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action file done implemented with close auto but untested

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This commit is contained in:
DanTheMan-byte
2026-02-12 20:16:27 -06:00
parent 6edc2075c0
commit a4755bf668
2 changed files with 29 additions and 608 deletions
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632
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
View File

@@ -31,6 +31,7 @@ import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -109,6 +110,7 @@ public class Auto_LT_Close extends LinearOpMode {
Turret turret;
Targeting targeting;
Targeting.Settings targetingSettings;
AutoActions autoActions;
private double firstSpindexShootPos = autoSpinStartPos;
private boolean shootForward = true;
double x1, y1, h1;
@@ -138,588 +140,6 @@ public class Auto_LT_Close extends LinearOpMode {
int ballCycles = 3;
int prevMotif = 0;
public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
return new Action() {
double stamp = 0.0;
int ticker = 0;
double spindexerWiggle = 0.01;
boolean decideGreenSlot = false;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = System.currentTimeMillis();
}
ticker++;
servos.setTransferPos(transferServo_out);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
double robX = drive.localizer.getPose().position.x;
double robY = drive.localizer.getPose().position.y;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -15;
double goalY = 0;
double dx = robX - goalX; // delta x from robot to goal
double dy = robY - goalY; // delta y from robot to goal
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
targetingSettings = targeting.calculateSettings
(robX, robY, robotHeading, 0.0, turretInterpolate);
turret.trackGoal(deltaPose);
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.addData("motif", motif_id);
TELE.update();
if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
spindexerWiggle *= -1.0;
servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
spindexer.detectBalls(true, true);
if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
driverSlotGreen++;
}
if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
passengerSlotGreen++;
}
if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
rearSlotGreen++;
}
spindexer.setIntakePower(1);
decideGreenSlot = true;
return true;
} else if (decideGreenSlot) {
if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
mostGreenSlot = 3;
} else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
mostGreenSlot = 2;
} else {
mostGreenSlot = 1;
}
decideGreenSlot = false;
if (motif_id == 21) {
if (mostGreenSlot == 1) {
firstSpindexShootPos = spindexer_outtakeBall1;
shootForward = true;
} else if (mostGreenSlot == 2) {
firstSpindexShootPos = spindexer_outtakeBall2;
shootForward = false;
} else {
firstSpindexShootPos = spindexer_outtakeBall3;
shootForward = false;
}
} else if (motif_id == 22) {
if (mostGreenSlot == 1) {
firstSpindexShootPos = spindexer_outtakeBall2;
shootForward = false;
} else if (mostGreenSlot == 2) {
firstSpindexShootPos = spindexer_outtakeBall3;
shootForward = false;
} else {
firstSpindexShootPos = spindexer_outtakeBall2;
shootForward = true;
}
} else {
if (mostGreenSlot == 1) {
firstSpindexShootPos = spindexer_outtakeBall3;
shootForward = false;
} else if (mostGreenSlot == 2) {
firstSpindexShootPos = spindexer_outtakeBall3b;
shootForward = true;
} else {
firstSpindexShootPos = spindexer_outtakeBall1;
shootForward = true;
}
}
return true;
} else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
// TELE.addData("MostGreenSlot", mostGreenSlot);
// TELE.update();
spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
servos.setSpinPos(firstSpindexShootPos);
return true;
} else {
return false;
}
}
};
}
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
return new Action() {
int ticker = 1;
double stamp = 0.0;
double velo = vel;
int shooterTicker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
double voltage = robot.voltage.getVoltage();
flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
flywheel.manageFlywheel(vel);
velo = flywheel.getVelo();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
spindexer.setIntakePower(-0.3);
if (ticker == 1) {
stamp = getRuntime();
}
ticker++;
spindexer.setIntakePower(0);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
double robX = drive.localizer.getPose().position.x;
double robY = drive.localizer.getPose().position.y;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -15;
double goalY = 0;
double dx = robX - goalX; // delta x from robot to goal
double dy = robY - goalY; // delta y from robot to goal
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
targetingSettings = targeting.calculateSettings
(robX, robY, robotHeading, 0.0, turretInterpolate);
turret.trackGoal(deltaPose);
if ((getRuntime() - stamp < shootTime && servos.getSpinPos() < spinEndPos) || shooterTicker == 0) {
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
servos.setSpinPos(autoSpinStartPos);
} else {
servos.setTransferPos(transferServo_in);
shooterTicker++;
