KeshavAnandCode/FTCDecodeMain
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This commit is contained in:
DanTheMan-byte
2026-06-10 10:43:02 -05:00
parent 20137025c1
commit e8f80ef39e
3 changed files with 21 additions and 19 deletions
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15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
View File

@@ -132,7 +132,9 @@ public class TeleopV4 extends LinearOpMode {
gamepad1.rumble(100); gamepad1.rumble(100);
} }
follower.update(); if (!isStopRequested()){
follower.update();
}
Pose currentPose = follower.getPose(); Pose currentPose = follower.getPose();
teleStart = currentPose; teleStart = currentPose;
@@ -209,16 +211,11 @@ public class TeleopV4 extends LinearOpMode {
shooting = false; shooting = false;
} }
if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed() && !shooting){ if (SpindexerTransferIntake.intakeFull && firstTickFull){
intakeFull = true;
} else {
intakeFull = false;
firstTickFull = true;
}
if (intakeFull && firstTickFull){
gamepad1.rumble(250); gamepad1.rumble(250);
firstTickFull = false; firstTickFull = false;
} else if (!SpindexerTransferIntake.intakeFull){
firstTickFull = true;
} }
if (gamepad1.right_trigger > 0.5 && if (gamepad1.right_trigger > 0.5 &&

23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
View File

@@ -53,7 +53,7 @@ public class SpindexerTransferIntake {
} }
int[] shootOrder = {0, 1, 2}; int[] shootOrder = {0, 1, 2};
public static final double sensorDistanceThreshold = 6.0;//4.85//5.35 public static final double sensorDistanceThreshold = 5.0;//6.0;//4.85//5.35
final long pulseTime = 70; // ms final long pulseTime = 70; // ms
private DesiredPattern desiredPattern = DesiredPattern.GPP; private DesiredPattern desiredPattern = DesiredPattern.GPP;
@@ -289,6 +289,7 @@ public class SpindexerTransferIntake {
private int greenTicks = 0; private int greenTicks = 0;
private int ballTicks = 0; private int ballTicks = 0;
private int holdBallsTicker = 0; private int holdBallsTicker = 0;
public static boolean intakeFull = false;
public void update() { public void update() {
// TELE.addData("Sorted State", sortedIntakeStates); // TELE.addData("Sorted State", sortedIntakeStates);
@@ -318,7 +319,7 @@ public class SpindexerTransferIntake {
case INTAKE: case INTAKE:
robot.setIntakePower(0.8); robot.setIntakePower(1);
robot.setRapidFireBlockerPos( robot.setRapidFireBlockerPos(
ServoPositions.rapidFireBlocker_Closed ServoPositions.rapidFireBlocker_Closed
); );
@@ -330,11 +331,11 @@ public class SpindexerTransferIntake {
ServoPositions.transferServo_out ServoPositions.transferServo_out
); );
if (robot.insideBeam.isPressed()) { if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()) {
holdBallsTicker++; holdBallsTicker++;
} }
if (holdBallsTicker > 15){ if (holdBallsTicker > 5){
setRapidMode(RapidMode.TRANSFER_OFF); setRapidMode(RapidMode.TRANSFER_OFF);
holdBallsTicker = 0; holdBallsTicker = 0;
} }
@@ -346,6 +347,7 @@ public class SpindexerTransferIntake {
if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()) { if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()) {
setRapidMode(RapidMode.BEFORE_PULSE_OUT); setRapidMode(RapidMode.BEFORE_PULSE_OUT);
} }
robot.setTransferServoPos(ServoPositions.transferServo_in);
robot.setTransferPower(-0.3); robot.setTransferPower(-0.3);
break; break;
@@ -354,7 +356,7 @@ public class SpindexerTransferIntake {
robot.setIntakePower(1.0); robot.setIntakePower(1.0);
if (stateTime() >= 700) { if (stateTime() >= 100) {
setRapidMode(RapidMode.PULSE_OUT); setRapidMode(RapidMode.PULSE_OUT);
} }
@@ -362,7 +364,7 @@ public class SpindexerTransferIntake {
case PULSE_OUT: case PULSE_OUT:
robot.setIntakePower(-0.1); // robot.setIntakePower(0);
if (stateTime() >= pulseTime) { if (stateTime() >= pulseTime) {
setRapidMode(RapidMode.PULSE_IN); setRapidMode(RapidMode.PULSE_IN);
@@ -374,7 +376,7 @@ public class SpindexerTransferIntake {
robot.setIntakePower(1.0); robot.setIntakePower(1.0);
if (stateTime() >= 400) { if (stateTime() >= 100) {
setRapidMode(RapidMode.HOLD_BALLS); setRapidMode(RapidMode.HOLD_BALLS);
} }
@@ -383,7 +385,9 @@ public class SpindexerTransferIntake {
case HOLD_BALLS: case HOLD_BALLS:
if (robot.insideBeam.isPressed() if (robot.insideBeam.isPressed()
&& robot.outsideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) { && robot.outsideBeam.isPressed()) {
intakeFull = true;
robot.setTransferPower(0); robot.setTransferPower(0);
robot.setIntakePower(0.1); robot.setIntakePower(0.1);
@@ -391,11 +395,12 @@ public class SpindexerTransferIntake {
} else { } else {
setRapidMode(RapidMode.INTAKE); setRapidMode(RapidMode.INTAKE);
intakeFull = false;
} }
break; break;
case OPEN_GATE: case OPEN_GATE:
intakeFull = false;
if (stateTime() >= 100) { if (stateTime() >= 100) {
setRapidMode(RapidMode.SHOOT); setRapidMode(RapidMode.SHOOT);
} }

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java
View File

@@ -79,7 +79,7 @@ public class VelocityCommander {
private void distToTransferPow(double dist, double voltage){ private void distToTransferPow(double dist, double voltage){
if (dist < 140){ if (dist < 140){
transferPow = -0.8; transferPow = -0.85;
} else { } else {
transferPow = -0.7; transferPow = -0.7;
} }