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DanTheMan-byte
2026-01-08 20:17:13 -06:00
parent 16d9a13376
commit d967e0489d
3 changed files with 15 additions and 15 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -7,9 +7,9 @@ public class ServoPositions {
public static double spindexer_intakePos1 = 0.34; public static double spindexer_intakePos1 = 0.34;
public static double spindexer_intakePos3 = 0.5; public static double spindexer_intakePos2 = 0.5;
public static double spindexer_intakePos2 = 0.66; public static double spindexer_intakePos3 = 0.66;
public static double spindexer_outtakeBall3 = 0.42; public static double spindexer_outtakeBall3 = 0.42;

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/IntakeTest.java
View File

@@ -94,11 +94,12 @@ public class IntakeTest extends LinearOpMode {
} }
} }
} else if (mode == 2){ // switch to this mode before switching modes } else if (mode == 2){ // switch to this mode before switching modes or to reset balls
powPID = 0; powPID = 0;
spindexerPos = spindexer_intakePos1; spindexerPos = spindexer_intakePos1;
stamp = getRuntime(); stamp = getRuntime();
ticker = 0; ticker = 0;
spindexer();
} }
TELE.addData("Manual Power", manualPow); TELE.addData("Manual Power", manualPow);
TELE.addData("PID Power", powPID); TELE.addData("PID Power", powPID);

23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java
View File

@@ -3,16 +3,17 @@ package org.firstinspires.ftc.teamcode.tests;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.hardware.limelightvision.LLResult; import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.hardware.limelightvision.Limelight3A; import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.utils.Robot; import java.util.List;
//TODO: fix to get the apriltag that it is reading //TODO: fix to get the apriltag that it is reading
public class LimelightTest extends LinearOpMode { public class LimelightTest extends LinearOpMode {
MultipleTelemetry TELE; MultipleTelemetry TELE;
public static int pipeline = 0; //0 is for test; 1, 2, and 3 are for obelisk; 4 is for blue track; 5 is for red track public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
int obeliskPipe = 1;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight"); Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
@@ -33,17 +34,15 @@ public class LimelightTest extends LinearOpMode {
} }
} }
} else if (mode == 1){ } else if (mode == 1){
limelight.pipelineSwitch(obeliskPipe); limelight.pipelineSwitch(1);
LLResult result = limelight.getLatestResult(); LLResult result = limelight.getLatestResult();
if (result != null && result.isValid()){ if (result != null && result.isValid()) {
TELE.addData("ID", obeliskPipe+20); List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
TELE.update(); for (LLResultTypes.FiducialResult fiducial : fiducials) {
} else { int id = fiducial.getFiducialId();
if (obeliskPipe >= 3){ TELE.addData("ID", id);
obeliskPipe = 1;
} else {
obeliskPipe++;
} }
} }
} else if (mode == 2){ } else if (mode == 2){
limelight.pipelineSwitch(4); limelight.pipelineSwitch(4);