KeshavAnandCode/FTCDecodeMain
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Merge branch 'master' into danielv5

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This commit is contained in:
DanTheMan-byte
2026-02-12 20:17:06 -06:00
parent a4755bf668 93ed2208a9
commit da944661a4
16 changed files with 352 additions and 112 deletions
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5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Color.java
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@@ -6,6 +6,11 @@ import com.acmerobotics.dashboard.config.Config;
public class Color {
public static boolean redAlliance = true;
public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
public static double LightGreen = 0.5;
public static double LightPurple = 0.715;
public static double LightOrange = 0.33;
public static double LightRed = 0.28;
public static double LightBlue = 0.6;
public static double colorFilterAlpha = 1;
}

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Types.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/StateEnums.java
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@@ -1,10 +1,19 @@
package org.firstinspires.ftc.teamcode.constants;
public class Types {
public class StateEnums {
public enum Motif {
NONE,
GPP, // Green, Purple, Purple
PGP, // Purple, Green, Purple
PPG // Purple, Purple, Green
}
public enum LightState {
BALL_COUNT,
BALL_COLOR,
GOAL_LOCK,
MANUAL,
DISABLED,
OFF
}
}

52
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -16,9 +16,12 @@ import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.constants.StateEnums;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Drivetrain;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Light;
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -48,6 +51,7 @@ public class TeleopV3 extends LinearOpMode {
boolean fixedTurret = false;
Robot robot;
MultipleTelemetry TELE;
Light light;
Servos servo;
Flywheel flywheel;
MecanumDrive drive;
@@ -65,7 +69,6 @@ public class TeleopV3 extends LinearOpMode {
double headingOffset = 0.0;
int ticker = 0;
boolean autoSpintake = false;
boolean enableSpindexerManager = true;
@@ -102,6 +105,11 @@ public class TeleopV3 extends LinearOpMode {
tController.setTolerance(0.001);
Turret turret = new Turret(robot, TELE, robot.limelight);
light = Light.getInstance();
light.init(robot.light, spindexer, turret);
light.setState(StateEnums.LightState.MANUAL);
limelightUsed = true;
robot.light.setPosition(1);
@@ -109,11 +117,18 @@ public class TeleopV3 extends LinearOpMode {
robot.limelight.start();
if (redAlliance) {
robot.limelight.pipelineSwitch(4);
light.setManualLightColor(Color.LightRed);
} else {
robot.limelight.pipelineSwitch(2);
light.setManualLightColor(Color.LightBlue);
}
light.update();
}
limelightUsed = true;
waitForStart();
if (isStopRequested()) return;
@@ -124,9 +139,6 @@ public class TeleopV3 extends LinearOpMode {
//TELE.addData("Is limelight on?", robot.limelight.getStatus());
// LIGHT COLORS
spindexer.ballCounterLight();
//DRIVETRAIN:
drivetrain.drive(
@@ -137,9 +149,17 @@ public class TeleopV3 extends LinearOpMode {
);
if (gamepad1.right_bumper) {
shootAll = false;
servo.setTransferPos(transferServo_out);
light.setState(StateEnums.LightState.BALL_COUNT);
} else if (gamepad2.triangle){
light.setState(StateEnums.LightState.BALL_COLOR);
} else {
light.setState(StateEnums.LightState.GOAL_LOCK);
}
//TURRET TRACKING
@@ -230,6 +250,8 @@ public class TeleopV3 extends LinearOpMode {
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
}
if (enableSpindexerManager) {
//if (!shootAll) {
spindexer.processIntake();
@@ -321,16 +343,16 @@ public class TeleopV3 extends LinearOpMode {
//
// TELE.addData("shootall commanded", shootAll);
// Targeting Debug
// TELE.addData("robotX", robotX);
// TELE.addData("robotY", robotY);
// TELE.addData("robotInchesX", targeting.robotInchesX);
// TELE.addData( "robotInchesY", targeting.robotInchesY);
// TELE.addData("Targeting Interpolate", turretInterpolate);
// TELE.addData("Targeting GridX", targeting.robotGridX);
// TELE.addData("Targeting GridY", targeting.robotGridY);
// TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
// TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
// TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
TELE.addData("robotX", robotX);
TELE.addData("robotY", robotY);
TELE.addData("robotInchesX", targeting.robotInchesX);
TELE.addData("robotInchesY", targeting.robotInchesY);
TELE.addData("Targeting Interpolate", turretInterpolate);
TELE.addData("Targeting GridX", targeting.robotGridX);
TELE.addData("Targeting GridY", targeting.robotGridY);
TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
@@ -338,6 +360,8 @@ public class TeleopV3 extends LinearOpMode {
TELE.update();
light.update();
ticker++;
}
}

108
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Light.java Normal file
View File

