KeshavAnandCode/FTCDecodeMain
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Practice onced before judging....ig auton is a little bit better...fixed some vars and split a static --> 3

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Keshav Anand
2026-01-31 10:27:28 -06:00
parent 6e6df07153
commit b5b4b4af50
2 changed files with 16 additions and 14 deletions
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24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
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@@ -110,7 +110,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
double obeliskTurrPos1 = 0.0; double obeliskTurrPos1 = 0.0;
double obeliskTurrPos2 = 0.0; double obeliskTurrPos2 = 0.0;
double obeliskTurrPos3 = 0.0; double obeliskTurrPos3 = 0.0;
public static double normalIntakeTime = 3.0; public static double normalIntakeTime = 3.3;
public static double shoot1Turr = 0.57; public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0; public static double shoot0XTolerance = 1.0;
public static double redTurretShootPos = 0.52; public static double redTurretShootPos = 0.52;
@@ -119,7 +119,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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 = 3.0; public static double intake1Time = 3.3;
public static double intake2Time = 3.8;
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 = 19;
// ---- SECOND SHOT / PICKUP ---- // ---- SECOND SHOT / PICKUP ----
@@ -127,8 +131,6 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double shoot1Hood = 0.93; public static double shoot1Hood = 0.93;
public static double shootAllVelocity = 2500; public static double shootAllVelocity = 2500;
public static double shootAllHood = 0.78; public static double shootAllHood = 0.78;
// ---- PICKUP TIMING ----
public static double pickup1Time = 3.0;
// ---- PICKUP POSITION TOLERANCES ---- // ---- PICKUP POSITION TOLERANCES ----
public static double pickup1XTolerance = 2.0; public static double pickup1XTolerance = 2.0;
public static double pickup1YTolerance = 2.0; public static double pickup1YTolerance = 2.0;
@@ -922,7 +924,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
manageFlywheel( manageFlywheel(
shootAllVelocity, shootAllVelocity,
shootAllHood, shootAllHood,
pickup1Time, intake1Time,
x2b, x2b,
y2b, y2b,
pickup1XTolerance, pickup1XTolerance,
@@ -982,15 +984,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
new ParallelAction( new ParallelAction(
pickup2.build(), pickup2.build(),
manageShooterAuto( manageShooterAuto(
normalIntakeTime, intake2Time,
x2b, x2b,
y2b, y2b,
pickup1XTolerance, pickup1XTolerance,
pickup1YTolerance pickup1YTolerance
), ),
intake(normalIntakeTime), intake(intake2Time),
detectObelisk( detectObelisk(
normalIntakeTime, intake2Time,
0.501, 0.501,
0.501, 0.501,
obelisk1XTolerance, obelisk1XTolerance,
@@ -1033,15 +1035,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
new ParallelAction( new ParallelAction(
pickup3.build(), pickup3.build(),
manageShooterAuto( manageShooterAuto(
normalIntakeTime, intake3Time,
x2b, x2b,
y2b, y2b,
pickup1XTolerance, pickup1XTolerance,
pickup1YTolerance pickup1YTolerance
), ),
intake(normalIntakeTime), intake(intake3Time),
detectObelisk( detectObelisk(
normalIntakeTime, intake3Time,
0.501, 0.501,
0.501, 0.501,
obelisk1XTolerance, obelisk1XTolerance,

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
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@@ -31,16 +31,16 @@ public class Poses {
public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1); public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140); public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
public static double bx2b = 23, by2b = -36, bh2b = Math.toRadians(-140.1); public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140); public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140); public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
public static double bx3b = 38, by3b = -56, bh3b = Math.toRadians(-140.1); public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140); public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140); public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
public static double bx4b = 45, by4b = -83, bh4b = Math.toRadians(-140.1); public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50); public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);