Code Cleanup
This commit is contained in:
@@ -1,753 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous.disabled;
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import static org.firstinspires.ftc.teamcode.constants.Color.*;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.SequentialAction;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.Vector2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.hardware.limelightvision.LLResult;
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import com.qualcomm.hardware.limelightvision.LLResultTypes;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import java.util.List;
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@Disabled
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@Config
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class AutoClose_V3 extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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FlywheelV2 flywheel;
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Servos servo;
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double velo = 0.0;
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public static double intake1Time = 2.7;
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public static double intake2Time = 3.0;
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public static double colorDetect = 3.0;
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boolean gpp = false;
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boolean pgp = false;
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boolean ppg = false;
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double powPID = 0.0;
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double bearing = 0.0;
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int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
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int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
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int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
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public static double holdTurrPow = 0.1; // power to hold turret in place
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public Action initShooter(int vel) {
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return new Action() {
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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TELE.addData("Velocity", velo);
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TELE.update();
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return !flywheel.getSteady();
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}
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};
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}
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public Action Obelisk() {
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return new Action() {
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int id = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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LLResult result = robot.limelight.getLatestResult();
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if (result != null && result.isValid()) {
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List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
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for (LLResultTypes.FiducialResult fiducial : fiducials) {
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id = fiducial.getFiducialId();
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TELE.addData("ID", id);
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TELE.update();
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}
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}
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if (id == 21){
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gpp = true;
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} else if (id == 22){
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pgp = true;
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} else if (id == 23){
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ppg = true;
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}
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TELE.addData("Velocity", velo);
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TELE.addData("21", gpp);
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TELE.addData("22", pgp);
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TELE.addData("23", ppg);
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TELE.update();
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if (gpp || pgp || ppg) {
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if (redAlliance){
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robot.limelight.pipelineSwitch(3);
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double turretPID = turret_redClose;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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return false;
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} else {
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robot.limelight.pipelineSwitch(2);
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double turretPID = turret_blueClose;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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return false;
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}
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} else {
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return true;
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}
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}
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};
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}
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public Action spindex(double spindexer, int vel) {
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return new Action() {
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double spinPID = 0.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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spinPID = servo.setSpinPos(spindexer);
