KeshavAnandCode/FTCDecodeMain
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loop times at 30ms

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This commit is contained in:
DanTheMan-byte
2026-02-10 22:16:38 -06:00
parent d48185d393
commit a0e98c9f69
3 changed files with 65 additions and 60 deletions
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116
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
View File

@@ -821,7 +821,7 @@ public class Auto_LT_Far extends LinearOpMode {
startAuto(); startAuto();
if (stack3){ if (stack3){
cycleStackFar(); //cycleStackFar();
} }
if (gatePickup || stack3){ if (gatePickup || stack3){
@@ -878,61 +878,61 @@ public class Auto_LT_Far extends LinearOpMode {
Actions.runBlocking(leaveFromShoot.build()); Actions.runBlocking(leaveFromShoot.build());
} }
void cycleStackFar(){ // void cycleStackFar(){
Actions.runBlocking( // Actions.runBlocking(
new ParallelAction( // new ParallelAction(
pickup3.build(), // pickup3.build(),
manageShooterAuto( // manageShooterAuto(
intake3Time, // intake3Time,
0.501, // 0.501,
0.501, // 0.501,
0.501, // 0.501,
0.501 // 0.501
), // ),
intake(intake3Time), // intake(intake3Time),
detectObelisk( // detectObelisk(
intake3Time, // intake3Time,
0.501, // 0.501,
0.501, // 0.501,
0.501, // 0.501,
0.501, // 0.501,
obeliskTurrPos3 // obeliskTurrPos3
) // )
//
) // )
); // );
//
motif = turret.getObeliskID(); // motif = turret.getObeliskID();
//
if (motif == 0) motif = prevMotif; // if (motif == 0) motif = prevMotif;
prevMotif = motif; // prevMotif = motif;
//
Actions.runBlocking( // Actions.runBlocking(
new ParallelAction( // new ParallelAction(
manageFlywheelAuto( // manageFlywheelAuto(
shoot3Time, // shoot3Time,
0.501, // 0.501,
0.501, // 0.501,
0.501, // 0.501,
0.501 // 0.501
), // ),
shoot3.build(), // shoot3.build(),
prepareShootAll(colorSenseTime, shoot3Time, motif) // prepareShootAll(colorSenseTime, shoot3Time, motif)
) // )
); // );
//
Actions.runBlocking( // Actions.runBlocking(
new ParallelAction( // new ParallelAction(
manageShooterAuto( // manageShooterAuto(
finalShootAllTime, // finalShootAllTime,
0.501, // 0.501,
0.501, // 0.501,
0.501, // 0.501,
0.501 // 0.501
), // ),
shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease) // shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
) // )
//
); // );
} // }
} }

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -118,6 +118,7 @@ public class TeleopV3 extends LinearOpMode {
if (isStopRequested()) return; if (isStopRequested()) return;
servo.setTransferPos(transferServo_out); servo.setTransferPos(transferServo_out);
robot.transfer.setPower(1);
while (opModeIsActive()) { while (opModeIsActive()) {
@@ -141,8 +142,6 @@ public class TeleopV3 extends LinearOpMode {
} }
robot.transfer.setPower(1);
//TURRET TRACKING //TURRET TRACKING
double robX = drive.localizer.getPose().position.x; double robX = drive.localizer.getPose().position.x;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
View File

@@ -38,6 +38,8 @@ public class Flywheel {
} }
// Set the robot PIDF for the next cycle. // Set the robot PIDF for the next cycle.
private double prevF = 0.501;
public static int voltagePIDFDifference = 5;
public void setPIDF(double p, double i, double d, double f) { public void setPIDF(double p, double i, double d, double f) {
shooterPIDF1.p = p; shooterPIDF1.p = p;
shooterPIDF1.i = i; shooterPIDF1.i = i;
@@ -47,6 +49,10 @@ public class Flywheel {
shooterPIDF2.i = i; shooterPIDF2.i = i;
shooterPIDF2.d = d; shooterPIDF2.d = d;
shooterPIDF2.f = f; shooterPIDF2.f = f;
if (Math.abs(prevF - f) > voltagePIDFDifference){
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
}
} }
// Convert from RPM to Ticks per Second // Convert from RPM to Ticks per Second