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configuration preparation

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This commit is contained in:
DanTheMan-byte
2026-01-13 22:10:16 -06:00
parent de52f86280
commit c160b3fa6b
4 changed files with 32 additions and 53 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java
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@@ -46,7 +46,7 @@ public class PIDServoTest extends LinearOpMode {
controller.setPIDF(p, i, d, f);
if (mode == 0) {
pos = scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3);
pos = robot.turr1Pos.getCurrentPosition();
double pid = controller.calculate(pos, target);
@@ -62,7 +62,7 @@ public class PIDServoTest extends LinearOpMode {
}
telemetry.addData("pos", pos);
telemetry.addData("Turret Voltage", robot.turr1Pos.getVoltage());
telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
telemetry.addData("target", target);
telemetry.addData("Mode", mode);

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java
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@@ -61,13 +61,25 @@ public class PositionalServoProgrammer extends LinearOpMode {
if (hoodPos != 0.501){
robot.hood.setPosition(hoodPos);
}
TELE.addData("spindexer", servo.getSpinPos());
TELE.addData("turret", servo.getTurrPos());
TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage());
TELE.addData("hood voltage", robot.hoodPos.getVoltage());
// To check configuration of spindexer:
// Set "mode" to 1 and spindexPow to 0.1
// If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
// Do the previous test again to confirm
// Set "mode" to 0 but keep spindexPos at 0.501
// Manually turn the spindexer until "spindexer pos" is set close to 0
// Check each spindexer voltage:
// If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
// If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
//TODO: @KeshavAnandCode do the above please
TELE.addData("spindexer pos", servo.getSpinPos());
TELE.addData("turret pos", servo.getTurrPos());
TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
TELE.addData("hood pos", robot.hood.getPosition());
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
TELE.addData("turret voltage", robot.turr1Pos.getVoltage());
TELE.addData("Spin Equal", servo.spinEqual(spindexPos));
TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
TELE.addData("spindexer pow", robot.spin1.getPower());
TELE.update();
}
}

55
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -7,7 +7,6 @@ import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DigitalChannel;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
@@ -28,28 +27,16 @@ public class Robot {
public DcMotorEx shooter2;
public Servo hood;
public Servo transferServo;
public Servo rejecter;
public CRServo turr1;
public CRServo turr2;
public CRServo spin1;
public CRServo spin2;
public DigitalChannel pin0;
public DigitalChannel pin1;
public DigitalChannel pin2;
public DigitalChannel pin3;
public DigitalChannel pin4;
public DigitalChannel pin5;
public AnalogInput analogInput;
public AnalogInput analogInput2;
public AnalogInput spin1Pos;
public AnalogInput spin2Pos;
public AnalogInput hoodPos;
public AnalogInput turr1Pos;
public AnalogInput turr2Pos;
public DcMotorEx turr1Pos;
public AnalogInput transferServoPos;
public AprilTagProcessor aprilTagProcessor;
public WebcamName webcam;
public DcMotorEx shooterEncoder;
public RevColorSensorV3 color1;
public RevColorSensorV3 color2;
public RevColorSensorV3 color3;
@@ -57,10 +44,12 @@ public class Robot {
public static boolean usingLimelight = true;
public static boolean usingCamera = true;
public Robot(HardwareMap hardwareMap) {
//Define components w/ hardware map
//TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
@@ -74,30 +63,24 @@ public class Robot {
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
intake = hardwareMap.get(DcMotorEx.class, "intake");
rejecter = hardwareMap.get(Servo.class, "rejecter");
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
//TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooterEncoder = shooter1;
hood = hardwareMap.get(Servo.class, "hood");
hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
turr1 = hardwareMap.get(CRServo.class, "t1");
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
turr2 = hardwareMap.get(CRServo.class, "t2");
turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
turr1Pos = intake; // Encoder of turret plugged in intake port
//TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
spin1 = hardwareMap.get(CRServo.class, "spin1");
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
@@ -109,22 +92,6 @@ public class Robot {
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
pin2 = hardwareMap.get(DigitalChannel.class, "pin2");
pin3 = hardwareMap.get(DigitalChannel.class, "pin3");
pin4 = hardwareMap.get(DigitalChannel.class, "pin4");
pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
analogInput = hardwareMap.get(AnalogInput.class, "analog");
analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -132,10 +99,7 @@ public class Robot {
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
@@ -145,6 +109,9 @@ public class Robot {
if (usingLimelight){
limelight = hardwareMap.get(Limelight3A.class, "limelight");
} else if (usingCamera){
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
}
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
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@@ -45,7 +45,7 @@ public class Servos {
}
public double getTurrPos() {
return turret_scalar * ((robot.turr1Pos.getVoltage() - turret_restPos) / 3.3);
return robot.turr1Pos.getCurrentPosition();
}
public double setTurrPos(double pos) {