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robot.spin1.setPosition(spinPID);
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robot.spin2.setPosition(-spinPID);
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TELE.addData("Velocity", velo);
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TELE.addLine("spindex");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (servo.spinEqual(spindexer)){
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robot.spin1.setPosition(0);
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robot.spin2.setPosition(0);
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action Shoot(int vel) {
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return new Action() {
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double transferStamp = 0.0;
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int ticker = 1;
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boolean transferIn = false;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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TELE.addData("Velocity", velo);
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TELE.addLine("shooting");
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TELE.update();
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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drive.updatePoseEstimate();
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detectTag();
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teleStart = drive.localizer.getPose();
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if (ticker == 1) {
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transferStamp = getRuntime();
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ticker++;
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}
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if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
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robot.transferServo.setPosition(transferServo_in);
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TELE.addData("Velocity", velo);
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TELE.addData("ticker", ticker);
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TELE.update();
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transferIn = true;
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return true;
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} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
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robot.transferServo.setPosition(transferServo_out);
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robot.turr1.setPosition(holdTurrPow);
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robot.turr2.setPosition(holdTurrPow);
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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action intake(double intakeTime) {
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return new Action() {
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double position = spindexer_intakePos1;
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double stamp = 0.0;
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int ticker = 0;
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double pow = 1.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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robot.intake.setPower(pow);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if (!servo.spinEqual(position)){
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double spinPID = servo.setSpinPos(position);
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robot.spin1.setPosition(spinPID);
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robot.spin2.setPosition(-spinPID);
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}
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if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
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if (s2D > 60){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos2;
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos1;
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}
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} else if (s3D > 33){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos1;
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos2;
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}
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}
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stamp = getRuntime();
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Intaking");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(1);
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if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
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robot.spin1.setPosition(0);
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robot.spin2.setPosition(0);
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if (getRuntime() - stamp - intakeTime < 1){
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pow = -2*(getRuntime() - stamp - intakeTime);
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return true;
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} else {
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robot.intake.setPower(0);
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return false;
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}
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} else {
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return true;
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}
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}
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};
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}
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public Action ColorDetect(int vel) {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (s1D < 43) {
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double green = robot.color1.getNormalizedColors().green;