@@ -0,0 +1,108 @@
package org.firstinspires.ftc.teamcode.utils;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.constants.StateEnums.LightState;
@Config
public final class Light {
private static Light instance;
public static double ballColorCycleTime = 1000; //in ms
public static double restingTime = 150; //in ms
private Servo lightServo;
private LightState state = LightState.DISABLED;
// References to other systems (NOT static)
private Spindexer spindexer;
private Turret turret;
private double manualLightColor = Color.Light0;
private double lightColor = Color.Light0;
private double previousLightColor = lightColor;
private Light() {
}
public static synchronized Light getInstance() {
if (instance == null) {
instance = new Light();
}
return instance;
}
// Call once in OpMode init()
public void init(
Servo servo,
Spindexer spin,
Turret turr
) {
this.lightServo = servo;
this.spindexer = spin;
this.turret = turr;
}
public void setManualLightColor(double value) {
this.manualLightColor = value;
}
public void setState(LightState newState) {
state = newState;
}
public void update() {
if (lightServo == null) return;
switch (state) {
case BALL_COUNT:
lightColor = spindexer.ballCounterLight();
break;
case BALL_COLOR:
if ((System.currentTimeMillis() % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
lightColor = spindexer.getRearCenterLight();
} else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime / 3)) {
lightColor = 0;
} else if ((System.currentTimeMillis() % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
lightColor = spindexer.getDriverLight();
} else if ((System.currentTimeMillis() % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
lightColor = 0;
} else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
lightColor = spindexer.getPassengerLight();
} else {
lightColor = 0;
}
break;
case GOAL_LOCK:
lightColor = turret.getLightColor();
break;
case MANUAL:
lightColor = manualLightColor;
break;
case DISABLED:
break;
case OFF:
lightColor = 0;
break;
}
if (lightColor != previousLightColor) {
lightServo.setPosition(lightColor);
}
previousLightColor = lightColor;
}
}

72
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
View File

@@ -22,9 +22,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.constants.Types;
import org.firstinspires.ftc.teamcode.constants.StateEnums;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import java.util.Objects;
public class Spindexer {
Robot robot;
@@ -50,7 +52,7 @@ public class Spindexer {
private double prevPos = 0.0;
public double spindexerPosOffset = 0.00;
public static int shootWaitMax = 4;
public Types.Motif desiredMotif = Types.Motif.NONE;
public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
// For Use
enum RotatedBallPositionNames {
REARCENTER,
@@ -284,35 +286,65 @@ public class Spindexer {
}
private double prevLight = 0.0;
public void ballCounterLight(){
public double getRearCenterLight() {
BallColor color = GetRearCenterColor();
if (Objects.equals(color, BallColor.GREEN)) {
return LightGreen;
} else if (Objects.equals(color, BallColor.PURPLE)) {
return LightPurple;
} else {
return LightOrange;
}
}
public double getDriverLight() {
BallColor color = GetFrontDriverColor();
if (Objects.equals(color, BallColor.GREEN)) {
return LightGreen;
} else if (Objects.equals(color, BallColor.PURPLE)) {
return LightPurple;
} else {
return LightOrange;
}
}
public double getPassengerLight() {
BallColor color = GetFrontPassengerColor();
if (Objects.equals(color, BallColor.GREEN)) {
return LightGreen;
} else if (Objects.equals(color, BallColor.PURPLE)) {
return LightPurple;
} else {
return LightOrange;
}
}
public double ballCounterLight() {
int counter = 0;
if (!ballPositions[0].isEmpty){
if (!ballPositions[0].isEmpty) {
counter++;
}
if (!ballPositions[1].isEmpty){
if (!ballPositions[1].isEmpty) {
counter++;
}
if (!ballPositions[2].isEmpty){
if (!ballPositions[2].isEmpty) {
counter++;
}
double light;
if (counter == 3){
light = Light3;
} else if (counter == 2){
light = Light2;
} else if (counter == 1){
light = Light1;
if (counter == 3) {
return Light3;
} else if (counter == 2) {
return Light2;
} else if (counter == 1) {
return Light1;
} else {
light = Light0;
return Light0;
}
if (light != prevLight){
robot.light.setPosition(light);
}
prevLight = light;
}
public boolean slotIsEmpty(int slot){
return !ballPositions[slot].isEmpty;
}
@@ -531,7 +563,7 @@ public class Spindexer {
return false;
}
public void setDesiredMotif (Types.Motif newMotif) {
public void setDesiredMotif (StateEnums.Motif newMotif) {
desiredMotif = newMotif;
}

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
View File

@@ -9,11 +9,11 @@ import com.arcrobotics.ftclib.controller.PIDController;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
import org.firstinspires.ftc.teamcode.constants.Color;
import java.util.List;
@@ -53,6 +53,7 @@ public class Turret {
private int obeliskID = 0;
private double offset = 0.0;
private double currentTrackOffset = 0.0;
private double lightColor = Color.LightRed;
private int currentTrackCount = 0;
private double permanentOffset = 0.0;
private PIDController bearingPID;
@@ -67,6 +68,10 @@ public class Turret {
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
}
public double getLightColor() {
return lightColor;
}
public void zeroTurretEncoder() {
robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
@@ -161,11 +166,17 @@ public class Turret {
// LL has 54.5 degree total Horizontal FOV; very edges are not useful.
final double HORIZONTAL_FOV_RANGE = 26.0; // Total usable horizontal degrees from center +/-
final double DRIVE_POWER_REDUCTION = 2.0;
final double COLOR_OK_TOLERANCE = 2.5;
if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
bearingAligned = true;
} else {
lightColor = Color.LightBlue;
} else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
bearingAligned = false;
lightColor = Color.LightPurple;
} else {
bearingAligned = false;
lightColor = Color.LightOrange;
}
// Only with valid data and if too far off target
@@ -254,6 +265,7 @@ public class Turret {
// if (currentTrackCount > 20) {
// offset = currentTrackOffset;
// }
lightColor = Color.LightRed;
currentTrackOffset = 0.0;
currentTrackCount = 0;
}