KeshavAnandCode/FTCDecodeMain
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small tweaks: added current pose telemetry and reduced coasting from limelight track

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This commit is contained in:
DanTheMan-byte
2026-06-05 14:29:21 -05:00
parent cc38b98d6f
commit f7a9f6aaf5
2 changed files with 4 additions and 2 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
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@@ -91,6 +91,7 @@ public class TeleopV4 extends LinearOpMode {
} }
follower.update(); follower.update();
Pose currentPose = follower.getPose();
if (gamepad1.dpadLeftWasPressed()){ if (gamepad1.dpadLeftWasPressed()){
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR); shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
@@ -158,6 +159,8 @@ public class TeleopV4 extends LinearOpMode {
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());
TELE.addData("Current Position", currentPose);
TELE.update(); TELE.update();
} }

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
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@@ -1,7 +1,6 @@
package org.firstinspires.ftc.teamcode.utilsv2; package org.firstinspires.ftc.teamcode.utilsv2;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.arcrobotics.ftclib.controller.PIDController; import com.arcrobotics.ftclib.controller.PIDController;
import com.qualcomm.hardware.limelightvision.LLResult; import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes; import com.qualcomm.hardware.limelightvision.LLResultTypes;
@@ -25,7 +24,7 @@ public class Turret {
LLResult result; LLResult result;
PIDController bearingPID; PIDController bearingPID;
boolean bearingAligned = false; boolean bearingAligned = false;
public int LL_COAST_TICKS = 60; public int LL_COAST_TICKS = 5;
public static double TARGET_POSITION_TOLERANCE = 0.5; public static double TARGET_POSITION_TOLERANCE = 0.5;
public static double alphaTX = 0.5; public static double alphaTX = 0.5;
private double targetTx = 0; private double targetTx = 0;