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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 shoot0SpinSpeedIncrease = 0.015;
public static double spindexerSpeedIncrease = 0.03; public static double spindexerSpeedIncrease = 0.03;
public static double finalSpindexerSpeedIncrease = 0.025;
public static double redObeliskTurrPos1 = 0.52; public static double redObeliskTurrPos1 = 0.52;
public static double redObeliskTurrPos2 = 0.53; 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; public static double blueTurretShootPos = 0.26;
double turretShootPos = 0.0; double turretShootPos = 0.0;
public static double finalShootAllTime = 3.0;
public static double shootAllTime = 1.8; public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6; public static double shoot0Time = 1.6;
public static double intake1Time = 3.3; 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 intake3Time = 4.2;
public static double flywheel0Time = 3.5; public static double flywheel0Time = 3.5;
public static double pickup1Speed = 19; public static double pickup1Speed = 23;
// ---- SECOND SHOT / PICKUP ---- // ---- SECOND SHOT / PICKUP ----
public static double shoot1Vel = 2300; public static double shoot1Vel = 2300;
public static double shoot1Hood = 0.93; public static double shoot1Hood = 0.93;
@@ -1071,13 +1074,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
Actions.runBlocking( Actions.runBlocking(
new ParallelAction( new ParallelAction(
manageShooterAuto( manageShooterAuto(
shootAllTime, finalShootAllTime,
0.501, 0.501,
0.501, 0.501,
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 autoSpinStartPos = 0.2;
public static double shoot0SpinSpeedIncrease = 0.015; 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; public static double spindexerSpeedIncrease = 0.03;
@@ -116,9 +116,11 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
double turretShootPos = 0.52; 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 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 flywheel0Time = 3.5;
public static double pickup1Speed = 25; public static double pickup1Speed = 25;
// ---- SECOND SHOT / PICKUP ---- // ---- SECOND SHOT / PICKUP ----
@@ -768,6 +770,8 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
TrajectoryActionBuilder pickup3 = null; TrajectoryActionBuilder pickup3 = null;
TrajectoryActionBuilder shoot3 = null; TrajectoryActionBuilder shoot3 = null;
Turret.limelightUsed = false;
robot.light.setPosition(1); robot.light.setPosition(1);
while (opModeInInit()) { while (opModeInInit()) {
@@ -952,7 +956,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
manageFlywheel( manageFlywheel(
shootAllVelocity, shootAllVelocity,
shootAllHood, shootAllHood,
normalIntakeTime, intake2Time,
0.501, 0.501,
0.501, 0.501,
0.501, 0.501,
@@ -960,7 +964,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
), ),
intake(intake1Time), intake(intake1Time),
detectObelisk( detectObelisk(
intake1Time, intake2Time,
0.501, 0.501,
0.501, 0.501,
obelisk1XTolerance, obelisk1XTolerance,
@@ -1010,8 +1014,8 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
gatePickup.build(), gatePickup.build(),
manageShooterAuto( manageShooterAuto(
gateIntakeTime, gateIntakeTime,
x2b, 0.501,
y2b, 0.501,
pickup1XTolerance, pickup1XTolerance,
pickup1YTolerance pickup1YTolerance
), ),
@@ -1060,15 +1064,15 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
new ParallelAction( new ParallelAction(
pickup1.build(), pickup1.build(),
manageShooterAuto( manageShooterAuto(
normalIntakeTime, intake1Time,
0.501, 0.501,
0.501, 0.501,
pickup1XTolerance, pickup1XTolerance,
pickup1YTolerance pickup1YTolerance
), ),
intake(normalIntakeTime), intake(intake1Time),
detectObelisk( detectObelisk(
normalIntakeTime, intake1Time,
0.501, 0.501,
0.501, 0.501,
obelisk1XTolerance, 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 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 bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836; 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 @Config
public class ServoPositions { 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_outtakeBall3 = 0.71; //0.65; //0.24;
public static double spindexer_outtakeBall3b = 0.15; //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.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart; 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_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed; 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 tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
public static double spinSpeedIncrease = 0.03; public static double spinSpeedIncrease = 0.03;
public static int resetSpinTicks = 4; 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 double vel = 3000;
public boolean autoVel = true; public boolean autoVel = true;
public boolean targetingHood = true; public boolean targetingHood = true;
public static double manualOffset = 0.0;
public boolean autoHood = true; public boolean autoHood = true;
public double shootStamp = 0.0; public double shootStamp = 0.0;
public static double hoodSpeedOffset = 0.01;
public static double turretSpeedOffset = 0.01;
boolean fixedTurret = false; boolean fixedTurret = false;
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
@@ -113,6 +110,9 @@ public class TeleopV3 extends LinearOpMode {
} }
} }
limelightUsed= true;
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
@@ -210,18 +210,18 @@ public class TeleopV3 extends LinearOpMode {
gamepad2.rumble(80); gamepad2.rumble(80);
} }
if (gamepad2.dpadLeftWasPressed()){ if (gamepad2.dpadLeftWasPressed()) {
manualOffset -= turretSpeedOffset; manualOffset -= turretSpeedOffset;
gamepad2.rumble(80); gamepad2.rumble(80);
} else if (gamepad2.dpadRightWasPressed()){ } else if (gamepad2.dpadRightWasPressed()) {
manualOffset += turretSpeedOffset; manualOffset += turretSpeedOffset;
gamepad2.rumble(80); gamepad2.rumble(80);
} }
if (gamepad2.rightBumperWasPressed()){ if (gamepad2.rightBumperWasPressed()) {
limelightUsed = true; limelightUsed = true;
gamepad2.rumble(80); gamepad2.rumble(80);
} else if (gamepad2.leftBumperWasPressed()){ } else if (gamepad2.leftBumperWasPressed()) {
limelightUsed = false; limelightUsed = false;
gamepad2.rumble(80); gamepad2.rumble(80);
} }
@@ -238,6 +238,9 @@ public class TeleopV3 extends LinearOpMode {
// RIGHT_BUMPER // RIGHT_BUMPER
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) { if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
robot.intake.setPower(1); robot.intake.setPower(1);
} else if (gamepad1.cross) {
robot.intake.setPower(-1);
} else { } else {
robot.intake.setPower(0); 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 // Position 2
// Find which ball position this is in the spindexer // Find which ball position this is in the spindexer
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]; spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
if (distanceFrontDriver < 50) { if (distanceFrontDriver < 56) {
// reset FoundEmpty because looking for 3 in a row before reset // reset FoundEmpty because looking for 3 in a row before reset
ballPositions[spindexerBallPos].foundEmpty = 0; ballPositions[spindexerBallPos].foundEmpty = 0;
if (detectFrontColor) { if (detectFrontColor) {