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DanTheMan-byte
2026-06-11 15:55:56 -05:00
parent e8f80ef39e
commit ef6b0bebbb
1 changed files with 8 additions and 8 deletions
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16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto21Ball_Front_Gate.java
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@@ -47,7 +47,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
public static double rapidShootTime = 0.4; public static double rapidShootTime = 0.4;
public static double openGate1Time = 1.8; public static double openGate1Time = 1.8;
public static double openGate2Time = 1; public static double openGate2Time = 1;
public static double openGateWaitTimeMax = 3.5; public static double openGateWaitTimeMax = 3;
public static int maxLoopCycles = 4; public static int maxLoopCycles = 4;
// Initialize path state machine // Initialize path state machine
@@ -76,7 +76,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
public static double shoot2X = 16, shoot2Y = 4, shoot2H = -30; public static double shoot2X = 16, shoot2Y = 4, shoot2H = -30;
public static double intakeGateControlX = 60, intakeGateControlY = -12; public static double intakeGateControlX = 60, intakeGateControlY = -12;
public static double toGateX = 60, toGateY = -10; public static double toGateX = 60, toGateY = -10;
public static double intakeGateX = 62, intakeGateY = -12.5, intakeGateH = 25; public static double intakeGateX = 62, intakeGateY = -12, intakeGateH = 25;
public static double shootGateControlX = 40, shootGateControlY = -5; public static double shootGateControlX = 40, shootGateControlY = -5;
public static double shootGateX = 16, shootGateY = 4, shootGateH = -30; public static double shootGateX = 16, shootGateY = 4, shootGateH = -30;
public static double shootLeaveControlX = 56, shootLeaveControlY = -10; public static double shootLeaveControlX = 56, shootLeaveControlY = -10;
@@ -294,7 +294,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
if (currentTime - timeStamp > rapidShootTime || if (currentTime - timeStamp > rapidShootTime ||
(spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE && (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){ spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
follower.followPath(shoot2_intakeGate, false); follower.followPath(shoot2_intakeGate, true);
pathState = PathState.INTAKE_GATE; pathState = PathState.INTAKE_GATE;
timeStamp = currentTime; timeStamp = currentTime;
toGateBool = true; toGateBool = true;
@@ -302,10 +302,10 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
break; break;
case INTAKE_GATE: case INTAKE_GATE:
if ((currentTime - timeStamp > openGateWaitTimeMax)){ if ((currentTime - timeStamp > openGateWaitTimeMax)){
if (getRuntime() - runtime > 27){ if (cycle == 0){
follower.followPath(intakeGate_awayFromGate, true); openGateWaitTimeMax = openGateWaitTimeMax + 0.75;
pathState = PathState.WAIT_SHOOT_LEAVE; }
} else if (getRuntime() - runtime > 22 || cycle >= maxLoopCycles - 1){ if (cycle >= maxLoopCycles - 1){
follower.followPath(intakeGate_shootLeave, true); follower.followPath(intakeGate_shootLeave, true);
pathState = PathState.DRIVE_SHOOT_LEAVE; pathState = PathState.DRIVE_SHOOT_LEAVE;
shooter.setFlywheelVelocity(2300); shooter.setFlywheelVelocity(2300);
@@ -336,7 +336,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
follower.followPath(shootGate_leave, true); follower.followPath(shootGate_leave, true);
pathState = PathState.WAIT_SHOOT_LEAVE; pathState = PathState.WAIT_SHOOT_LEAVE;
} else { } else {
follower.followPath(shootGate_intakeGate, false); follower.followPath(shootGate_intakeGate, true);
pathState = PathState.INTAKE_GATE; pathState = PathState.INTAKE_GATE;
toGateBool = true; toGateBool = true;
} }