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Keshav Anand
2026-01-31 15:06:31 -06:00
parent 53944cccc6
commit 8af121a12a
6 changed files with 39 additions and 29 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
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@@ -99,6 +99,8 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double shoot0SpinSpeedIncrease = 0.015;
public static double spindexerSpeedIncrease = 0.03;
public static double finalSpindexerSpeedIncrease = 0.025;
public static double redObeliskTurrPos1 = 0.52;
public static double redObeliskTurrPos2 = 0.53;
@@ -117,6 +119,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double blueTurretShootPos = 0.26;
double turretShootPos = 0.0;
public static double finalShootAllTime = 3.0;
public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6;
public static double intake1Time = 3.3;
@@ -125,7 +128,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double intake3Time = 4.2;
public static double flywheel0Time = 3.5;
public static double pickup1Speed = 19;
public static double pickup1Speed = 23;
// ---- SECOND SHOT / PICKUP ----
public static double shoot1Vel = 2300;
public static double shoot1Hood = 0.93;
@@ -1071,13 +1074,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
finalShootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
)
);

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_GateOpen.java
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@@ -98,7 +98,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
public static double autoSpinStartPos = 0.2;
public static double shoot0SpinSpeedIncrease = 0.015;
public static double gateIntakeTime = 5.0; //TODO: Increase ig
public static double gateIntakeTime = 5.9; //TODO: Increase ig
public static double spindexerSpeedIncrease = 0.03;
@@ -116,9 +116,11 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
double turretShootPos = 0.52;
public static double shootAllTime = 1.8;
public static double shootAllTime = 1.9;
public static double shoot0Time = 1.6;
public static double intake1Time = 3.0;
public static double intake1Time = 3.3;
public static double intake2Time = 3.6;
public static double flywheel0Time = 3.5;
public static double pickup1Speed = 25;
// ---- SECOND SHOT / PICKUP ----
@@ -768,6 +770,8 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
TrajectoryActionBuilder pickup3 = null;
TrajectoryActionBuilder shoot3 = null;
Turret.limelightUsed = false;
robot.light.setPosition(1);
while (opModeInInit()) {
@@ -952,7 +956,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
manageFlywheel(
shootAllVelocity,
shootAllHood,
normalIntakeTime,
intake2Time,
0.501,
0.501,
0.501,
@@ -960,7 +964,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
),
intake(intake1Time),
detectObelisk(
intake1Time,
intake2Time,
0.501,
0.501,
obelisk1XTolerance,
@@ -1010,8 +1014,8 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
gatePickup.build(),
manageShooterAuto(
gateIntakeTime,
x2b,
y2b,
0.501,
0.501,
pickup1XTolerance,
pickup1YTolerance
),
@@ -1060,15 +1064,15 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
new ParallelAction(
pickup1.build(),
manageShooterAuto(
normalIntakeTime,
intake1Time,
0.501,
0.501,
pickup1XTolerance,
pickup1YTolerance
),
intake(normalIntakeTime),
intake(intake1Time),
detectObelisk(
normalIntakeTime,
intake1Time,
0.501,
0.501,
obelisk1XTolerance,

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
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@@ -14,12 +14,12 @@ public class Poses_V2 {
public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
public static double bXGate = 30, bYGate = -63, bHGate = Math.toRadians(-179);
public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -5,11 +5,11 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class ServoPositions {
public static double spindexer_intakePos1 = 0.05; //0.13;
public static double spindexer_intakePos1 = 0.07; //0.13;
public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;

23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -2,7 +2,6 @@ package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -37,16 +36,14 @@ public class TeleopV3 extends LinearOpMode {
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
public static double spinSpeedIncrease = 0.03;
public static int resetSpinTicks = 4;
public static double manualOffset = 0.0;
public static double hoodSpeedOffset = 0.01;
public static double turretSpeedOffset = 0.01;
public double vel = 3000;
public boolean autoVel = true;
public boolean targetingHood = true;
public static double manualOffset = 0.0;
public boolean autoHood = true;
public double shootStamp = 0.0;
public static double hoodSpeedOffset = 0.01;
public static double turretSpeedOffset = 0.01;
boolean fixedTurret = false;
Robot robot;
MultipleTelemetry TELE;
@@ -113,6 +110,9 @@ public class TeleopV3 extends LinearOpMode {
}
}
limelightUsed= true;
waitForStart();
if (isStopRequested()) return;
@@ -210,18 +210,18 @@ public class TeleopV3 extends LinearOpMode {
gamepad2.rumble(80);
}
if (gamepad2.dpadLeftWasPressed()){
if (gamepad2.dpadLeftWasPressed()) {
manualOffset -= turretSpeedOffset;
gamepad2.rumble(80);
} else if (gamepad2.dpadRightWasPressed()){
} else if (gamepad2.dpadRightWasPressed()) {
manualOffset += turretSpeedOffset;
gamepad2.rumble(80);
}
if (gamepad2.rightBumperWasPressed()){
if (gamepad2.rightBumperWasPressed()) {
limelightUsed = true;
gamepad2.rumble(80);
} else if (gamepad2.leftBumperWasPressed()){
} else if (gamepad2.leftBumperWasPressed()) {
limelightUsed = false;
gamepad2.rumble(80);
}
@@ -238,6 +238,9 @@ public class TeleopV3 extends LinearOpMode {
// RIGHT_BUMPER
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
robot.intake.setPower(1);
} else if (gamepad1.cross) {
robot.intake.setPower(-1);
} else {
robot.intake.setPower(0);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -201,7 +201,7 @@ public class Spindexer {
// Position 2
// Find which ball position this is in the spindexer
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
if (distanceFrontDriver < 50) {
if (distanceFrontDriver < 56) {
// reset FoundEmpty because looking for 3 in a row before reset
ballPositions[spindexerBallPos].foundEmpty = 0;
if (detectFrontColor) {