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Merge branch 'LoopTimeReduction' into danielv5

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# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
This commit is contained in:
DanTheMan-byte
2026-02-10 20:47:05 -06:00
parent cc83872a95 f5b8b2fd89
commit d48185d393
4 changed files with 24 additions and 15 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -105,7 +105,6 @@ public class TeleopV3 extends LinearOpMode {
limelightUsed = true; limelightUsed = true;
robot.light.setPosition(1); robot.light.setPosition(1);
while (opModeInInit()) { while (opModeInInit()) {
robot.limelight.start(); robot.limelight.start();
if (redAlliance) { if (redAlliance) {
@@ -265,7 +264,7 @@ public class TeleopV3 extends LinearOpMode {
spindexer.prepareShootAllContinous(); spindexer.prepareShootAllContinous();
//TELE.addLine("preparing to shoot"); //TELE.addLine("preparing to shoot");
// } else if (shooterTicker == 2) { // } else if (shooterTicker == 2) {
// //robot.transferServo.setPosition(transferServo_in); // //servo.setTransferPos(transferServo_in);
// spindexer.shootAll(); // spindexer.shootAll();
// TELE.addLine("starting to shoot"); // TELE.addLine("starting to shoot");
} else if (!spindexer.shootAllComplete()) { } else if (!spindexer.shootAllComplete()) {

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -12,6 +12,7 @@ public class Flywheel {
public double velo1 = 0.0; public double velo1 = 0.0;
public double velo2 = 0.0; public double velo2 = 0.0;
double targetVelocity = 0.0; double targetVelocity = 0.0;
double previousTargetVelocity = 0.0;
double powPID = 0.0; double powPID = 0.0;
boolean steady = false; boolean steady = false;
public Flywheel (HardwareMap hardwareMap) { public Flywheel (HardwareMap hardwareMap) {
@@ -55,20 +56,21 @@ public class Flywheel {
private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;} private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
public double manageFlywheel(double commandedVelocity) { public double manageFlywheel(double commandedVelocity) {
// Add code here to set PIDF based on desired RPM
if (targetVelocity != commandedVelocity){
robot.shooter1.setVelocity(RPM_to_TPS(commandedVelocity));
robot.shooter2.setVelocity(RPM_to_TPS(commandedVelocity));
}
if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
targetVelocity = commandedVelocity; targetVelocity = commandedVelocity;
// Add code here to set PIDF based on desired RPM
//robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
//robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
// Record Current Velocity // Record Current Velocity
velo1 = TPS_to_RPM(robot.shooter1.getVelocity()); velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
velo2 = TPS_to_RPM(robot.shooter2.getVelocity()); velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
velo = Math.max(velo1, velo2); velo = Math.max(velo1, velo2);
}
// really should be a running average of the last 5 // really should be a running average of the last 5
steady = (Math.abs(targetVelocity - velo) < 200.0); steady = (Math.abs(targetVelocity - velo) < 200.0);

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
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@@ -91,4 +91,8 @@ public class Servos {
public double setTurrPos(double pos) { public double setTurrPos(double pos) {
return 1.0; return 1.0;
} }
public boolean turretEqual(double pos) {
return true;
}
} }

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -11,6 +11,7 @@ import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.hardware.limelightvision.Limelight3A; import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D; import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
@@ -38,7 +39,7 @@ public class Turret {
public static double clampTolerance = 0.03; public static double clampTolerance = 0.03;
//public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125; //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
public static double B_PID_P = 0.095, B_PID_I = 0.0, B_PID_D = 0.0090; public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
Limelight3A webcam; Limelight3A webcam;
@@ -56,6 +57,9 @@ public class Turret {
private double permanentOffset = 0.0; private double permanentOffset = 0.0;
private PIDController bearingPID; private PIDController bearingPID;
private double prevTurretPos = 0.0;
private boolean firstTurretPos = true;
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) { public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
this.TELE = tele; this.TELE = tele;
this.robot = rob; this.robot = rob;