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double red = robot.color1.getNormalizedColors().red;
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double blue = robot.color1.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b1 = 2;
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} else {
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b1 = 1;
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}
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}
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if (s2D < 60) {
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double green = robot.color2.getNormalizedColors().green;
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double red = robot.color2.getNormalizedColors().red;
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double blue = robot.color2.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b2 = 2;
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} else {
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b2 = 1;
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}
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}
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if (s3D < 33) {
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double green = robot.color3.getNormalizedColors().green;
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double red = robot.color3.getNormalizedColors().red;
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double blue = robot.color3.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b3 = 2;
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} else {
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b3 = 1;
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}
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Detecting");
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TELE.addData("Distance 1", s1D);
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TELE.addData("Distance 2", s2D);
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TELE.addData("Distance 3", s3D);
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TELE.addData("B1", b1);
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TELE.addData("B2", b2);
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TELE.addData("B3", b3);
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TELE.update();
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return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
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}
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};
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}
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@Override
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public void runOpMode() throws InterruptedException {
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robot = new Robot(hardwareMap);
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flywheel = new FlywheelV2();
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TELE = new MultipleTelemetry(
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telemetry, FtcDashboard.getInstance().getTelemetry()
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);
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drive = new MecanumDrive(hardwareMap, new Pose2d(
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0, 0, 0
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));
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robot.limelight.pipelineSwitch(1);
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robot.limelight.start();
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TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
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.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
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TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
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.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
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TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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while (opModeInInit()) {
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if (gamepad2.dpadUpWasPressed()) {
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hoodAuto -= 0.01;
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}
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if (gamepad2.dpadDownWasPressed()) {
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hoodAuto += 0.01;
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}
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if (gamepad2.crossWasPressed()){
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redAlliance = !redAlliance;
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}
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double turrPID;
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if (redAlliance){
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turrPID = turret_detectRedClose;
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
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.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
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shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
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.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
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shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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} else {
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turrPID = turret_detectBlueClose;
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
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.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
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shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
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.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
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shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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}
