Sorting beta workish

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/SortedSpindexerTest.java

@@ -0,0 +1,141 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+
+@TeleOp
+@Config
+public class SortedSpindexerTest extends LinearOpMode {
+    Robot robot;
+    Drivetrain drivetrain;
+    Shooter shooter;
+    MultipleTelemetry TELE;
+    Follower follower;
+    SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+
+    ParkTilter parkTilter;
+    public static String order = "GPP";
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot.resetInstance();
+
+        robot = Robot.getInstance(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(), telemetry
+        );
+
+        commander = new VelocityCommander();
+        drivetrain = new Drivetrain(robot, TELE);
+        follower = Constants.createFollower(hardwareMap);
+        Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
+        follower.setStartingPose(start);
+
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        shooter.setState(Shooter.ShooterState.TRACK_GOAL);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
+        spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SORTED);
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            switch(order) {
+                case "PPG":
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.PPG
+                    );
+                    break;
+
+                case "PGP":
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.PGP
+                    );
+                    break;
+
+                default:
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.GPP
+                    );
+            }
+
+
+            //Drivetrain
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x
+            );
+
+            follower.update();
+
+
+            shooter.update(robot.voltage.getVoltage());
+            spindexerTransferIntake.update();
+
+            SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
+
+            if(gamepad1.leftBumperWasPressed()) {
+                spindexerTransferIntake.startSortedShoot();
+            }
+
+            if (gamepad1.right_trigger > 0.5 &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.HOLD_BALLS
+                );
+            }
+            if (gamepad1.rightBumperWasPressed()
+                    && state == SpindexerTransferIntake.RapidMode.HOLD_BALLS) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.INTAKE
+                );
+            }
+
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            TELE.addData("Distance From Goal", commander.getDistance());
+            TELE.addData("Hood Position", commander.getHoodPredicted());
+            TELE.addData("Transfer Power", robot.transfer.getPower());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
+
+            TELE.update();
+        }
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java

@@ -17,9 +17,12 @@ public class SpindexerTransferIntake {
 
     VelocityCommander commander;
 
-    public SpindexerTransferIntake(Robot rob, MultipleTelemetry TELE, VelocityCommander com) {
+    private MultipleTelemetry TELE;
+
+    public SpindexerTransferIntake(Robot rob, MultipleTelemetry tele, VelocityCommander com) {
         this.robot = rob;
         this.commander = com;
+        this.TELE = tele;
     }
 
     public enum DesiredPattern {
@@ -200,7 +203,7 @@ public class SpindexerTransferIntake {
     private RapidMode rapidMode = RapidMode.INTAKE;
     private SortedIntakeStates sortedIntakeStates = SortedIntakeStates.IDLE;
     private BallStates[] ballColors = {BallStates.UNKNOWN, BallStates.UNKNOWN, BallStates.UNKNOWN};
-    private final double greenThresh = 0.40;
+    private final double greenThresh = 0.39;
     private final double spinMovementTime = 250;
 
     /**
@@ -209,6 +212,25 @@ public class SpindexerTransferIntake {
     private long stateStartTime = System.currentTimeMillis();
     private long sortedStateStartTime = System.currentTimeMillis();
 
+    public void setDesiredPattern(DesiredPattern pattern) {
+        desiredPattern = pattern;
+    }
+
+    public void startSortedShoot() {
+
+        shootOrder = buildShootOrder(
+                ballColors,
+                desiredPattern
+        );
+
+        setShootState(
+                SortedShootState.IDLE
+        );
+
+        setSpindexerMode(
+                SpindexerMode.SHOOT_SORTED
+        );
+    }
     public void setRapidMode(RapidMode newMode) {
         if (rapidMode != newMode) {
             rapidMode = newMode;
@@ -241,6 +263,21 @@ public class SpindexerTransferIntake {
 
     public void update() {
 
+        TELE.addData("Sorted State", sortedIntakeStates);
+        TELE.addData("Ball0", ballColors[0]);
+        TELE.addData("Ball1", ballColors[1]);
+        TELE.addData("Ball2", ballColors[2]);
+
+        TELE.addData("Shoot0", shootOrder[0]);
+        TELE.addData("Shoot1", shootOrder[1]);
+        TELE.addData("Shoot2", shootOrder[2]);
+
+        TELE.addData("Color0", ballColors[0]);
+        TELE.addData("Color1", ballColors[1]);
+        TELE.addData("Color2", ballColors[2]);
+
+        TELE.addData("Shoot State", shootState);
+        
         switch (mode) {
 
             case RAPID:
@@ -369,6 +406,9 @@ public class SpindexerTransferIntake {
                     case NOTHING:
                         break;
                     case IDLE:
+                        ballColors[0] = BallStates.UNKNOWN;
+                        ballColors[1] = BallStates.UNKNOWN;
+                        ballColors[2] = BallStates.UNKNOWN;
                         robot.setRapidFireBlockerPos(
                                 ServoPositions.rapidFireBlocker_Open
                         );
@@ -391,6 +431,7 @@ public class SpindexerTransferIntake {
                         robot.setIntakePower(1);
                         robot.setTransferPower(-1);
                         if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            //TODO: ADD DELAY OR AVERGE @ DANIEL
                             NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
                             if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
                                 ballColors[0] = BallStates.GREEN;
@@ -457,7 +498,7 @@ public class SpindexerTransferIntake {
                 break;
             case SHOOT_SORTED:
 
-                robot.setIntakePower(commander.getTransferPow());
+                robot.setTransferPower(commander.getTransferPow());
 
 
                 switch (shootState) {
@@ -469,6 +510,7 @@ public class SpindexerTransferIntake {
 
                         setShootState(SortedShootState.MOVE_TO_1);
                         mode = SpindexerMode.SHOOT_SORTED;
+                        break;
                     case MOVE_TO_1:
 
                         moveToSlot(shootOrder[0]);
@@ -630,9 +672,14 @@ public class SpindexerTransferIntake {
                         robot.setIntakePower(1);
                         robot.setTransferPower(-1);
 
-                        setSortedIntakeMode(SortedIntakeStates.NOTHING);
+                        if (shootStateTime() > 250) {
 
-                        mode = SpindexerMode.SORTED;
+                            setSortedIntakeMode(
+                                    SortedIntakeStates.IDLE
+                            );
+
+                            mode = SpindexerMode.SORTED;
+                        }
 
                         break;