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Working red auto apparently...blue is theoretial atp

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This commit is contained in:
Keshav Anand
2026-01-17 09:44:06 -06:00
parent e8bf2033ad
commit fde0880225
4 changed files with 138 additions and 94 deletions
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198
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java
View File

@@ -1,43 +1,48 @@
package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2c;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2c;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
import static org.firstinspires.ftc.teamcode.constants.Poses.by2c;
import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2c;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2c;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2c;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -48,6 +53,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferSe
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
import androidx.annotation.NonNull;
@@ -60,6 +66,7 @@ import com.acmerobotics.roadrunner.ParallelAction;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.hardware.limelightvision.LLResult;
@@ -82,6 +89,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
public static double intake2Time = 3.0;
public static double colorDetect = 3.0;
public static double holdTurrPow = 0.01; // power to hold turret in place
public static double slowSpeed = 30.0;
Robot robot;
MultipleTelemetry TELE;
MecanumDrive drive;
@@ -91,6 +99,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
boolean gpp = false;
boolean pgp = false;
boolean ppg = false;
public static double spinUnjamTime = 0.6;
double powPID = 0.0;
double bearing = 0.0;
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
@@ -207,6 +216,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
boolean zeroPassed = false;
double currentPos = 0.0;
double prevPos = 0.0;
double stamp = 0.0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -224,58 +234,74 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
teleStart = drive.localizer.getPose();
if (ticker == 1) {
robot.transferServo.setPosition(transferServo_in);
initPos = servo.getSpinPos();
finalPos = initPos + 0.6;
if (finalPos > 1.0) {
finalPos = finalPos - 1;
zeroNeeded = true;
} else if (finalPos > 0.95) {
finalPos = 0.0;
zeroNeeded = true;
}
currentPos = initPos;
stamp = getRuntime();
}
ticker++;
if (ticker > 16) {
robot.spin1.setPower(0.08);
robot.spin2.setPower(-0.08);
}
robot.intake.setPower(0);
if (getRuntime() - stamp < 3) {
robot.transferServo.setPosition(transferServo_in);
robot.spin1.setPower(-spinPow);
robot.spin2.setPower(spinPow);
return true;
prevPos = currentPos;
currentPos = servo.getSpinPos();
if (zeroNeeded) {
if (currentPos - prevPos < -0.5) {
zeroPassed = true;
}
if (zeroPassed) {
if (currentPos > finalPos) {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
return false;
} else {
return true;
}
} else {
return true;
}
} else {
if (currentPos > finalPos) {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
return false;
} else {
return true;
}
robot.transferServo.setPosition(transferServo_out);
return false;
}
}
};
}
public Action spindexUnjam(double jamTime) {
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
ticker++;
if (ticker == 1) {
stamp = getRuntime();
}
if (ticker % 12 < 6) {
robot.spin1.setPower(-1);
robot.spin2.setPower(1);
} else {
robot.spin1.setPower(1);
robot.spin2.setPower(-1);
}
if (getRuntime() - stamp > jamTime+0.4) {
robot.intake.setPower(0);
return false;
}
else if (getRuntime() - stamp > jamTime) {
robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
return true;
}
else {
robot.intake.setPower(1);
return true;
}
}
};
}
public Action intake(double intakeTime) {
return new Action() {
double stamp = 0.0;
@@ -291,17 +317,22 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
}
ticker++;
if (ticker % 12 < 3) {
if (ticker % 60 < 12) {
robot.spin1.setPower(-1);
robot.spin2.setPower(1);
} else if (reverse) {
} else if (ticker % 60 < 30) {
robot.spin1.setPower(-0.5);
robot.spin2.setPower(0.5);
}
else if (ticker % 60 < 42) {
robot.spin1.setPower(1);
robot.spin2.setPower(-1);
} else {
robot.spin1.setPower(-0.15);
robot.spin2.setPower(0.15);
}
else {
robot.spin1.setPower(0.5);
robot.spin2.setPower(-0.5);
}
robot.intake.setPower(1);
TELE.addData("Reverse?", reverse);
@@ -319,9 +350,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
} else {
if (ticker % 4 == 0) {
spinCurrentPos = servo.getSpinPos();
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.02;
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
spinInitPos = spinCurrentPos;
}
return true;
}
}
@@ -438,24 +470,27 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
new TranslationalVelConstraint(slowSpeed));
//
// TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
// .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
.strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
new TranslationalVelConstraint(slowSpeed));
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b);
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
new TranslationalVelConstraint(slowSpeed));
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
@@ -482,26 +517,29 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
new TranslationalVelConstraint(slowSpeed));
lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
.strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
// lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
// .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
shoot1 = drive.actionBuilder(new Pose2d(rx2c, ry2c, rh2c))
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
new TranslationalVelConstraint(slowSpeed));
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
pickup3 = drive.actionBuilder(new Pose2d(rx1,ry1, rh1))
pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
.strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
.strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b);
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
.strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
new TranslationalVelConstraint(slowSpeed));
shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
} else {
turretPID = turret_blueClose;
@@ -511,14 +549,16 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
new TranslationalVelConstraint(slowSpeed));
shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
new TranslationalVelConstraint(slowSpeed));
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
@@ -573,8 +613,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
Actions.runBlocking(
new SequentialAction(
lever.build(),
shoot1.build()
shoot1.build(),
spindexUnjam(spinUnjamTime)
)
);
@@ -604,7 +645,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
shoot2.build()
shoot2.build(),
spindexUnjam(spinUnjamTime)
)
);
@@ -630,7 +672,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
shoot3.build()
shoot3.build(),
spindexUnjam(spinUnjamTime)
)
);

30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -14,28 +14,28 @@ public class Poses {
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
public static double rx1 = 45, ry1 = -7, rh1 = 0;
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
public static double rx1 = 40, ry1 = -7, rh1 = 0;
public static double rx2a = 45, ry2a = 18, rh2a = Math.toRadians(140);
public static double rx2b = 25, ry2b = 38, rh2b = Math.toRadians(140);
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
public static double rx3a = 55, ry3a = 43, rh3a = Math.toRadians(140);
public static double rx3b = 37, ry3b = 61, rh3b = Math.toRadians(140);
public static double rx4a = 71, ry4a = 60, rh4a = Math.toRadians(140);
public static double rx4b = 79, ry4b = 79, rh4b = Math.toRadians(140);
public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
public static double rx4b = 50, ry4b = 77, rh4b = Math.toRadians(140);
public static double bx1 = 45, by1 = 6, bh1 = 0;
public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
public static double bx2c = 40, by2c = -50, bh2c = Math.toRadians(-140);
public static double bx1 = 40, by1 = 7, bh1 = 0;
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
public static double bx4a = 69, by4a = -60, bh4a = Math.toRadians(-140);
public static double bx4b = 75, by4b = -79, bh4b = Math.toRadians(-140);
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
public static double bx4b = 50, by4b = -77, 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);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
View File

@@ -24,7 +24,7 @@ public class ServoPositions {
public static double hoodDefault = 0.6;
public static double hoodAuto = 0.55;
public static double hoodAuto = 0.43;
public static double hoodAutoFar = 0.5; //TODO: change this;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
View File

@@ -19,6 +19,6 @@ public class ShooterVars {
public static double maxStep = 0.06; // prevents sudden jumps
// VELOCITY CONSTANTS
public static int AUTO_CLOSE_VEL = 3025; //3300;
public static int AUTO_CLOSE_VEL = 3000; //3300;
public static int AUTO_FAR_VEL = 4000; //TODO: test this
}