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robot.turr1.setPosition(turrPID);
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robot.turr2.setPosition(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = turretPos;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,653 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
@Disabled
|
||||
@Config
|
||||
@Autonomous
|
||||
|
||||
public class AutoFar_V1 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.1; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
robot.turr1.setPosition(turret_redFar);
|
||||
robot.turr2.setPosition(-turret_redFar);
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
|
||||
robot.turr1.setPosition(turret_blueFar);
|
||||
robot.turr2.setPosition(-turret_blueFar);
|
||||
|
||||
}
|
||||
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPosition(spinPID);
|
||||
robot.spin2.setPosition(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)){
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPosition(holdTurrPow);
|
||||
robot.turr2.setPosition(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position)){
|
||||
double spinPID = servo.setSpinPos(position);
|
||||
robot.spin1.setPosition(spinPID);
|
||||
robot.spin2.setPosition(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
//TODO: add positions to develop auto
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
|
||||
.strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = turret_detectRedClose;
|
||||
} else {
|
||||
turrPID = turret_detectBlueClose;
|
||||
}
|
||||
|
||||
robot.turr1.setPosition(turrPID);
|
||||
robot.turr2.setPosition(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAutoFar);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
initShooter(AUTO_FAR_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(park.build());
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = turretPos;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,4 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.disabled;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -186,7 +186,7 @@ public class TeleopV3 extends LinearOpMode {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
//LIMELIGHT START
|
||||
|
||||
TELE.addData("Is limelight on?", robot.limelight.getStatus());
|
||||
|
||||
// LIGHT COLORS
|
||||
@@ -256,85 +256,6 @@ public class TeleopV3 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
//COLOR:
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
TELE.addData("gp1", gP);
|
||||
|
||||
if (gP >= 0.36) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
TELE.addData("gp2", gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
TELE.addData("gp3", gP);
|
||||
|
||||
s3G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s3.add(true);
|
||||
} else {
|
||||
s3.add(false);
|
||||
}
|
||||
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (!s1.isEmpty()) {
|
||||
green1 = checkGreen(s1, s1T);
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
double offset;
|
||||
@@ -361,11 +282,9 @@ public class TeleopV3 extends LinearOpMode {
|
||||
turret.trackGoal(deltaPose);
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
if (targetingVel) {
|
||||
if (autoVel) {
|
||||
vel = targetingSettings.flywheelRPM;
|
||||
} else if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
@@ -392,9 +311,7 @@ public class TeleopV3 extends LinearOpMode {
|
||||
|
||||
if (targetingHood) {
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
} else if (autoHood) {
|
||||
robot.hood.setPosition(0.15 + hoodOffset);
|
||||
} else {
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
@@ -431,18 +348,6 @@ public class TeleopV3 extends LinearOpMode {
|
||||
autoHood = true;
|
||||
fixedTurret = false;
|
||||
}
|
||||
//
|
||||
// if (gamepad2.left_stick_y < -0.5) {
|
||||
// autoHood = true;
|
||||
// } else if (gamepad2.left_stick_y > 0.5) {
|
||||
// autoHood = false;
|
||||
// hoodOffset = 0;
|
||||
// if (gamepad2.left_bumper) {
|
||||
// xOffset = robotX;
|
||||
// yOffset = robotY;
|
||||
// headingOffset = robotHeading;
|
||||
// }
|
||||
// }
|
||||
|
||||
if (enableSpindexerManager) {
|
||||
//if (!shootAll) {
|
||||
@@ -471,50 +376,6 @@ public class TeleopV3 extends LinearOpMode {
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
// if (servo.getSpinPos() < spindexer_outtakeBall2 + 0.4) {
|
||||
//
|
||||
// if (shooterTicker == 0){
|
||||
// robot.transferServo.setPosition(transferServo_out);
|
||||
// robot.spin1.setPosition(spinStartPos);
|
||||
// robot.spin2.setPosition(1-spinStartPos);
|
||||
// if (servo.spinEqual(spinStartPos)){
|
||||
// shooterTicker++;
|
||||
// }
|
||||
// TELE.addLine("starting to shoot");
|
||||
// } else {
|
||||
// robot.transferServo.setPosition(transferServo_in);
|
||||
// shooterTicker++;
|
||||
// double prevSpinPos = servo.getSpinPos();
|
||||
// robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
|
||||
// robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
|
||||
// TELE.addLine("shooting");
|
||||
// }
|
||||
|
||||
// //robot.intake.setPower(-0.3);
|
||||
// if (getRuntime() - shootStamp < 3.0) {
|
||||
//
|
||||
// if (shooterTicker == 0 && !servo.spinEqual(ServoPositions.shootAllAutoSpinStartPos)) {
|
||||
// robot.spin1.setPosition(ServoPositions.shootAllAutoSpinStartPos);
|
||||
// robot.spin2.setPosition(1 - ServoPositions.shootAllAutoSpinStartPos);
|
||||
// } else {
|
||||
// shooterTicker++;
|
||||
// //robot.intake.setPower(0.0);
|
||||
// robot.transferServo.setPosition(transferServo_in);
|
||||
// double prevSpinPos = robot.spin1.getPosition();
|
||||
// robot.spin1.setPosition(prevSpinPos + ServoPositions.shootAllSpindexerSpeedIncrease);
|
||||
// robot.spin2.setPosition(1 - prevSpinPos - ServoPositions.shootAllAutoSpinStartPos);
|
||||
// }
|
||||
//
|
||||
// } else {
|
||||
// robot.transferServo.setPosition(transferServo_out);
|
||||
// //spindexPos = spindexer_intakePos1;
|
||||
// shootAll = false;
|
||||
// spindexer.resetSpindexer();
|
||||
// spindexer.processIntake();
|
||||
//
|
||||
// }
|
||||
|
||||
|
||||
if (shooterTicker == 0) {
|
||||
spindexer.prepareShootAllContinous();
|
||||
TELE.addLine("preparing to shoot");
|
||||
