KeshavAnandCode/FTCDecodeMain
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added transfer power manual command

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This commit is contained in:
DanTheMan-byte
2026-06-04 17:40:49 -05:00
parent e7056812b4
commit e9b9ffc3b8
3 changed files with 14 additions and 2 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
View File

@@ -32,6 +32,7 @@ public class NewShooterTest extends LinearOpMode {
public static int flywheelVelo = 0; public static int flywheelVelo = 0;
public static double hoodPos = 0.5; public static double hoodPos = 0.5;
public static double transferPower = -0.7;
// public static double turretPos = 0.51; // public static double turretPos = 0.51;
@Override @Override
@@ -119,7 +120,7 @@ public class NewShooterTest extends LinearOpMode {
TELE.addData("Distance From Goal", commander.getDistance()); TELE.addData("Distance From Goal", commander.getDistance());
TELE.addData("Hood Position", commander.getHoodPredicted()); TELE.addData("Hood Position", commander.getHoodPredicted());
TELE.addData("Transfer Power", robot.transfer.getPower()); TELE.addData("Transfer Power", commander.getTransferPow());
TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM()); TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity()); TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
View File

@@ -22,6 +22,7 @@ public class Shooter {
double turretGoalY = 0; double turretGoalY = 0;
private boolean red = true; private boolean red = true;
public static boolean manualFlywheel = false;
Follower follow; Follower follow;
@@ -89,6 +90,7 @@ public class Shooter {
case NOTHING: case NOTHING:
break; break;
case MANUAL: case MANUAL:
manualFlywheel = true;
commander.getVeloPredictive( commander.getVeloPredictive(
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())), (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
(goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())), (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
@@ -104,6 +106,7 @@ public class Shooter {
turr.manual(turretPosition); turr.manual(turretPosition);
break; break;
case TRACK_GOAL: case TRACK_GOAL:
manualFlywheel = false;
turr.trackGoal( turr.trackGoal(
(turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())), (turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
(turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())), (turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
@@ -132,6 +135,7 @@ public class Shooter {
fly.setF(voltage); fly.setF(voltage);
break; break;
case READ_OBELISK: case READ_OBELISK:
manualFlywheel = false;
turr.trackObelisk( turr.trackObelisk(
(obeliskX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())), (obeliskX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
(obeliskY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())), (obeliskY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
@@ -155,6 +159,7 @@ public class Shooter {
break; break;
case MANUAL_TURRET_TRACK_FLY: case MANUAL_TURRET_TRACK_FLY:
manualFlywheel = false;
turr.manual(turretPosition); turr.manual(turretPosition);
commander.getVeloPredictive( commander.getVeloPredictive(
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())), (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
@@ -173,6 +178,7 @@ public class Shooter {
break; break;
case MANUAL_FLYWHEEL_TRACK_TURR: case MANUAL_FLYWHEEL_TRACK_TURR:
manualFlywheel = true;
turr.trackGoal( turr.trackGoal(
(turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())), (turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
(turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())), (turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
View File

@@ -7,6 +7,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.constants.ServoPositions; import org.firstinspires.ftc.teamcode.constants.ServoPositions;
import org.firstinspires.ftc.teamcode.tests.NewShooterTest;
@Config @Config
public class SpindexerTransferIntake { public class SpindexerTransferIntake {
@@ -163,7 +164,11 @@ public class SpindexerTransferIntake {
setRapidMode(RapidMode.SHOOT); setRapidMode(RapidMode.SHOOT);
} }
robot.setTransferPower(commander.getTransferPow()); if (Shooter.manualFlywheel){
robot.setTransferPower(NewShooterTest.transferPower);
} else {
robot.setTransferPower(commander.getTransferPow());
}
break; break;