Merge remote-tracking branch 'origin/danielv5' into update-teleop

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java

@@ -20,6 +20,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferSe
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
 
+
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.dashboard.FtcDashboard;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java

@@ -0,0 +1,132 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class Hardware_Tester extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+
+    public static boolean subsystemMode = true;
+
+    // Bare Motor Powers
+    public static double flPow = 0;
+    public static double frPow = 0;
+    public static double blPow = 0;
+    public static double brPow = 0;
+    public static double intakePow = 0;
+    public static double transferPow = 0;
+    public static double shooter1Pow = 0;
+    public static double shooter2Pow = 0;
+
+    // Subsystem Motor Powers
+    public static double drivetrainPow = 0;
+    public static double shooterPow = 0;
+
+    // Bare Servo Positions
+    public static double spin1Pos = 0.501;
+    public static double spin2Pos = 0.501;
+    public static double turr1Pos = 0.501;
+    public static double turr2Pos = 0.501;
+    public static double transferServosPos = 0.501;
+    public static double hoodPos = 0.501;
+    public static double spindexBlockerPos = 0.501;
+    public static double rapidFireBlockerPos = 0.501;
+    public static double tilt1Pos = 0.501;
+    public static double tilt2Pos = 0.501;
+
+    // Subsystem Servo Positions
+    public static double spinPos = 0.501;
+    public static double turrPos = 0.501;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry();
+
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            // Non-subsystem based components
+            robot.setIntakePower(intakePow);
+            robot.setTransferPower(transferPow);
+
+            if (transferServosPos != 0.501){
+                robot.setTransferServoPos(transferServosPos);
+            }
+            if (hoodPos != 0.501){
+                robot.setHoodPos(hoodPos);
+            }
+            if (rapidFireBlockerPos != 0.501){
+                robot.setRapidFireBlockerPos(rapidFireBlockerPos);
+            }
+            if (spindexBlockerPos != 0.501){
+                robot.setSpindexBlockerPos(spindexBlockerPos);
+            }
+            if (tilt1Pos != 0.501){
+                robot.setTilt1Pos(tilt1Pos);
+            }
+            if (tilt2Pos != 0.501){
+                robot.setTilt2Pos(tilt2Pos);
+            }
+
+            // Subsystem based components
+            if (subsystemMode){
+                robot.setFrontLeftPower(drivetrainPow);
+                robot.setFrontRightPower(drivetrainPow);
+                robot.setBackLeftPower(drivetrainPow);
+                robot.setBackRightPower(drivetrainPow);
+                robot.shooter1.setPower(shooterPow);
+                robot.shooter2.setPower(shooterPow);
+
+                if (spinPos != 0.501){
+                    robot.setSpinPos(spinPos);
+                }
+                if (turrPos != 0.501){
+                    robot.setTurretPos(turrPos);
+                }
+            } else {
+                robot.setFrontLeftPower(flPow);
+                robot.setFrontRightPower(frPow);
+                robot.setBackLeftPower(blPow);
+                robot.setBackRightPower(brPow);
+                robot.shooter1.setPower(shooter1Pow);
+                robot.shooter2.setPower(shooter2Pow);
+
+                if (spin1Pos != 0.501){
+                    robot.spin1.setPosition(spin1Pos);
+                }
+                if (spin2Pos != 0.501){
+                    robot.spin2.setPosition(spin2Pos);
+                }
+                if (turr1Pos != 0.501){
+                    robot.turr1.setPosition(turr1Pos);
+                }
+                if (turr2Pos != 0.501){
+                    robot.turr2.setPosition(turr2Pos);
+                }
+            }
+
+            // Sensor Data
+
+            TELE.addData("Beam Break 1?", robot.beam1.isPressed());
+            TELE.addData("Beam Break 2?", robot.beam2.isPressed());
+            TELE.addData("Beam Break 3?", robot.beam3.isPressed());
+
+            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+            TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.MM));
+            TELE.addData("REV Green", revColor.green / (revColor.red + revColor.blue + revColor.green));
+
+            TELE.addData("Voltage Sensor", robot.voltage.getVoltage());
+
+            TELE.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java

@@ -10,6 +10,7 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.TouchSensor;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
@@ -38,12 +39,22 @@ public class Robot {
     public DcMotorEx shooter2;
     public Servo hood;
     public Servo transferServo;
+    public Servo spindexBlocker;
+    public Servo rapidFireBlocker;
+    public Servo tilt1;
+    public Servo tilt2;
     public Servo turr1;
     public Servo turr2;
-
     public Servo spin1;
-
     public Servo spin2;
+    public TouchSensor beam1;
+    public TouchSensor beam2;
+    public TouchSensor beam3;
+    public RevColorSensorV3 revSensor;
+
+    public VoltageSensor voltage;
+
+    // Below is disregarded
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
     public AnalogInput turr1Pos;
@@ -55,7 +66,6 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
     public Servo light;
-    public VoltageSensor voltage;
 
     public Robot(HardwareMap hardwareMap) {
 
@@ -89,29 +99,44 @@ public class Robot {
 
         hood = hardwareMap.get(Servo.class, "hood");
 
-        turr1 = hardwareMap.get(Servo.class, "t1");
+        turr1 = hardwareMap.get(Servo.class, "turr1");
 