@@ -546,170 +407,7 @@ public class TeleopV3 extends LinearOpMode {
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// if (shootAll) {
|
||||
//
|
||||
// TELE.addData("100% works", shootOrder);
|
||||
//
|
||||
// intake = false;
|
||||
// reject = false;
|
||||
//
|
||||
// shooterTicker++;
|
||||
//
|
||||
// spindexPos = spindexer_intakePos1;
|
||||
//
|
||||
// if (getRuntime() - shootStamp < 1) {
|
||||
//
|
||||
// if (servo.spinEqual(spindexer_outtakeBall3) || ((getRuntime()-shootStamp)>0.4)){
|
||||
// robot.transferServo.setPosition(transferServo_in);
|
||||
//
|
||||
// } else {
|
||||
// robot.transferServo.setPosition(transferServo_out);
|
||||
//
|
||||
// }
|
||||
//
|
||||
//
|
||||
// autoSpintake = true;
|
||||
//
|
||||
// spindexPos = spindexer_outtakeBall3;
|
||||
// robot.intake.setPower(0.5);
|
||||
//
|
||||
// }
|
||||
//
|
||||
// else if (getRuntime() - shootStamp < 1.8) {
|
||||
//
|
||||
// robot.transferServo.setPosition(transferServo_in);
|
||||
//
|
||||
// autoSpintake = true;
|
||||
// robot.intake.setPower(0);
|
||||
//
|
||||
// spindexPos = spindexer_outtakeBall2;
|
||||
//
|
||||
// }
|
||||
// else if (getRuntime() - shootStamp < 2.6) {
|
||||
//
|
||||
// robot.transferServo.setPosition(transferServo_in);
|
||||
//
|
||||
// autoSpintake = false;
|
||||
//
|
||||
// robot.spin1.setPower(1);
|
||||
// robot.spin2.setPower(-1);
|
||||
//
|
||||
// }
|
||||
//
|
||||
// else {
|
||||
// robot.transferServo.setPosition(transferServo_out);
|
||||
// spindexPos = spindexer_intakePos1;
|
||||
//
|
||||
// shootAll = false;
|
||||
//
|
||||
// autoSpintake = true;
|
||||
//
|
||||
// robot.transferServo.setPosition(transferServo_out);
|
||||
// }
|
||||
//
|
||||
// }
|
||||
|
||||
// if (gamepad1.squareWasPressed()) {
|
||||
// square = true;
|
||||
// shootStamp = getRuntime();
|
||||
// shootStamp2 = getRuntime();
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
// }
|
||||
//
|
||||
// if (gamepad1.circleWasPressed()) {
|
||||
// circle = true;
|
||||
// shootStamp = getRuntime();
|
||||
// shootStamp2 = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// }
|
||||
//
|
||||
// if (gamepad1.triangleWasPressed()) {
|
||||
// triangle = true;
|
||||
// shootStamp = getRuntime();
|
||||
// shootStamp2 = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// }
|
||||
//
|
||||
// if (square || circle || triangle) {
|
||||
//
|
||||
// // Count green balls
|
||||
// int greenCount = 0;
|
||||
// if (green1) greenCount++;
|
||||
// if (green2) greenCount++;
|
||||
// if (green3) greenCount++;
|
||||
//
|
||||
// // Determine the odd ball color
|
||||
// oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
//
|
||||
// shootOrder.clear();
|
||||
//
|
||||
// // Determine shooting order based on button pressed
|
||||
// // square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
// if (square) {
|
||||
// // Odd ball first
|
||||
// addOddThenRest(shootOrder, oddBallColor);
|
||||
//
|
||||
// } else if (triangle) {
|
||||
// // Odd ball second
|
||||
// addOddInMiddle(shootOrder, oddBallColor);
|
||||
// } else if (circle) {
|
||||
// // Odd ball last
|
||||
// addOddLast(shootOrder, oddBallColor);
|
||||
// }
|
||||
//
|
||||
// circle = false;
|
||||
// square = false;
|
||||
// triangle = false;
|
||||
//
|
||||
// }
|
||||
//
|
||||
// // Right bumper shoots all balls fastest, ignoring colors
|
||||
// if (gamepad1.crossWasPressed()) {
|
||||
// shootOrder.clear();
|
||||
// shootStamp = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// // Fastest order (example: slot 3 → 2 → 1)
|
||||
// if (ballIn(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
//
|
||||
// if (!shootOrder.contains(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (!shootOrder.contains(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
//
|
||||
// if (!shootOrder.contains(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
//
|
||||
// shootAll = true;
|
||||
// }
|
||||
|
||||
//EXTRA STUFFINESS:
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,793 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
|
||||
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
|
||||
@TeleOp
|
||||
@Disabled
|
||||
public class old extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
Drivetrain drivetrain;
|
||||
|
||||
Intake intake;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
GamepadEx g1;
|
||||
|
||||
GamepadEx g2;
|
||||
|
||||
public static double defaultSpeed = 1;
|
||||
|
||||
public static double slowMoSpeed = 0.4;
|
||||
|
||||
public static double power = 0.0;
|
||||
|
||||
public static double pos = hoodDefault;
|
||||
|
||||
public boolean all = false;
|
||||
|
||||
public int ticker = 0;
|
||||
|
||||
ToggleButtonReader g1RightBumper;
|
||||
|
||||
ToggleButtonReader g2Circle;
|
||||
|
||||
ToggleButtonReader g2Square;
|
||||
|
||||
ToggleButtonReader g2Triangle;
|
||||
|
||||
ToggleButtonReader g2RightBumper;
|
||||
|
||||
ToggleButtonReader g1LeftBumper;
|
||||
|
||||
ToggleButtonReader g2LeftBumper;
|
||||
|
||||
ToggleButtonReader g2DpadUp;
|
||||
|
||||
ToggleButtonReader g2DpadDown;
|
||||
|
||||
ToggleButtonReader g2DpadRight;
|
||||
|
||||
ToggleButtonReader g2DpadLeft;
|
||||
|
||||
public boolean leftBumper = false;
|
||||
public double g1RightBumperStamp = 0.0;
|
||||
|
||||
public double g1LeftBumperStamp = 0.0;
|
||||
|
||||
public double g2LeftBumperStamp = 0.0;
|
||||
|
||||
public static int spindexerPos = 0;
|
||||
|
||||
public boolean green = false;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
public boolean scoreAll = false;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
public boolean autotrack = false;
|
||||
|
||||
public int last = 0;
|
||||
public int second = 0;
|
||||
|
||||
public double offset = 0.0;
|
||||
|
||||
public static double rIn = 0.59;
|
||||
|
||||
public static double rOut = 0;
|
||||
|
||||
public boolean notShooting = true;
|
||||
|
||||
public boolean circle = false;
|
||||
|
||||
public boolean square = false;
|
||||
|
||||
public boolean tri = false;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(),
|
||||
telemetry
|
||||
);
|
||||
|
||||
g1 = new GamepadEx(gamepad1);
|
||||
|
||||
