Before LM1

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue.java

@@ -0,0 +1,425 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.h1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.h2;
+import static org.firstinspires.ftc.teamcode.constants.Poses.h2_b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.h3;
+import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x2;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x2_b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x3;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y2;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y2_b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
+import org.firstinspires.ftc.teamcode.subsystems.Transfer;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+
+@Config
+@Autonomous
+public class Blue extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTag aprilTag;
+
+    Shooter shooter;
+
+
+
+    public static double angle = 0.1;
+
+    Spindexer spindexer;
+
+    Transfer transfer;
+
+
+
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0,0,0
+        ));
+
+        aprilTag = new AprilTag(robot, TELE);
+
+        shooter = new Shooter(robot, TELE);
+
+        spindexer = new Spindexer(robot, TELE);
+
+        spindexer.outtake3();
+
+        shooter.setShooterMode("MANUAL");
+
+        shooter.sethoodPosition(0.53);
+
+        transfer = new Transfer(robot);
+
+        transfer.setTransferPosition(transferServo_out);
+
+        Intake intake = new Intake(robot);
+
+        robot.hood.setPosition(0.54);
+
+
+
+
+
+
+
+
+        TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+
+        TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .turnTo(Math.toRadians(-135))
+                .strafeToLinearHeading(new Vector2d(x2, -y2), -h2 );
+
+
+        TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, -y2, -h2))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+        TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+
+                .strafeToLinearHeading(new Vector2d(x2_b, -y2_b), -h2_b )
+
+                .strafeToLinearHeading(new Vector2d(x3, -y3), -h3 );
+
+
+        TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, -y3, -h3))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+
+        TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .strafeToLinearHeading(new Vector2d(x1, y1-30), h1 );
+
+        while(opModeInInit()) {
+
+            shooter.setTurretPosition(0.33);
+
+            aprilTag.initTelemetry();
+
+            aprilTag.update();
+            shooter.update();
+
+            TELE.update();
+        }
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()){
+
+            robot.hood.setPosition(0.54);
+
+            transfer.setTransferPower(1);
+
+            transfer.update();
+
+
+
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            traj1.build()
+                    )
+            );
+
+
+            transfer.setTransferPower(1);
+
+            transfer.update();
+
+            shooter.setManualPower(1);
+
+            double stamp = getRuntime();
+
+
+             stamp = getRuntime();
+
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.31);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(0);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+
+            robot.intake.setPower(1);
+
+            Actions.runBlocking(
+                    traj2.build()
+            );
+
+
+            Actions.runBlocking(
+                    traj3.build()
+            );
+
+            shooter.setManualPower(1);
+
+
+
+
+            robot.intake.setPower(0);
+
+            spindexer.outtake3();
+
+
+            stamp = getRuntime();
+
+            shooter.setManualPower(1);
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.31);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(0);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+            robot.intake.setPower(1);
+
+            Actions.runBlocking(
+                    traj4.build()
+            );
+
+
+            Actions.runBlocking(
+                    traj5.build()
+            );
+
+            shooter.setManualPower(1);
+
+
+
+
+            robot.intake.setPower(0);
+
+
+            stamp = getRuntime();
+
+            shooter.setManualPower(1);
+
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.31);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(0);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+
+            Actions.runBlocking(
+                    traj6.build()
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addLine("finished");
+
+            TELE.update();
+
+            sleep (2000);
+
+
+        }
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java

@@ -59,6 +59,8 @@ public class Red extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
 
 
+
+
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -86,6 +88,8 @@ public class Red extends LinearOpMode {
 
         Intake intake = new Intake(robot);
 
+        robot.hood.setPosition(0.54);
+
 
 
 
@@ -117,7 +121,7 @@ public class Red extends LinearOpMode {
 
 
         TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
-                .strafeToLinearHeading(new Vector2d(x1, y1-10), h1 );
+                .strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
 
         while(opModeInInit()) {
 
@@ -138,6 +142,8 @@ public class Red extends LinearOpMode {
 
         if (opModeIsActive()){
 
+            robot.hood.setPosition(0.54);
+
             transfer.setTransferPower(1);
 
             transfer.update();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java

@@ -17,7 +17,7 @@ public class Poses {
 
     public static double x2 = 31, y2 = 32, h2 = Math.toRadians(135);
 
-    public static double x2_b = 75, y2_b = 25, h2_b = Math.toRadians(135);
+    public static double x2_b = 65, y2_b = 35, h2_b = Math.toRadians(135);
 
 
     public static double x3 = 45, y3 = 53, h3 = Math.toRadians(135);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java

@@ -295,12 +295,7 @@ public class TeleopV1 extends LinearOpMode {
                 offset +=0.02;
             }
 
-            if (gamepad2.right_stick_y < 0.7){
-                pos = shooter.getAngleByDist(
-                        shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0),  offset)
-                );
 
-            }
 
             TELE.addData("hood", pos);