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Turret works y8ippee horray hurrah ig

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This commit is contained in:
Keshav Anand
2026-01-22 21:04:25 -06:00
parent daccec4fdd
commit fbdeb6e291
5 changed files with 46 additions and 68 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
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@@ -12,7 +12,7 @@ public class Poses {
public static double relativeGoalHeight = goalHeight - turretHeight;
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
public static Pose2d goalPose = new Pose2d(-10, 0, 0);
public static double rx1 = 40, ry1 = -7, rh1 = 0;
public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
@@ -38,6 +38,6 @@ public class Poses {
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
public static Pose2d teleStart = new Pose2d(0, 0, 0);
}

77
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -1,11 +1,9 @@
package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turrDefault;
import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
@@ -21,7 +19,6 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.arcrobotics.ftclib.controller.PIDFController;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -29,11 +26,13 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.teamcode.utils.Spindexer;
import org.firstinspires.ftc.teamcode.utils.Targeting;
import org.firstinspires.ftc.teamcode.utils.Turret;
import java.util.ArrayList;
import java.util.List;
@@ -152,7 +151,7 @@ public class TeleopV3 extends LinearOpMode {
drive = new MecanumDrive(hardwareMap, teleStart);
spindexer = new Spindexer(hardwareMap);
targeting = new Targeting();
targetingSettings = new Targeting.Settings(0.0,0.0);
targetingSettings = new Targeting.Settings(0.0, 0.0);
PIDFController tController = new PIDFController(tp, ti, td, tf);
@@ -166,6 +165,12 @@ public class TeleopV3 extends LinearOpMode {
// robot.limelight.start();
AprilTagWebcam webcam = new AprilTagWebcam();
webcam.init(robot, TELE);
Turret turret = new Turret(robot, TELE, webcam);
waitForStart();
waitForStart();
if (isStopRequested()) return;
@@ -379,39 +384,21 @@ public class TeleopV3 extends LinearOpMode {
double robotY = robY - yOffset;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -10;
double goalX = -15;
double goalY = 0;
double dx = goalX - robotX; // delta x from robot to goal
double dy = goalY - robotY; // delta y from robot to goal
double dx = robotX - goalX; // delta x from robot to goal
double dy = robotY - goalY; // delta y from robot to goal
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
desiredTurretAngle += manualOffset + error;
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
if (offset > 135) {
offset -= 360;
}
double pos = turrDefault;
TELE.addData("offset", offset);
pos -= offset * ((double) 1 / 360);
if (pos < 0.13) {
pos = 0.13;
} else if (pos > 0.83) {
pos = 0.83;
}
targetingSettings = targeting.calculateSettings
(robotX,robotY,robotHeading,0.0);
(robotX, robotY, robotHeading, 0.0);
turret.trackGoal(deltaPose);
webcam.update();
//VELOCITY AUTOMATIC
if (targetingVel) {
@@ -443,8 +430,6 @@ public class TeleopV3 extends LinearOpMode {
//TODO: test the camera teleop code
TELE.addData("posS2", pos);
// if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
// double bearing;
//
@@ -468,27 +453,6 @@ public class TeleopV3 extends LinearOpMode {
// overrideTurr = false;
// }
if (!overrideTurr) {
turretPos = pos;
}
TELE.addData("posS3", turretPos);
if (manualTurret) {
pos = turrDefault + (manualOffset / 100) + error;
}
if (!overrideTurr) {
turretPos = pos;
}
if (Math.abs(gamepad2.left_stick_x)>0.2) {
manualOffset += 1.35 * gamepad2.left_stick_x;
}
robot.turr1.setPosition(pos);
robot.turr2.setPosition(1 - pos);
//HOOD:
if (targetingHood) {
@@ -672,7 +636,6 @@ public class TeleopV3 extends LinearOpMode {
}
}
//
// if (shootAll) {
//
@@ -870,9 +833,9 @@ public class TeleopV3 extends LinearOpMode {
TELE.addData("shootall commanded", shootAll);
// Targeting Debug
TELE.addData("robotX", robotX);
TELE.addData( "robotY", robotY);
TELE.addData("robotY", robotY);
TELE.addData("robotInchesX", targeting.robotInchesX);
TELE.addData( "robotInchesY", targeting.robotInchesY);
TELE.addData("robotInchesY", targeting.robotInchesY);
TELE.addData("Targeting GridX", targeting.robotGridX);
TELE.addData("Targeting GridY", targeting.robotGridY);
TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/TurretTest.java
View File

@@ -30,12 +30,20 @@ public class TurretTest extends LinearOpMode {
Turret turret = new Turret(robot, TELE, webcam);
waitForStart();
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(10, 0,0));
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
while(opModeIsActive()){
drive.updatePoseEstimate();
turret.trackGoal(drive.localizer.getPose());
webcam.update();
webcam.displayAllTelemetry();
TELE.update();
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
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@@ -79,8 +79,10 @@ public class Robot {
shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
shooter1.setVelocity(1400);
shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
shooter2.setVelocity(1400);
hood = hardwareMap.get(Servo.class, "hood");

21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
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@@ -13,12 +13,14 @@ public class Turret {
public static double turretTolerance = 0.02;
public static double turrPosScalar = 1.009;
public static double turret180Range = 0.6;
public static double turret180Range = 0.4;
public static double turrDefault = 0.4;
public static double cameraBearingEqual = 1.5;
public static double errorLearningRate = 2;
public static double cameraBearingEqual = 1;
public static double errorLearningRate = 0.15;
public static double turrMin = 0.2;
public static double turrMax = 0.8;
public static double deltaAngleThreshold = 0.02;
public static double angleMultiplier = 0.0;
Robot robot;
MultipleTelemetry TELE;
AprilTagWebcam webcam;
@@ -27,6 +29,8 @@ public class Turret {
private double offset = 0.0;
private double bearing = 0.0;
public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
this.TELE = tele;
this.robot = rob;
@@ -85,9 +89,7 @@ public class Turret {
return obeliskID;
}
public void update() {
}
/*
Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
@@ -107,15 +109,18 @@ public class Turret {
// Turret angle needed relative to robot
double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
turretAngleDeg = -turretAngleDeg;
// Normalize to [-180, 180]
while (turretAngleDeg > 180) turretAngleDeg -= 360;
while (turretAngleDeg < -180) turretAngleDeg += 360;
/* ---------------- APRILTAG CORRECTION ---------------- */
/* ---------------- APRILTAG CORRECTION ---------------- */
//
double tagBearingDeg = getBearing(); // + = target is to the left
if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) < cameraBearingEqual) {
if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual) {
// Slowly learn turret offset (persistent calibration)
offset -= tagBearingDeg * errorLearningRate;
}
@@ -124,7 +129,7 @@ public class Turret {
/* ---------------- ANGLE → SERVO ---------------- */
double turretPos = turrDefault + (turretAngleDeg / (turret180Range * 2.0));
double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
// Clamp to servo range
turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));