g1RightBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2 = new GamepadEx(gamepad2);
|
||||
|
||||
g1LeftBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2Circle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.B
|
||||
);
|
||||
|
||||
g2Triangle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.Y
|
||||
);
|
||||
|
||||
g2Square = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.X
|
||||
);
|
||||
|
||||
g2RightBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2LeftBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2DpadUp = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_UP
|
||||
);
|
||||
|
||||
g2DpadDown = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_DOWN
|
||||
);
|
||||
|
||||
g2DpadLeft = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_LEFT
|
||||
);
|
||||
|
||||
g2DpadRight = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_RIGHT
|
||||
);
|
||||
|
||||
drivetrain = new Drivetrain(robot, TELE, g1);
|
||||
|
||||
drivetrain.setMode("Default");
|
||||
|
||||
drivetrain.setDefaultSpeed(defaultSpeed);
|
||||
|
||||
drivetrain.setSlowSpeed(slowMoSpeed);
|
||||
|
||||
intake = new Intake(robot);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.setTelemetryOn(true);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
robot.rejecter.setPosition(rIn);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
|
||||
TELE.addData("off", offset);
|
||||
|
||||
robot.hood.setPosition(pos);
|
||||
|
||||
g1LeftBumper.readValue();
|
||||
|
||||
if (g1LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
leftBumper = true;
|
||||
}
|
||||
|
||||
if (leftBumper) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
if (time < 1.0) {
|
||||
robot.rejecter.setPosition(rOut);
|
||||
} else {
|
||||
robot.rejecter.setPosition(rIn);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake();
|
||||
|
||||
drivetrain.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
transfer.update();
|
||||
|
||||
g2RightBumper.readValue();
|
||||
|
||||
g2LeftBumper.readValue();
|
||||
|
||||
g2DpadDown.readValue();
|
||||
|
||||
g2DpadUp.readValue();
|
||||
|
||||
if (!scoreAll) {
|
||||
spindexer.checkForBalls();
|
||||
}
|
||||
|
||||
if (g2DpadUp.wasJustPressed()) {
|
||||
pos -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadDown.wasJustPressed()) {
|
||||
pos += 0.02;
|
||||
}
|
||||
|
||||
g2DpadLeft.readValue();
|
||||
|
||||
g2DpadRight.readValue();
|
||||
|
||||
if (g2DpadLeft.wasJustPressed()) {
|
||||
offset -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadRight.wasJustPressed()) {
|
||||
offset += 0.02;
|
||||
}
|
||||
|
||||
TELE.addData("hood", pos);
|
||||
|
||||
if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
|
||||
|
||||
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
|
||||
|
||||
} else {
|
||||
|
||||
autotrack = false;
|
||||
|
||||
shooter.moveTurret(0.3 + offset);
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autotrack = true;
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustPressed()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferIn();
|
||||
shooter.setManualPower(1);
|
||||
|
||||
notShooting = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustReleased()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferOut();
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y > 0.5) {
|
||||
|
||||
shooter.setManualPower(0);
|
||||
} else if (gamepad2.left_stick_y < -0.5) {
|
||||
shooter.setManualPower(1);
|
||||
}
|
||||
|
||||
if (g2LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
notShooting = false;
|
||||
scoreAll = true;
|
||||
}
|
||||
|
||||
if (scoreAll) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
TELE.addData("greenImportant", green);
|
||||
|
||||
TELE.addData("last", last);
|
||||
TELE.addData("2ndLast", second);
|
||||
|
||||
int numGreen = spindexer.greens();
|
||||
|
||||
if (square) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (tri) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (circle) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
} else {
|
||||
all = true;
|
||||
}
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake3();
|
||||
last = 3;
|
||||
second = 3;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake2();
|
||||
|
||||
last = 2;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake1();
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void intake() {
|
||||
|
||||
g1RightBumper.readValue();
|
||||
|
||||
g2Circle.readValue();
|
||||
|
||||
g2Square.readValue();
|
||||
|
||||
g2Triangle.readValue();
|
||||
|
||||
if (g1RightBumper.wasJustPressed()) {
|
||||
|
||||
notShooting = true;
|
||||
|
||||
if (getRuntime() - g1RightBumperStamp < 0.3) {
|
||||
intake.reverse();
|
||||
} else {
|
||||
intake.toggle();
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1) {
|
||||
shooter.setManualPower(0);
|
||||
}
|
||||
|
||||
spindexer.intake();
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
g1RightBumperStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1 && notShooting) {
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
} else {
|
||||
if (g2Circle.wasJustPressed()) {
|
||||
circle = true;
|
||||
tri = false;
|
||||
square = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2Triangle.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = true;
|
||||
square = false;
|
||||
}
|
||||
|
||||
if (g2Square.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = true;
|
||||
}
|
||||
|
||||
if (gamepad2.x) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,144 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ActiveColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException{
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
int b1Purple = 1;
|
||||
int b1Total = 1;
|
||||
int b2Purple = 1;
|
||||
int b2Total = 1;
|
||||
int b3Purple = 1;
|
||||
int b3Total = 1;
|
||||
|
||||
double totalStamp1 = 0.0;
|
||||
double purpleStamp1 = 0.0;
|
||||
double totalStamp2 = 0.0;
|
||||
double purpleStamp2 = 0.0;
|
||||
double totalStamp3 = 0.0;
|
||||
double purpleStamp3 = 0.0;
|
||||
|
||||
String b1 = "none";
|
||||
String b2 = "none";
|
||||
String b3 = "none";
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
// Reset the counters after 1 second of not reading a ball.
