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changes in 11/28

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This commit is contained in:
DanTheMan-byte
2025-11-28 18:23:03 -06:00
parent 84c9b08205
commit c91828f899
5 changed files with 69 additions and 17 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/redDaniel.java
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@@ -3,7 +3,7 @@ package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
import androidx.annotation.NonNull;
@@ -43,13 +43,12 @@ public class redDaniel extends LinearOpMode {
double initPos = 0.0;
double stamp = 0.0;
double powPID = 0.0;
final int maxVel = 4500;
double ticker = 0.0;
public boolean run(@NonNull TelemetryPacket telemetryPacket){
velo = -60 * ((((double) robot.shooter1.getCurrentPosition() / 2048) - initPos) / (getRuntime() - stamp));
stamp = getRuntime();
initPos = (double) robot.shooter1.getCurrentPosition() / 2048;
if (Math.abs(velocity - velo) > 3 * velTolerance) {
if (Math.abs(velocity - velo) > initTolerance) {
powPID = (double) velocity / maxVel;
ticker = getRuntime();
} else if (velocity - velTolerance > velo) {
@@ -75,11 +74,11 @@ public class redDaniel extends LinearOpMode {
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
robot.spin1.setPosition(spindexer);
robot.spin2.setPosition(1-spindexer);
if (robot.spin1Pos.getVoltage() / 3.3 == spindexer){
if (scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01 && scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01){
robot.transferServo.setPosition(transferServo_in);
transfer = true;
}
if (robot.transferServoPos.getVoltage() / 3.3 == transferServo_in && transfer){
if (scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3) < transferServo_in + 0.01 && scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3) > transferServo_in - 0.01 && transfer){
robot.transferServo.setPosition(transferServo_out);
return false;
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -13,9 +13,9 @@ public class ServoPositions {
public static double spindexer_outtakeBall2 = 0.48;
public static double spindexer_outtakeBall1 = 0.1;
public static double transferServo_out = 0.13;
public static double transferServo_out = 0.15;
public static double transferServo_in = 0.36;
public static double transferServo_in = 0.38;
public static double hoodDefault = 0.35;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
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@@ -8,5 +8,9 @@ public class ShooterVars {
public static double turret_Range = 355;
public static int velTolerance = 500;
public static int velTolerance = 300;
public static int initTolerance = 1000;
public static int maxVel = 4000;
}

52
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
View File

@@ -7,6 +7,7 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
@@ -42,12 +43,22 @@ public class ShooterTest extends LinearOpMode {
double powPID = 0.0;
public static double maxVel = 4500;
public static int maxVel = 4000;
public static int tolerance = 300;
public static boolean shoot = false;
public static int spindexPos = 1;
public static int initTolerance = 1000;
public static boolean intake = true;
double initVel = 0;
double stamp = 0.0;
MultipleTelemetry TELE;
@Override
@@ -59,6 +70,9 @@ public class ShooterTest extends LinearOpMode {
Shooter shooter = new Shooter(robot, TELE);
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooter.setTelemetryOn(true);
shooter.setTurretMode(turrMode);
@@ -69,6 +83,8 @@ public class ShooterTest extends LinearOpMode {
initPos = shooter.getECPRPosition();
initVel = vel;
waitForStart();
if (isStopRequested()) return;
@@ -84,19 +100,45 @@ public class ShooterTest extends LinearOpMode {
robot.hood.setPosition(hoodPos);
robot.turr1.setPosition(turretPos);
robot.turr2.setPosition(1-turretPos);
if (intake){
robot.transfer.setPower(0);
robot.intake.setPower(0.75);
robot.spin1.setPosition(spindexer_intakePos);
robot.spin2.setPosition(1-spindexer_intakePos);
} else {
robot.transfer.setPower(1);
robot.intake.setPower(0);
if (spindexPos == 1){
robot.spin1.setPosition(spindexer_outtakeBall1);
robot.spin2.setPosition(1-spindexer_outtakeBall1);
} else if (spindexPos == 2){
robot.spin1.setPosition(spindexer_outtakeBall2);
robot.spin2.setPosition(1-spindexer_outtakeBall2);
} else if (spindexPos == 3){
robot.spin1.setPosition(spindexer_outtakeBall3);
robot.spin2.setPosition(1-spindexer_outtakeBall3);
}
}
if (vel != initVel){
stamp = getRuntime();
initVel = vel;
}
velo1 = -60 * ((shooter.getECPRPosition() - initPos1) / (getRuntime() - stamp1));
stamp1 = getRuntime();
initPos1 = shooter.getECPRPosition();
if (Math.abs(vel - velo1) > 3 * tolerance) {
if (Math.abs(vel - velo1) > initTolerance && getRuntime() - stamp < 2) {
powPID = vel / maxVel;
} else if (vel - tolerance > velo1) {
powPID = powPID + 0.0001;
powPID = powPID + 0.001;
} else if (vel + tolerance < velo1) {
powPID = powPID - 0.0001;
powPID = powPID - 0.001;
}
if (powPID > 1.0){
powPID = 1.0;
}
shooter.setVelocity(powPID);
robot.transfer.setPower((powPID / 2) + 0.5);
if (shoot){
robot.transferServo.setPosition(transferServo_in);

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java
View File

@@ -15,6 +15,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
public static double turretPos = 0.501;
public static double transferPos = 0.501;
public static double hoodPos = 0.501;
public static double scalar = 1.112;
public static double restPos = 0.158;
@Override
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
@@ -36,10 +39,14 @@ public class PositionalServoProgrammer extends LinearOpMode {
if (hoodPos != 0.501){
robot.hood.setPosition(hoodPos);
}
TELE.addData("spindexer", 1.111111111*((robot.spin1Pos.getVoltage() / 3.3) - 0.05));
TELE.addData("hood", 1.111111111*((robot.hoodPos.getVoltage() / 3.3) - 0.05));
TELE.addData("transferServo", 1.111111111*((robot.transferServoPos.getVoltage() / 3.3) - 0.05));
TELE.addData("turret", 1.111111111*((robot.turr1Pos.getVoltage() / 3.3) - 0.05));
TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
TELE.addData("hoodA", robot.hoodPos.getVoltage());
TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
TELE.addData("turretA", robot.turr1Pos.getVoltage());
TELE.update();
}
}