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DanTheMan-byte
2026-02-28 00:10:33 -06:00
parent f9013f4d79
commit e8d28b9e5f
6 changed files with 15 additions and 14 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
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@@ -180,7 +180,7 @@ public class Auto_LT_Close extends LinearOpMode {
servos.setTransferPos(transferServo_out); servos.setTransferPos(transferServo_out);
limelightUsed = false; limelightUsed = false;
Spindexer.teleop = false; // Spindexer.teleop = false;
robot.light.setPosition(1); robot.light.setPosition(1);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
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@@ -123,7 +123,7 @@ public class Auto_LT_Far extends LinearOpMode {
turret = new Turret(robot, TELE, robot.limelight); turret = new Turret(robot, TELE, robot.limelight);
Spindexer.teleop = false; // Spindexer.teleop = false;
while (opModeInInit()) { while (opModeInInit()) {

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java
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@@ -8,7 +8,7 @@ public class Back_Poses {
public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50; public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50;
public static double rShootX = 100, rShootY = 60, rShootH = 145.2; public static double rShootX = 100, rShootY = 60, rShootH = 145.2;
public static double bShootX = 100, bShootY = -55, bShootH = -145.2; public static double bShootX = 100, bShootY = -60, bShootH = -145.2;
public static double rStackPickupFarAX = 73, rStackPickupFarAY = 51, rStackPickupFarAH = 145; public static double rStackPickupFarAX = 73, rStackPickupFarAY = 51, rStackPickupFarAH = 145;
public static double bStackPickupFarAX = 73, bStackPickupFarAY = -51, bStackPickupFarAH = -145; public static double bStackPickupFarAX = 73, bStackPickupFarAY = -51, bStackPickupFarAH = -145;
@@ -23,7 +23,7 @@ public class Back_Poses {
public static double bStackPickupMiddleBX = 45, bStackPickupMiddleBY = -49, bStackPickupMiddleBH = -145.1; public static double bStackPickupMiddleBX = 45, bStackPickupMiddleBY = -49, bStackPickupMiddleBH = -145.1;
public static double rPickupGateXA = 60, rPickupGateYA = 83, rPickupGateHA = 145; public static double rPickupGateXA = 60, rPickupGateYA = 83, rPickupGateHA = 145;
public static double bPickupGateXA = 70, bPickupGateYA = -90, bPickupGateHA = -145; public static double bPickupGateXA = 60, bPickupGateYA = -83, bPickupGateHA = -145;
public static double rPickupGateXB = 84, rPickupGateYB = 76, rPickupGateHB = 145; public static double rPickupGateXB = 84, rPickupGateYB = 76, rPickupGateHB = 145;
public static double bPickupGateXB = 84, bPickupGateYB = -76, bPickupGateHB = -145; public static double bPickupGateXB = 84, bPickupGateYB = -76, bPickupGateHB = -145;
public static double rPickupGateXC = 50, rPickupGateYC = 83, rPickupGateHC = 190; public static double rPickupGateXC = 50, rPickupGateYC = 83, rPickupGateHC = 190;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java
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@@ -14,7 +14,7 @@ public class Front_Poses {
public static double bx2a = 41, by2a = -18, bh2a = -140; public static double bx2a = 41, by2a = -18, bh2a = -140;
public static double rx2b = 21, ry2b = 34, rh2b = 140.1; public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
public static double bx2b = 23, by2b = -36, bh2b = -140.1; public static double bx2b = 23, by2b = -34, bh2b = -140.1;
public static double rx3a = 55, ry3a = 39, rh3a = 140; public static double rx3a = 55, ry3a = 39, rh3a = 140;
public static double bx3a = 55, by3a = -39, bh3a = -140; public static double bx3a = 55, by3a = -39, bh3a = -140;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -155,13 +155,13 @@ public class TeleopV3 extends LinearOpMode {
shootAll = false; shootAll = false;
servo.setTransferPos(transferServo_out); servo.setTransferPos(transferServo_out);
//light.setState(StateEnums.LightState.BALL_COUNT); light.setState(StateEnums.LightState.BALL_COUNT);
} else if (gamepad2.triangle){ } else if (gamepad2.triangle){
//light.setState(StateEnums.LightState.BALL_COLOR); //light.setState(StateEnums.LightState.BALL_COLOR);
} else { } else {
//light.setState(StateEnums.LightState.GOAL_LOCK); light.setState(StateEnums.LightState.BALL_COUNT);
} }
//TURRET TRACKING //TURRET TRACKING

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -525,7 +525,6 @@ public class Spindexer {
break; break;
case SHOOTWAIT: case SHOOTWAIT:
double shootWaitMax = 4;
// Stopping when we get to the new position // Stopping when we get to the new position
if (prevIntakeState != currentIntakeState) { if (prevIntakeState != currentIntakeState) {
if (commandedIntakePosition==2) { if (commandedIntakePosition==2) {
@@ -550,26 +549,30 @@ public class Spindexer {
case SHOOT_PREP_CONTINOUS: case SHOOT_PREP_CONTINOUS:
if (servos.spinEqual(spinStartPos)){ if (servos.spinEqual(spinStartPos)){
servos.setTransferPos(transferServo_in);
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS; currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
} else { } else {
servos.setTransferPos(transferServo_out);
servos.setSpinPos(spinStartPos); servos.setSpinPos(spinStartPos);
} }
break; break;
case SHOOT_CONTINOUS: case SHOOT_CONTINOUS:
servos.setTransferPos(transferServo_in); whileShooting = true;
ballPositions[0].isEmpty = false; ballPositions[0].isEmpty = false;
ballPositions[1].isEmpty = false; ballPositions[1].isEmpty = false;
ballPositions[2].isEmpty = false; ballPositions[2].isEmpty = false;
if (servos.getSpinPos() > spinEndPos){ if (servos.getSpinPos() > spinEndPos){
currentIntakeState = IntakeState.FINDNEXT; whileShooting = false;
servos.setTransferPos(transferServo_out); servos.setTransferPos(transferServo_out);
shootTicks = 0;
currentIntakeState = IntakeState.FINDNEXT;
} else { } else {
double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease; double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
if (spinPos > spinEndPos + 0.03){ if (spinPos > spinEndPos + 0.03){
spinPos = spinEndPos + 0.03; spinPos = spinEndPos + 0.03;
} }
moveSpindexerToPos(spinPos); servos.setSpinPos(spinPos);
} }
break; break;
@@ -679,10 +682,8 @@ public class Spindexer {
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor; return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
} }
private double prevPow = 0.501; private double prevPow = 0.501;
private boolean firstIntakePow = true;
public void setIntakePower(double pow){ public void setIntakePower(double pow){
if (firstIntakePow || prevPow != pow){ if (prevPow != 0.501 && prevPow != pow){
firstIntakePow = false;
robot.intake.setPower(pow); robot.intake.setPower(pow);
} }
prevPow = pow; prevPow = pow;