|
||||
final double ColorCounterResetDelay = 1.0;
|
||||
// Number of times the loop needs to run before deciding on a color.
|
||||
final int ColorCounterTotalMinCount = 20;
|
||||
// If the color sensor reads a color this percentage of time
|
||||
// out of the total, declare the color.
|
||||
// Usage: (Color Count)/(Total Count) > ColorCounterThreshold
|
||||
final double ColorCounterThreshold = 0.65;
|
||||
|
||||
if (robot.pin1.getState()){
|
||||
if (robot.pin0.getState()){
|
||||
b1Purple ++;
|
||||
}
|
||||
b1Total++;
|
||||
totalStamp1 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b1 = "none";
|
||||
b1Total = 1;
|
||||
b1Purple = 1;
|
||||
}else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b1 = "Purple";
|
||||
}else if (b1Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b1 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin3.getState()){
|
||||
if (robot.pin2.getState()){
|
||||
b2Purple ++;
|
||||
}
|
||||
b2Total++;
|
||||
totalStamp2 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b2 = "none";
|
||||
b2Total = 1;
|
||||
b2Purple = 1;
|
||||
}else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b2 = "Purple";
|
||||
}else if (b2Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b2 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin5.getState()){
|
||||
if (robot.pin4.getState()){
|
||||
b3Purple ++;
|
||||
}
|
||||
b3Total++;
|
||||
totalStamp3 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b3 = "none";
|
||||
b3Total = 1;
|
||||
b3Purple = 1;
|
||||
}else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b3 = "Purple";
|
||||
}else if (b3Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b3 = "Green";
|
||||
}
|
||||
|
||||
TELE.addData("Green1:", robot.pin1.getState());
|
||||
TELE.addData("Purple1:", robot.pin0.getState());
|
||||
TELE.addData("Green2:", robot.pin3.getState());
|
||||
TELE.addData("Purple2:", robot.pin2.getState());
|
||||
TELE.addData("Green3:", robot.pin5.getState());
|
||||
TELE.addData("Purple3:", robot.pin4.getState());
|
||||
TELE.addData("1", b1);
|
||||
TELE.addData("2",b2);
|
||||
TELE.addData("3",b3);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
// ----- COLOR 1 -----
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -1,210 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
public static double pow = 0.0;
|
||||
public static double vel = 0.0;
|
||||
public static double ecpr = 1024.0; // CPR of the encoder
|
||||
public static double hoodPos = 0.5;
|
||||
public static double turretPos = 0.9;
|
||||
|
||||
public static String flyMode = "VEL";
|
||||
|
||||
public static boolean AutoTrack = false;
|
||||
|
||||
double initPos = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
|
||||
double stamp1 = 0.0;
|
||||
|
||||
double initPos1 = 0.0;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
|
||||
public static boolean shoot = false;
|
||||
|
||||
public static int spindexPos = 1;
|
||||
|
||||
public static boolean intake = true;
|
||||
|
||||
public static int tolerance = 50;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
public static double distance = 50;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Shooter shooter = new Shooter(robot, TELE);
|
||||
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooter.setTelemetryOn(true);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
initPos = shooter.getECPRPosition();
|
||||
|
||||
int ticker = 0;
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
ticker++;
|
||||
|
||||
if (AutoTrack){
|
||||
hoodPos = hoodAnglePrediction(distance);
|
||||
vel = velPrediction(distance);
|
||||
}
|
||||
|
||||
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
shooter.setManualPower(pow);
|
||||
|
||||
robot.hood.setPosition(hoodPos);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
if (intake) {
|
||||
robot.transfer.setPower(0);
|
||||
robot.intake.setPower(0.75);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
} else {
|
||||
