KeshavAnandCode/FTCDecodeMain
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added neutral shift

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Keshav Anand
2026-06-01 16:24:11 -05:00
parent 658e8ea1d0
commit bfb37f13f8
2 changed files with 14 additions and 10 deletions
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5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java Normal file
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@@ -0,0 +1,5 @@
package org.firstinspires.ftc.teamcode.utilsv2;
public class Shooter {
}

19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
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@@ -14,15 +14,15 @@ public class Turret {
Robot robot; Robot robot;
private final double servoTicksPer180 = 0.6; // TODO: Tune private final double servoTicksPer180 = 0.6; // TODO: Tune
private final double neutralPosition = 0.3; //TODO: Tune private final double neutralPosition = 0.5; //TODO: Tune
private final double turretMin = 0.04; //TODO: Tune private final double turretMin = 0.04; //TODO: Tune
private final double turretMax = 0.94; //TODO: Tune private final double turretMax = 0.94; //TODO: Tune
private final double hVelK = 0.12; // TODO: Tune private final double hVelK = 0; // TODO: Tune
private final double hAccK = 0.02; // TODO: Tune private final double hAccK = 0; // TODO: Tune
private final double xVelK = 0.10; // TODO: Tune private final double xVelK = 0; // TODO: Tune
private final double xAccK = 0.02; // TODO: Tune private final double xAccK = 0; // TODO: Tune
private final double yVelK = 0.10; // TODO: Tune private final double yVelK = 0; // TODO: Tune
private final double yAccK = 0.02; // TODO: Tune private final double yAccK = 0; // TODO: Tune
private int obeliskID = 0; private int obeliskID = 0;
@@ -94,8 +94,7 @@ public class Turret {
double fieldRelativeHeading = Math.atan2(predictedDy, predictedDx); double fieldRelativeHeading = Math.atan2(predictedDy, predictedDx);
double desiredAngle = fieldRelativeHeading - predictedH; double angleDelta = fieldRelativeHeading - predictedH;
double angleDelta = desiredAngle - Math.PI;
angleDelta = wrapAngle(angleDelta); angleDelta = wrapAngle(angleDelta);
double servoTicksFromNeutral = (angleDelta / (2.0 * Math.PI)) * (2.0 * servoTicksPer180); double servoTicksFromNeutral = (angleDelta / (2.0 * Math.PI)) * (2.0 * servoTicksPer180);
@@ -105,6 +104,6 @@ public class Turret {
servoAngle = Range.clip(servoAngle, turretMin, turretMax); servoAngle = Range.clip(servoAngle, turretMin, turretMax);
robot.turr1.setPosition(servoAngle); robot.turr1.setPosition(servoAngle);
robot.turr2.setPosition(1.0 - servoAngle); robot.turr2.setPosition(servoAngle);
} }
} }