6 +83,7 @@ public class Robot { backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); intake = hardwareMap.get(DcMotorEx.class, "intake"); + intake.setDirection(DcMotorSimple.Direction.REVERSE); shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1"); @@ -103,11 +104,12 @@ public class Robot { turr2 = hardwareMap.get(Servo.class, "turr2"); - spin1 = hardwareMap.get(Servo.class, "spin2"); + spin1 = hardwareMap.get(Servo.class, "spin1"); - spin2 = hardwareMap.get(Servo.class, "spin1"); + spin2 = hardwareMap.get(Servo.class, "spin2"); transfer = hardwareMap.get(DcMotorEx.class, "transfer"); + transfer.setDirection(DcMotorSimple.Direction.REVERSE); transferServo = hardwareMap.get(Servo.class, "transferServo"); @@ -121,27 +123,27 @@ public class Robot { tilt1 = hardwareMap.get(Servo.class, "tilt1"); tilt2 = hardwareMap.get(Servo.class, "tilt2"); - beam1 = hardwareMap.get(TouchSensor.class, "beam1"); - beam2 = hardwareMap.get(TouchSensor.class, "beam2"); - beam3 = hardwareMap.get(TouchSensor.class, "beam3"); +// beam1 = hardwareMap.get(TouchSensor.class, "beam1"); +// beam2 = hardwareMap.get(TouchSensor.class, "beam2"); +// beam3 = hardwareMap.get(TouchSensor.class, "beam3"); revSensor = hardwareMap.get(RevColorSensorV3.class, "rev"); // Below is disregarded - turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port - - spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos"); - - spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos"); - - transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos"); - - color1 = hardwareMap.get(RevColorSensorV3.class, "c1"); - - color2 = hardwareMap.get(RevColorSensorV3.class, "c2"); - - color3 = hardwareMap.get(RevColorSensorV3.class, "c3"); +// turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port +// +// spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos"); +// +// spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos"); +// +// transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos"); +// +// color1 = hardwareMap.get(RevColorSensorV3.class, "c1"); +// +// color2 = hardwareMap.get(RevColorSensorV3.class, "c2"); +// +// color3 = hardwareMap.get(RevColorSensorV3.class, "c3"); if (usingLimelight) { limelight = hardwareMap.get(Limelight3A.class, "limelight"); @@ -150,7 +152,8 @@ public class Robot { aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults(); } - light = hardwareMap.get(Servo.class, "light"); +// light = hardwareMap.get(Servo.class, "light"); + voltage = hardwareMap.voltageSensor.iterator().next(); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java index d76ab5e..fd80a48 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java @@ -25,10 +25,10 @@ public class Turret { public static double turretTolerance = 0.02; public static double turrPosScalar = 0.00011264432; - public static double turret180Range = 0.55; - public static double turrDefault = 0.35; - public static double turrMin = 0; - public static double turrMax = 0.69; + public static double turret180Range = 0.58; + public static double turrDefault = 0.51; + public static double turrMin = 0.05; + public static double turrMax = 0.95; public static boolean limelightUsed = true; public static double limelightPosOffset = 5; public static double manualOffset = 0.0; From 82c8ebf94173bba403acd6cf3660f586598d6fe3 Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Tue, 2 Jun 2026 15:58:49 -0500 Subject: [PATCH 2/2] umiddle of tuning --- .../ftc/teamcode/pedroPathing/Constants.java | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 1611063..748524e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -20,10 +20,7 @@ public class Constants { .mass(14.37888) .forwardZeroPowerAcceleration(-29.512) .lateralZeroPowerAcceleration(-72.872) - .translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012)) - .headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.025, 0.02)) - .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03)) - .centripetalScaling(0.0005); + .centripetalScaling(0); public static MecanumConstants driveConstants = new MecanumConstants() .maxPower(1) @@ -42,8 +39,8 @@ public class Constants { public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1); public static PinpointConstants localizerConstants = new PinpointConstants() - .forwardPodY(-7.5) - .strafePodX(-3.75) + .forwardPodY(-3.676) + .strafePodX(3.780) .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)