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League Tournament Success

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This commit is contained in:
DanTheMan-byte
2026-02-02 18:07:26 -06:00
parent b60d64b98f
commit e1615d7647
3 changed files with 1053 additions and 15 deletions
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49
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far_Indexed.java
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@@ -42,7 +42,7 @@ import java.util.Objects;
@Config
@Autonomous(preselectTeleOp = "TeleopV3")
public class Auto_LT_Far_Indexed extends LinearOpMode {
public static double shoot0Vel = 2300, shoot0Hood = 0.93 + hoodOffset;
public static double shoot0Vel = 3200, shoot0Hood = 0.5 + hoodOffset;
public static double autoSpinStartPos = 0.2;
public static double shoot0SpinSpeedIncrease = 0.015;
@@ -63,8 +63,8 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
public static double normalIntakeTime = 3.3;
public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0;
public static double redTurretShootPos = turrDefault + 0.12;
public static double blueTurretShootPos = turrDefault - 0.14;
public static double redTurretShootPos = turrDefault ;
public static double blueTurretShootPos = turrDefault ;
double turretShootPos = 0.0;
public static double finalShootAllTime = 3.0;
@@ -96,6 +96,8 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
public static double colorSenseTime = 1.2;
public static double firstShootTime = 0.3;
public static int fwdTime = 200, strafeTime = 2300;
public int motif = 0;
Robot robot;
@@ -265,7 +267,7 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
};
}
public static int sleepTime = 300;
public static int sleepTime = 1300;
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
return new Action() {
@@ -711,7 +713,7 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
turret.manualSetTurret(turrDefault);
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
drive = new MecanumDrive(hardwareMap, teleEnd);
robot.spin1.setPosition(autoSpinStartPos);
robot.spin2.setPosition(1 - autoSpinStartPos);
@@ -729,7 +731,7 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
while (opModeInInit()) {
robot.hood.setPosition(shoot0Hood);
turret.manualSetTurret(turrDefault);
turret.manualSetTurret(turretShootPos);
if (gamepad2.crossWasPressed()) {
redAlliance = !redAlliance;
@@ -751,8 +753,7 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
blueObeliskTurrPos2 = turrDefault - 0.13;
blueObeliskTurrPos3 = turrDefault - 0.14;
redTurretShootPos = turrDefault + 0.12;
blueTurretShootPos = turrDefault - 0.14;
redTurretShootPos = turrDefault + 0.05;
@@ -815,8 +816,8 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
manageFlywheel(
shoot0Vel,
shoot0Hood,
flywheel0Time,
x1,
9,
0.501,
0.501,
shoot0XTolerance,
0.501
@@ -825,8 +826,12 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
)
);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
Actions.runBlocking(
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
shootAll((int) shoot0Vel, 6, shoot0SpinSpeedIncrease)
);
robot.frontLeft.setPower(-0.4);
@@ -834,14 +839,32 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
robot.backLeft.setPower(-0.4);
robot.backRight.setPower(-0.4);
sleep (sleepTime);
sleep (fwdTime);
robot.frontLeft.setPower(0);
robot.frontRight.setPower(0);
robot.backLeft.setPower(0);
robot.backRight.setPower(0);
sleep (sleepTime);
robot.frontLeft.setPower(-0.4);
robot.frontRight.setPower(0.4);
robot.backLeft.setPower(0.4);
robot.backRight.setPower(-0.4);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
sleep (strafeTime);
robot.frontLeft.setPower(0);
robot.frontRight.setPower(0);
robot.backLeft.setPower(0);
robot.backRight.setPower(0);
while(opModeIsActive()) {
drive.updatePoseEstimate();
@@ -849,8 +872,8 @@ public class Auto_LT_Far_Indexed extends LinearOpMode {
TELE.addLine("finished");
TELE.update();
}
sleep(2000);
}

1013
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far_Red2.java Normal file
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File diff suppressed because it is too large Load Diff

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -291,6 +291,8 @@ public class TeleopV3 extends LinearOpMode {
}
if (gamepad2.square) {
drive.updatePoseEstimate();
teleEnd = drive.localizer.getPose();
gamepad2.rumble(1000);