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Merge remote-tracking branch 'origin/danielv5' into update-teleop

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This commit is contained in:
Keshav Anand
2026-06-02 15:59:18 -05:00
parent aabc746a2e 82c8ebf941
commit 88cf03a230
5 changed files with 61 additions and 36 deletions
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25
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -5,6 +5,19 @@ import com.acmerobotics.dashboard.config.Config;
@Config @Config
public class ServoPositions { 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_intakePos1 = 0.18; //0.13;
public static double spindexer_intakePos2 = 0.37; //0.33;//0.5; 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 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 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_redClose = 0;
public static double turret_blueClose = 0; public static double turret_blueClose = 0;
@@ -44,4 +57,10 @@ public class ServoPositions {
public static double redTurretShootPos = 0.05; public static double redTurretShootPos = 0.05;
public static double blueTurretShootPos = -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;
} }

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
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@@ -17,13 +17,10 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@Config @Config
public class Constants { public class Constants {
public static FollowerConstants followerConstants = new FollowerConstants() public static FollowerConstants followerConstants = new FollowerConstants()
.mass(15.5) .mass(14.37888)
.forwardZeroPowerAcceleration(-29.512) .forwardZeroPowerAcceleration(-29.512)
.lateralZeroPowerAcceleration(-72.872) .lateralZeroPowerAcceleration(-72.872)
.translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012)) .centripetalScaling(0);
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.025, 0.02))
.drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03))
.centripetalScaling(0.0005);
public static MecanumConstants driveConstants = new MecanumConstants() public static MecanumConstants driveConstants = new MecanumConstants()
.maxPower(1) .maxPower(1)
@@ -42,8 +39,8 @@ public class Constants {
public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1); public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1);
public static PinpointConstants localizerConstants = new PinpointConstants() public static PinpointConstants localizerConstants = new PinpointConstants()
.forwardPodY(-7.5) .forwardPodY(-3.676)
.strafePodX(-3.75) .strafePodX(3.780)
.distanceUnit(DistanceUnit.INCH) .distanceUnit(DistanceUnit.INCH)
.hardwareMapName("pinpoint") .hardwareMapName("pinpoint")
.encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java
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@@ -4,6 +4,7 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA; import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -52,6 +53,11 @@ public class Hardware_Tester extends LinearOpMode {
robot = new Robot(hardwareMap); robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(); TELE = new MultipleTelemetry();
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()){ while (opModeIsActive()){
// Non-subsystem based components // Non-subsystem based components
@@ -116,9 +122,9 @@ public class Hardware_Tester extends LinearOpMode {
// Sensor Data // Sensor Data
TELE.addData("Beam Break 1?", robot.beam1.isPressed()); // TELE.addData("Beam Break 1?", robot.beam1.isPressed());
TELE.addData("Beam Break 2?", robot.beam2.isPressed()); // TELE.addData("Beam Break 2?", robot.beam2.isPressed());
TELE.addData("Beam Break 3?", robot.beam3.isPressed()); // TELE.addData("Beam Break 3?", robot.beam3.isPressed());
NormalizedRGBA revColor = robot.revSensor.getNormalizedColors(); NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.MM)); TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.MM));

41
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -83,6 +83,7 @@ public class Robot {
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
intake = hardwareMap.get(DcMotorEx.class, "intake"); intake = hardwareMap.get(DcMotorEx.class, "intake");
intake.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1"); shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
@@ -103,11 +104,12 @@ public class Robot {
turr2 = hardwareMap.get(Servo.class, "turr2"); 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 = hardwareMap.get(DcMotorEx.class, "transfer");
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
transferServo = hardwareMap.get(Servo.class, "transferServo"); transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -121,27 +123,27 @@ public class Robot {
tilt1 = hardwareMap.get(Servo.class, "tilt1"); tilt1 = hardwareMap.get(Servo.class, "tilt1");
tilt2 = hardwareMap.get(Servo.class, "tilt2"); tilt2 = hardwareMap.get(Servo.class, "tilt2");
beam1 = hardwareMap.get(TouchSensor.class, "beam1"); // beam1 = hardwareMap.get(TouchSensor.class, "beam1");
beam2 = hardwareMap.get(TouchSensor.class, "beam2"); // beam2 = hardwareMap.get(TouchSensor.class, "beam2");
beam3 = hardwareMap.get(TouchSensor.class, "beam3"); // beam3 = hardwareMap.get(TouchSensor.class, "beam3");
revSensor = hardwareMap.get(RevColorSensorV3.class, "rev"); revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
// Below is disregarded // Below is disregarded
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port // turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
//
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos"); // spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
//
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos"); // spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
//
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos"); // transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
//
color1 = hardwareMap.get(RevColorSensorV3.class, "c1"); // color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
//
color2 = hardwareMap.get(RevColorSensorV3.class, "c2"); // color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
//
color3 = hardwareMap.get(RevColorSensorV3.class, "c3"); // color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
if (usingLimelight) { if (usingLimelight) {
limelight = hardwareMap.get(Limelight3A.class, "limelight"); limelight = hardwareMap.get(Limelight3A.class, "limelight");
@@ -150,7 +152,8 @@ public class Robot {
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults(); aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
} }
light = hardwareMap.get(Servo.class, "light"); // light = hardwareMap.get(Servo.class, "light");
voltage = hardwareMap.voltageSensor.iterator().next(); voltage = hardwareMap.voltageSensor.iterator().next();
} }

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -25,10 +25,10 @@ public class Turret {
public static double turretTolerance = 0.02; public static double turretTolerance = 0.02;
public static double turrPosScalar = 0.00011264432; public static double turrPosScalar = 0.00011264432;
public static double turret180Range = 0.55; public static double turret180Range = 0.58;
public static double turrDefault = 0.35; public static double turrDefault = 0.51;
public static double turrMin = 0; public static double turrMin = 0.05;
public static double turrMax = 0.69; public static double turrMax = 0.95;
public static boolean limelightUsed = true; public static boolean limelightUsed = true;
public static double limelightPosOffset = 5; public static double limelightPosOffset = 5;
public static double manualOffset = 0.0; public static double manualOffset = 0.0;