double prevSpinPos = servos.getSpinCmdPos();
servos.setSpinPos(prevSpinPos + spindexSpeed);
}
return true;
} else {
servos.setTransferPos(transferServo_out);
spindexer.resetSpindexer();
spindexer.processIntake();
return false;
}
}
};
}
public Action shootAllAuto(double shootTime, double spindexSpeed) {
return new Action() {
int ticker = 1;
double stamp = 0.0;
double velo = 0.0;
int shooterTicker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
velo = flywheel.getVelo();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
spindexer.setIntakePower(-0.3);
if (ticker == 1) {
stamp = getRuntime();
}
ticker++;
spindexer.setIntakePower(0);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
double robX = drive.localizer.getPose().position.x;
double robY = drive.localizer.getPose().position.y;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -15;
double goalY = 0;
double dx = robX - goalX; // delta x from robot to goal
double dy = robY - goalY; // delta y from robot to goal
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
targetingSettings = targeting.calculateSettings
(robX, robY, robotHeading, 0.0, turretInterpolate);
turret.trackGoal(deltaPose);
if (getRuntime() - stamp < shootTime) {
if (getRuntime() - stamp < firstShootTime) {
servos.setTransferPos(transferServo_out);
servos.setSpinPos(firstSpindexShootPos);
} else {
servos.setTransferPos(transferServo_in);
shooterTicker++;
double prevSpinPos = servos.getSpinCmdPos();
if (shootForward) {
servos.setSpinPos(prevSpinPos + spindexSpeed);
} else {
servos.setSpinPos(prevSpinPos - spindexSpeed);
}
}
return true;
} else {
servos.setTransferPos(transferServo_out);
spindexer.resetSpindexer();
spindexer.processIntake();
return false;
}
}
};
}
public Action intake(double intakeTime) {
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = System.currentTimeMillis();
}
ticker++;
spindexer.processIntake();
spindexer.setIntakePower(1);
spindexer.ballCounterLight();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Full?", spindexer.isFull());
TELE.update();
return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
}
};
}
public Action detectObelisk(
double time,
double posX,
double posY,
double posXTolerance,
double posYTolerance,
double turrPos
) {
boolean timeFallback = (time != 0.501);
boolean posXFallback = (posX != 0.501);
boolean posYFallback = (posY != 0.501);
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
drive.updatePoseEstimate();
Pose2d currentPose = drive.localizer.getPose();
if (ticker == 0) {
stamp = System.currentTimeMillis();
robot.limelight.pipelineSwitch(1);
}
ticker++;
motif = turret.detectObelisk();
turret.setTurret(turrPos);
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
boolean shouldFinish = timeDone || xDone || yDone;
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
if (shouldFinish){
if (redAlliance){
robot.limelight.pipelineSwitch(4);
} else {
robot.limelight.pipelineSwitch(2);
}
return false;
} else {
return true;
}
}
};
}
public Action manageFlywheel(
double vel,
double hoodPos,
double time,
double posX,
double posY,
double posXTolerance,
double posYTolerance
) {
boolean timeFallback = (time != 0.501);
boolean posXFallback = (posX != 0.501);
boolean posYFallback = (posY != 0.501);
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
drive.updatePoseEstimate();
Pose2d currentPose = drive.localizer.getPose();
if (ticker == 0) {
stamp = System.currentTimeMillis();
}
ticker++;
double voltage = robot.voltage.getVoltage();
flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
flywheel.manageFlywheel(vel);
servos.setHoodPos(hoodPos);
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
boolean shouldFinish = timeDone || xDone || yDone;
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish;
}
};
}
public Action manageShooterAuto(
double time,
double posX,
double posY,
double posXTolerance,
double posYTolerance
) {
boolean timeFallback = (time != 0.501);
boolean posXFallback = (posX != 0.501);
boolean posYFallback = (posY != 0.501);
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
drive.updatePoseEstimate();
Pose2d currentPose = drive.localizer.getPose();
if (ticker == 0) {
stamp = System.currentTimeMillis();
}
ticker++;
double robotX = drive.localizer.getPose().position.x;
double robotY = drive.localizer.getPose().position.y;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -15;
double goalY = 0;
double dx = robotX - goalX; // delta x from robot to goal
double dy = robotY - goalY; // delta y from robot to goal
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
targetingSettings = targeting.calculateSettings
(robotX, robotY, robotHeading, 0.0, false);
turret.trackGoal(deltaPose);
servos.setHoodPos(targetingSettings.hoodAngle);
double voltage = robot.voltage.getVoltage();
flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
boolean shouldFinish = timeDone || xDone || yDone;
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish;
}
};
}
public Action manageFlywheelAuto(
double time,
double posX,
double posY,
double posXTolerance,
double posYTolerance
) {
boolean timeFallback = (time != 0.501);
