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stash before merge

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This commit is contained in:
DanTheMan-byte
2026-02-10 20:31:40 -06:00
parent 48b5925b15
commit cc83872a95
6 changed files with 28 additions and 18 deletions
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14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
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@@ -201,7 +201,7 @@ public class Auto_LT_Close extends LinearOpMode {
rearSlotGreen++; rearSlotGreen++;
} }
robot.intake.setPower(1); spindexer.setIntakePower(1);
decideGreenSlot = true; decideGreenSlot = true;
@@ -259,7 +259,7 @@ public class Auto_LT_Close extends LinearOpMode {
} else if ((System.currentTimeMillis() - stamp) < (time * 1000)) { } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
// TELE.addData("MostGreenSlot", mostGreenSlot); // TELE.addData("MostGreenSlot", mostGreenSlot);
// TELE.update(); // TELE.update();
robot.intake.setPower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000); spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
servos.setSpinPos(firstSpindexShootPos); servos.setSpinPos(firstSpindexShootPos);
@@ -294,14 +294,14 @@ public class Auto_LT_Close extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3); spindexer.setIntakePower(-0.3);
if (ticker == 1) { if (ticker == 1) {
stamp = getRuntime(); stamp = getRuntime();
} }
ticker++; ticker++;
robot.intake.setPower(0); spindexer.setIntakePower(0);
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
@@ -373,14 +373,14 @@ public class Auto_LT_Close extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3); spindexer.setIntakePower(-0.3);
if (ticker == 1) { if (ticker == 1) {
stamp = getRuntime(); stamp = getRuntime();
} }
ticker++; ticker++;
robot.intake.setPower(0); spindexer.setIntakePower(0);
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
@@ -448,7 +448,7 @@ public class Auto_LT_Close extends LinearOpMode {
ticker++; ticker++;
spindexer.processIntake(); spindexer.processIntake();
robot.intake.setPower(1); spindexer.setIntakePower(1);
spindexer.ballCounterLight(); spindexer.ballCounterLight();
drive.updatePoseEstimate(); drive.updatePoseEstimate();

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
View File

@@ -146,7 +146,7 @@ public class Auto_LT_Far extends LinearOpMode {
rearSlotGreen++; rearSlotGreen++;
} }
robot.intake.setPower(1); spindexer.setIntakePower(1);
decideGreenSlot = true; decideGreenSlot = true;
@@ -204,7 +204,7 @@ public class Auto_LT_Far extends LinearOpMode {
} else if ((System.currentTimeMillis() - stamp) < (time * 1000)) { } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
// TELE.addData("MostGreenSlot", mostGreenSlot); // TELE.addData("MostGreenSlot", mostGreenSlot);
// TELE.update(); // TELE.update();
robot.intake.setPower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000); spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
servos.setSpinPos(firstSpindexShootPos); servos.setSpinPos(firstSpindexShootPos);
@@ -239,14 +239,14 @@ public class Auto_LT_Far extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3); spindexer.setIntakePower(-0.3);
if (ticker == 1) { if (ticker == 1) {
stamp = getRuntime(); stamp = getRuntime();
} }
ticker++; ticker++;
robot.intake.setPower(0); spindexer.setIntakePower(0);
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
@@ -318,14 +318,14 @@ public class Auto_LT_Far extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3); spindexer.setIntakePower(-0.3);
if (ticker == 1) { if (ticker == 1) {
stamp = getRuntime(); stamp = getRuntime();
} }
ticker++; ticker++;
robot.intake.setPower(0); spindexer.setIntakePower(0);
drive.updatePoseEstimate(); drive.updatePoseEstimate();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
@@ -393,7 +393,7 @@ public class Auto_LT_Far extends LinearOpMode {
ticker++; ticker++;
spindexer.processIntake(); spindexer.processIntake();
robot.intake.setPower(1); spindexer.setIntakePower(1);
spindexer.ballCounterLight(); spindexer.ballCounterLight();
drive.updatePoseEstimate(); drive.updatePoseEstimate();

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
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@@ -1,7 +1,9 @@
package org.firstinspires.ftc.teamcode.constants; package org.firstinspires.ftc.teamcode.constants;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
@Disabled
@Config @Config
public class Poses_V2 { public class Poses_V2 {

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
View File

@@ -1,7 +1,9 @@
package org.firstinspires.ftc.teamcode.constants; package org.firstinspires.ftc.teamcode.constants;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
@Disabled
@Config @Config
public class ShooterVars { public class ShooterVars {

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -239,13 +239,12 @@ public class TeleopV3 extends LinearOpMode {
// RIGHT_BUMPER // RIGHT_BUMPER
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) { if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
robot.intake.setPower(1); spindexer.setIntakePower(1);
} else if (gamepad1.cross) { } else if (gamepad1.cross) {
robot.intake.setPower(-1); spindexer.setIntakePower(-1);
} else { } else {
robot.intake.setPower(0); spindexer.setIntakePower(0);
} }
// LEFT_BUMPER // LEFT_BUMPER

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
View File

@@ -625,4 +625,11 @@ public class Spindexer {
public BallColor GetRearCenterColor () { public BallColor GetRearCenterColor () {
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor; return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
} }
private double prevPow = 0.501;
public void setIntakePower(double pow){
if (prevPow != 0.501 && prevPow != pow){
robot.intake.setPower(pow);
}
prevPow = pow;
}
} }