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goofy changes

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This commit is contained in:
DanTheMan-byte
2025-11-13 19:08:28 -06:00
parent 0df3a68920
commit f08afd928a
4 changed files with 24 additions and 45 deletions
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30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
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@@ -99,40 +99,40 @@ public class Red extends LinearOpMode {
TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
TrajectoryActionBuilder intake1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
.turnTo(Math.toRadians(135))
.strafeToLinearHeading(new Vector2d(x2, y2), h2 );
TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, y2, h2))
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
TrajectoryActionBuilder intake2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
.strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b )
.strafeToLinearHeading(new Vector2d(x3, y3), h3 );
TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, y3, h3))
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
.strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
while(opModeInInit()) {
if (gamepad2.dpadUpWasPressed()){
hoodDefault -= 0.02;
hoodDefault -= 0.01;
}
if (gamepad2.dpadDownWasPressed()){
hoodDefault += 0.02;
hoodDefault += 0.01;
}
robot.hood.setPosition(hoodDefault);
@@ -165,7 +165,7 @@ public class Red extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
traj1.build()
shoot0.build()
)
);
@@ -185,7 +185,7 @@ public class Red extends LinearOpMode {
shooter.moveTurret(0.31);
shooter.moveTurret(turretDefault);
double time = getRuntime()-stamp;
@@ -245,12 +245,12 @@ public class Red extends LinearOpMode {
robot.intake.setPower(1);
Actions.runBlocking(
traj2.build()
intake1.build()
);
Actions.runBlocking(
traj3.build()
shoot1.build()
);
shooter.setManualPower(1);
@@ -329,12 +329,12 @@ public class Red extends LinearOpMode {
robot.intake.setPower(1);
Actions.runBlocking(
traj4.build()
intake2.build()
);
Actions.runBlocking(
traj5.build()
shoot2.build()
);
shooter.setManualPower(1);
@@ -411,7 +411,7 @@ public class Red extends LinearOpMode {
spindexer.outtake3();
Actions.runBlocking(
traj6.build()
park.build()
);
drive.updatePoseEstimate();

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -15,12 +15,12 @@ public class Poses {
public static double x1 = 50, y1 = 0, h1 = 0;
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(135);
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(135);
public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
public static double x3 = 34, y3 = 58, h3 = Math.toRadians(135);
public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
public static Pose2d teleStart = new Pose2d(x1,-10,0);

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -19,5 +19,11 @@ public class ServoPositions {
public static double hoodDefault = 0.35;
public static double turretDefault = 0.3;
public static double turretBlueOffset = -0.01;
public static double turretRedOffset = 0.01;
}

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Rejecter.java
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@@ -1,27 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystems;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.utils.Robot;
public class Rejecter implements Subsystem{
private final Servo servo;
public double rpos = 0.5;
public Rejecter(Robot robot){
this.servo = robot.rejecter;
}
public void rejecterPos(double pos){
this.rpos = pos;
}
@Override
public void update() {
this.servo.setPosition(rpos);
}
}