robot.transfer.setPower(.75 + (powPID/4));
|
||||
robot.intake.setPower(0);
|
||||
if (spindexPos == 1) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall1);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall1);
|
||||
} else if (spindexPos == 2) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall2);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall2);
|
||||
} else if (spindexPos == 3) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall3);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall3);
|
||||
}
|
||||
}
|
||||
|
||||
double penguin = 0;
|
||||
if (ticker % 8 ==0){
|
||||
penguin = shooter.getECPRPosition();
|
||||
stamp = getRuntime();
|
||||
velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
|
||||
initPos1 = penguin;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
|
||||
velo = velo1;
|
||||
|
||||
double feed = vel / maxVel; // Example: vel=2500 → feed=0.5
|
||||
|
||||
if (vel > 500){
|
||||
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
}
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo1;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
|
||||
if (vel - velo > 1000){
|
||||
powPID = 1;
|
||||
} else if (velo - vel > 1000){
|
||||
powPID = 0;
|
||||
}
|
||||
|
||||
shooter.setVelocity(powPID);
|
||||
|
||||
if (shoot) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
TELE.addData("Revolutions", shooter.getECPRPosition());
|
||||
TELE.addData("hoodPos", shooter.gethoodPosition());
|
||||
TELE.addData("turretPos", shooter.getTurretPosition());
|
||||
TELE.addData("Power Fly 1", robot.shooter1.getPower());
|
||||
TELE.addData("Power Fly 2", robot.shooter2.getPower());
|
||||
TELE.addData("powPID", shooter.getpowPID());
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double distance) {
|
||||
double L = 0.298317;
|
||||
double A = 1.02124;
|
||||
double k = 0.0157892;
|
||||
double n = 3.39375;
|
||||
|
||||
double dist = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
return L + A * Math.exp(-Math.pow(k * dist, n));
|
||||
}
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
double x = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
|
||||
|
||||
double A = -211149.992;
|
||||
double B = -1.19943;
|
||||
double C = 3720.15909;
|
||||
|
||||
return A * Math.pow(x, B) + C;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,110 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class FlywheelV2 {
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
double initPos1 = 0.0;
|
||||
double initPos2 = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos1 = 0.0;
|
||||
double currentPos2 = 0.0;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo1a = 0.0;
|
||||
double velo1b = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public FlywheelV2() {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
currentPos1 = shooter1CurPos / 28;
|
||||
currentPos2 = shooter2CurPos / 28;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
|
||||
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
|
||||
initPos1 = currentPos1;
|
||||
initPos2 = currentPos2;
|
||||
stamp1 = stamp;
|
||||
|
||||
if (velo1a < 200){
|
||||
velo1 = velo1b;
|
||||
} else if (velo1b < 200){
|
||||
velo1 = velo1a;
|
||||
} else {
|
||||
velo1 = (velo1a + velo1b) / 2;
|
||||
}
|
||||
}
|
||||
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||
}
|
||||
|
||||
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds() {
|
||||
return (double) System.currentTimeMillis() / 1000.0;
|
||||
}
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 4500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 4500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
|
||||
double a = 2539.07863;
|
||||
double c = 1967.6498;
|
||||
double d = -0.289647;
|
||||
double h = -1.1569;
|
||||
|
||||
double feed = Math.log10((a / (targetVelocity + c)) + d) / h;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update() {
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user