prototype auto
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Color.*;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.SequentialAction;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.Vector2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.hardware.limelightvision.LLResult;
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import com.qualcomm.hardware.limelightvision.LLResultTypes;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import java.util.List;
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@Config
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class ProtoAutoClose_V3 extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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FlywheelV2 flywheel;
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Servos servo;
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double velo = 0.0;
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public static double intake1Time = 2.7;
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public static double intake2Time = 3.0;
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public static double colorDetect = 3.0;
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boolean gpp = false;
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boolean pgp = false;
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boolean ppg = false;
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double powPID = 0.0;
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double bearing = 0.0;
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int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
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int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
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int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
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public static double holdTurrPow = 0.1; // power to hold turret in place
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public Action initShooter(int vel) {
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return new Action() {
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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TELE.addData("Velocity", velo);
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TELE.update();
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return !flywheel.getSteady();
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}
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};
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}
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public Action Obelisk() {
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return new Action() {
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int id = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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LLResult result = robot.limelight.getLatestResult();
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if (result != null && result.isValid()) {
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List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
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for (LLResultTypes.FiducialResult fiducial : fiducials) {
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id = fiducial.getFiducialId();
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TELE.addData("ID", id);
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TELE.update();
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}
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}
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if (id == 21){
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gpp = true;
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} else if (id == 22){
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pgp = true;
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} else if (id == 23){
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ppg = true;
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}
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TELE.addData("Velocity", velo);
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TELE.addData("21", gpp);
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TELE.addData("22", pgp);
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TELE.addData("23", ppg);
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TELE.update();
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if (gpp || pgp || ppg) {
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if (redAlliance){
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robot.limelight.pipelineSwitch(3);
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double turretPID = servo.setTurrPos(turret_redClose);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_redClose);
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} else {
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robot.limelight.pipelineSwitch(2);
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double turretPID = servo.setTurrPos(turret_blueClose);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_blueClose);
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}
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} else {
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return true;
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}
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}
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};
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}
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public Action spindex(double spindexer, int vel) {
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return new Action() {
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double spinPID = 0.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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spinPID = servo.setSpinPos(spindexer);
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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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TELE.addData("Velocity", velo);
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TELE.addLine("spindex");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (servo.spinEqual(spindexer)){
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action Shoot(int vel) {
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return new Action() {
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int ticker = 1;
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double initPos = 0.0;
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double finalPos = 0.0;
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boolean zeroNeeded = false;
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boolean zeroPassed = false;
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double currentPos = 0.0;
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double prevPos = 0.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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TELE.addData("Velocity", velo);
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TELE.addLine("shooting");
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TELE.update();
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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drive.updatePoseEstimate();
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detectTag();
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teleStart = drive.localizer.getPose();
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if (ticker == 1){
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robot.transferServo.setPosition(transferServo_in);
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initPos = servo.getSpinPos();
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finalPos = initPos + 0.6;
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if (finalPos > 1.0){
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finalPos = finalPos - 1;
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zeroNeeded = true;
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} else if (finalPos > 0.95){
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finalPos = 0.0;
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zeroNeeded = true;
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}
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currentPos = initPos;
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}
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ticker++;
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if (ticker > 16){
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robot.spin1.setPower(0.08);
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robot.spin2.setPower(-0.08);
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}
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prevPos = currentPos;
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currentPos = servo.getSpinPos();
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if (zeroNeeded){
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if (currentPos - prevPos < -0.5){
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zeroPassed = true;
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}
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if (zeroPassed){
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if (currentPos > finalPos){
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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return false;
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} else {
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return true;
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}
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} else {
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return true;
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}
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} else {
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if (currentPos > finalPos){
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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return false;
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} else {
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return true;
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}
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}
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}
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};
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}
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public Action intake(double intakeTime) {
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return new Action() {
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double position = spindexer_intakePos1;
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double stamp = 0.0;
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int ticker = 0;
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double pow = 1.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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robot.intake.setPower(pow);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if (!servo.spinEqual(position)){
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double spinPID = servo.setSpinPos(position);
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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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}
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if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
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if (s2D > 60){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos2;
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos1;
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}
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} else if (s3D > 33){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos1;
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos2;
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}
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}
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stamp = getRuntime();
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Intaking");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(1);
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if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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if (getRuntime() - stamp - intakeTime < 1){
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pow = -2*(getRuntime() - stamp - intakeTime);
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return true;
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} else {
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robot.intake.setPower(0);
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return false;
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}
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} else {
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return true;
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}
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}
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};
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}
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public Action ColorDetect(int vel) {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (s1D < 43) {
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double green = robot.color1.getNormalizedColors().green;
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double red = robot.color1.getNormalizedColors().red;
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double blue = robot.color1.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b1 = 2;
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} else {
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b1 = 1;
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}
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}
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if (s2D < 60) {
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double green = robot.color2.getNormalizedColors().green;
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double red = robot.color2.getNormalizedColors().red;
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double blue = robot.color2.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b2 = 2;
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} else {
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b2 = 1;
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}
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}
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if (s3D < 33) {
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double green = robot.color3.getNormalizedColors().green;
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double red = robot.color3.getNormalizedColors().red;
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double blue = robot.color3.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b3 = 2;
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} else {
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b3 = 1;
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}
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Detecting");
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TELE.addData("Distance 1", s1D);
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TELE.addData("Distance 2", s2D);
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TELE.addData("Distance 3", s3D);
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TELE.addData("B1", b1);
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TELE.addData("B2", b2);
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TELE.addData("B3", b3);
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TELE.update();
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return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
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}
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};
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}
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@Override
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public void runOpMode() throws InterruptedException {
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robot = new Robot(hardwareMap);
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flywheel = new FlywheelV2();
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TELE = new MultipleTelemetry(
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telemetry, FtcDashboard.getInstance().getTelemetry()
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);
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drive = new MecanumDrive(hardwareMap, new Pose2d(
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0, 0, 0
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));
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robot.limelight.pipelineSwitch(1);
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robot.limelight.start();
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TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
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.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
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TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
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.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
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TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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while (opModeInInit()) {
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if (gamepad2.dpadUpWasPressed()) {
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hoodAuto -= 0.01;
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}
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if (gamepad2.dpadDownWasPressed()) {
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hoodAuto += 0.01;
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}
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if (gamepad2.crossWasPressed()){
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redAlliance = !redAlliance;
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}
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double turrPID;
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if (redAlliance){
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turrPID = servo.setTurrPos(turret_detectRedClose);
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
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.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
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shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
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.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
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shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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} else {
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turrPID = servo.setTurrPos(turret_detectBlueClose);
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build()
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addLine("Shooting");
|
||||
TELE.update();
|
||||
Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user