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added limelight

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This commit is contained in:
DanTheMan-byte
2026-06-04 20:57:19 -05:00
parent 3ab905af0c
commit e25b372eca
6 changed files with 57 additions and 6 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12BallPedroPathing.java
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@@ -337,6 +337,8 @@ public class Auto12BallPedroPathing extends LinearOpMode {
initializePoses();
follower.setPose(startPose);
buildPaths();
// turret.switchPipeline(Turret.PipelineMode.OBELISK);
robot.limelight.start();
sleep(2000);
// turret.setTurret(turrDefault);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java
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@@ -326,6 +326,8 @@ public class Auto12Ball_Back_Sorted extends LinearOpMode {
initializePoses();
follower.setPose(startPose);
buildPaths();
// turret.switchPipeline(Turret.PipelineMode.OBELISK);
robot.limelight.start();
sleep(2000);
}

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
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@@ -16,6 +16,8 @@ import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
import org.firstinspires.ftc.teamcode.utilsv2.*;
import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
@TeleOp
@Config
public class TeleopV4 extends LinearOpMode {
@@ -60,6 +62,10 @@ public class TeleopV4 extends LinearOpMode {
spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
turret.switchPipeline(Turret.PipelineMode.TRACKING);
robot.limelight.start();
limelightUsed = false;
waitForStart();
@@ -112,6 +118,12 @@ public class TeleopV4 extends LinearOpMode {
);
}
if (gamepad2.leftBumperWasPressed()){
limelightUsed = false;
} else if (gamepad2.rightBumperWasPressed()){
limelightUsed = true;
}
if (gamepad1.dpad_down){
parkTilter.park();
} else if (gamepad1.dpad_up) {

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
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@@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@@ -63,6 +64,11 @@ public class NewShooterTest extends LinearOpMode {
spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
turret.switchPipeline(Turret.PipelineMode.TRACKING);
robot.limelight.start();
limelightUsed = true;
waitForStart();
if (isStopRequested()) return;
@@ -83,6 +89,12 @@ public class NewShooterTest extends LinearOpMode {
shooter.update(robot.voltage.getVoltage());
spindexerTransferIntake.update();
if (gamepad2.leftBumperWasPressed()){
limelightUsed = false;
} else if (gamepad2.rightBumperWasPressed()){
limelightUsed = true;
}
SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
if (gamepad1.leftBumperWasPressed() &&

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
View File

@@ -43,13 +43,13 @@ public class Shooter {
if (this.red) {
goalX = 144;
turretGoalX = 136;
turretGoalX = 140;
} else {
goalX = 0;
turretGoalX = 8;
}
goalY = 144;
turretGoalY = 136;
turretGoalY = 132;
}
private double flywheelVelocity = 0.0;

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
View File

@@ -11,7 +11,6 @@ import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.teleop.TeleopV3;
import java.util.List;
@@ -25,7 +24,6 @@ public class Turret {
private final double turretMax = 0.95;
public static boolean limelightUsed = true;
public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
Limelight3A webcam;
LLResult result;
PIDController bearingPID;
boolean bearingAligned = false;
@@ -49,6 +47,7 @@ public class Turret {
public Turret(Robot rob) {
this.robot = rob;
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
}
private double wrapAngle(double angle) {
@@ -58,7 +57,8 @@ public class Turret {
}
private void limelightRead() { // only for tracking purposes, not general reads
result = webcam.getLatestResult();
switchPipeline(PipelineMode.TRACKING);
result = robot.limelight.getLatestResult();
tx = 1000;
if (result != null) {
if (result.isValid()) {
@@ -67,6 +67,29 @@ public class Turret {
}
}
public enum PipelineMode{
OBELISK,
TRACKING
}
private int prevPipeline = 0;
public void switchPipeline(PipelineMode pipelineMode){
int pipeline = 0;
if (pipelineMode == PipelineMode.OBELISK){
pipeline = 1;
} else if (pipelineMode == PipelineMode.TRACKING){
if (Color.redAlliance){
pipeline = 4;
} else {
pipeline = 2;
}
}
if (pipeline == 0){prevPipeline = 0;}
if (pipeline != prevPipeline){
robot.limelight.pipelineSwitch(pipeline);
}
}
public void trackObelisk(double dx, double dy, double h) {
double heading = wrapAngle(h);
@@ -95,7 +118,7 @@ public class Turret {
}
private int detectObelisk() {
robot.limelight.pipelineSwitch(1);
switchPipeline(PipelineMode.OBELISK);
result = robot.limelight.getLatestResult();
if (result != null && result.isValid()) {
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();