-        turr2 = hardwareMap.get(Servo.class, "t2");
+        turr2 = hardwareMap.get(Servo.class, "turr2");
-
-        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
 
         spin1 = hardwareMap.get(Servo.class, "spin2");
 
-        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
-
         spin2 = hardwareMap.get(Servo.class, "spin1");
 
-        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
-
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
 
-        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
-
         transfer.setDirection(DcMotorSimple.Direction.REVERSE);
         transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
+        spindexBlocker = hardwareMap.get(Servo.class, "spinB");
+
+        rapidFireBlocker = hardwareMap.get(Servo.class, "rapidB");
+
+        tilt1 = hardwareMap.get(Servo.class, "tilt1");
+        tilt2 = hardwareMap.get(Servo.class, "tilt2");
+
+        beam1 = hardwareMap.get(TouchSensor.class, "beam1");
+        beam2 = hardwareMap.get(TouchSensor.class, "beam2");
+        beam3 = hardwareMap.get(TouchSensor.class, "beam3");
+
+        revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
+
+        // Below is disregarded
+
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+
+        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
+
+        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
+
+        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
+
         color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
 
         color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
@@ -128,4 +153,140 @@ public class Robot {
         light = hardwareMap.get(Servo.class, "light");
         voltage = hardwareMap.voltageSensor.iterator().next();
     }
+
+    // Voids below are used to minimize hardware calls to minimize loop times
+
+    // Used to cut off digits that are negligible
+    private final int maxDigits = 5;
+    private final int roundingFactor = (int) Math.pow(10, maxDigits);
+
+    private double prevFrontLeftPower = -10.501;
+    public void setFrontLeftPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevFrontLeftPower){
+            frontLeft.setPower(pow);
+        }
+        prevFrontLeftPower = pow;
+    }
+
+    private double prevFrontRightPower = -10.501;
+    public void setFrontRightPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevFrontRightPower){
+            frontRight.setPower(pow);
+        }
+        prevFrontRightPower = pow;
+    }
+
+    private double prevBackLeftPower = -10.501;
+    public void setBackLeftPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevBackLeftPower){
+            backLeft.setPower(pow);
+        }
+        prevBackLeftPower = pow;
+    }
+
+    private double prevBackRightPower = -10.501;
+    public void setBackRightPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevBackRightPower){
+            backRight.setPower(pow);
+        }
+        prevBackRightPower = pow;
+    }
+
+    private double prevIntakePower = -10.501;
+    public void setIntakePower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevIntakePower){
+            intake.setPower(pow);
+        }
+        prevIntakePower = pow;
+    }
+
+    private double prevTransferPower = -10.501;
+    public void setTransferPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevTransferPower){
+            transfer.setPower(pow);
+        }
+        prevTransferPower = pow;
+    }
+
+    // shooter motors are done in separate class
+
+    private double prevHoodPos = -10.501;
+    public void setHoodPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevHoodPos){
+            hood.setPosition(pos);
+        }
+        prevHoodPos = pos;
+    }
+
+    private double prevTransferServoPos = -10.501;
+    public void setTransferServoPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTransferServoPos){
+            transferServo.setPosition(pos);
+        }
+        prevTransferServoPos = pos;
+    }
+
+    private double prevSpinPos = -10.501;
+    public void setSpinPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevSpinPos){
+            spin1.setPosition(pos);
+            spin2.setPosition(pos);
+        }
+        prevSpinPos = pos;
+    }
+
+    private double prevTurretPos = -10.501;
+    public void setTurretPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTurretPos){
+            turr1.setPosition(pos);
+            turr2.setPosition(pos);
+        }
+        prevTurretPos = pos;
+    }
+
+    private double prevTilt1Pos = -10.501;
+    public void setTilt1Pos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTilt1Pos){
+            tilt1.setPosition(pos);
+        }
+        prevTilt1Pos = pos;
+    }
+
+    private double prevTilt2Pos = -10.501;
+    public void setTilt2Pos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTilt2Pos){
+            tilt2.setPosition(pos);
+        }
+        prevTilt2Pos = pos;
+    }
+
+    private double prevSpindexBlockerPos = -10.501;
+    public void setSpindexBlockerPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevSpindexBlockerPos){
+            spindexBlocker.setPosition(pos);
+        }
+        prevSpindexBlockerPos = pos;
+    }
+
+    private double prevRapidFireBlockerPos = -10.501;
+    public void setRapidFireBlockerPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevRapidFireBlockerPos){
+            rapidFireBlocker.setPosition(pos);
+        }
+        prevRapidFireBlockerPos = pos;
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Drivetrain.java

@@ -76,10 +76,10 @@ public class Drivetrain {
         double frontRightPower = (y - x - rx) / denominator;
         double backRightPower = (y + x - rx) / denominator;
 
-        robot.frontLeft.setPower(frontLeftPower);
+        robot.setFrontLeftPower(frontLeftPower);
-        robot.backLeft.setPower(backLeftPower);
+        robot.setBackLeftPower(backLeftPower);
-        robot.frontRight.setPower(frontRightPower);
+        robot.setFrontRightPower(frontRightPower);
-        robot.backRight.setPower(backRightPower);
+        robot.setBackRightPower(backRightPower);
 
         if (tele) {