boolean posXFallback = (posX != 0.501);
boolean posYFallback = (posY != 0.501);
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
drive.updatePoseEstimate();
Pose2d currentPose = drive.localizer.getPose();
if (ticker == 0) {
stamp = System.currentTimeMillis();
}
ticker++;
double robotX = drive.localizer.getPose().position.x;
double robotY = drive.localizer.getPose().position.y;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -15;
double goalY = 0;
double dx = robotX - goalX; // delta x from robot to goal
double dy = robotY - goalY; // delta y from robot to goal
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
targetingSettings = targeting.calculateSettings
(robotX, robotY, robotHeading, 0.0, false);
servos.setHoodPos(targetingSettings.hoodAngle);
double voltage = robot.voltage.getVoltage();
flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
boolean shouldFinish = timeDone || xDone || yDone;
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Hood", robot.hood.getPosition());
TELE.update();
return !shouldFinish;
}
};
}
// initialize path variables here
TrajectoryActionBuilder shoot0 = null;
@@ -754,6 +174,8 @@ public class Auto_LT_Close extends LinearOpMode {
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
servos.setSpinPos(autoSpinStartPos);
servos.setTransferPos(transferServo_out);
@@ -967,7 +389,7 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
shoot0.build(),
manageFlywheel(
autoActions.manageFlywheel(
shoot0Vel,
shoot0Hood,
flywheel0Time,
@@ -981,7 +403,7 @@ public class Auto_LT_Close extends LinearOpMode {
);
Actions.runBlocking(
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
autoActions.shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
);
}
@@ -989,7 +411,7 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
pickup1.build(),
manageFlywheel(
autoActions.manageFlywheel(
shootAllVelocity,
shootAllHood,
intake1Time,
@@ -998,8 +420,8 @@ public class Auto_LT_Close extends LinearOpMode {
pickup1XTolerance,
pickup1YTolerance
),
intake(intake1Time),
detectObelisk(
autoActions.intake(intake1Time),
autoActions.detectObelisk(
intake1Time,
0.501,
0.501,
@@ -1018,7 +440,7 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
manageFlywheel(
autoActions.manageFlywheel(
shootAllVelocity,
shootAllHood,
shoot1Time,
@@ -1028,21 +450,21 @@ public class Auto_LT_Close extends LinearOpMode {
0.501
),
shoot1.build(),
prepareShootAll(colorSenseTime, shoot1Time, motif)
autoActions.prepareShootAll(colorSenseTime, shoot1Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
autoActions.manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
@@ -1052,15 +474,15 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
pickup2.build(),
manageShooterAuto(
autoActions.manageShooterAuto(
intake2Time,
0.501,
0.501,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake2Time),
detectObelisk(
autoActions.intake(intake2Time),
autoActions.detectObelisk(
intake2Time,
0.501,
0.501,
@@ -1079,7 +501,7 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
autoActions.manageFlywheelAuto(
shoot2Time,
0.501,
0.501,
@@ -1087,20 +509,20 @@ public class Auto_LT_Close extends LinearOpMode {
0.501
),
shoot2.build(),
prepareShootAll(colorSenseTime, shoot2Time, motif)
autoActions.prepareShootAll(colorSenseTime, shoot2Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
autoActions.manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
@@ -1110,15 +532,15 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
pickup3.build(),
manageShooterAuto(
autoActions.manageShooterAuto(
intake3Time,
0.501,
0.501,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake3Time),
detectObelisk(
autoActions.intake(intake3Time),
autoActions.detectObelisk(
intake3Time,
0.501,
0.501,
@@ -1137,7 +559,7 @@ public class Auto_LT_Close extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
autoActions.manageFlywheelAuto(
shoot3Time,
0.501,
0.501,
@@ -1145,20 +567,20 @@ public class Auto_LT_Close extends LinearOpMode {
0.501
),
shoot3.build(),
prepareShootAll(colorSenseTime, shoot3Time, motif)
autoActions.prepareShootAll(colorSenseTime, shoot3Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
autoActions.manageShooterAuto(
finalShootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
autoActions.shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
)
);

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/Actions.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java
View File

@@ -21,7 +21,6 @@ import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.Pose2d;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Drivetrain;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -31,7 +30,7 @@ import org.firstinspires.ftc.teamcode.utils.Turret;
import java.util.Objects;
public class Actions{
public class AutoActions{
Robot robot;
MultipleTelemetry TELE;
Servos servos;
@@ -50,7 +49,7 @@ public class Actions{
public static double firstShootTime = 0.3;
public int motif = 0;
public Actions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
this.robot = rob;
this.drive = dri;
this.TELE = tel;