Add Targeting Class with initial values that still need tuning. Connect Targeting Class to TeleOpV3. Clean up unused code in Flywheel class.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java

@@ -33,6 +33,7 @@ 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 java.util.ArrayList;
 import java.util.List;
@@ -53,6 +54,8 @@ public class TeleopV3 extends LinearOpMode {
     public static boolean manualTurret = true;
     public double vel = 3000;
     public boolean autoVel = true;
+    public boolean targetingVel = true;
+    public boolean targetingHood = true;
     public double manualOffset = 0.0;
     public boolean autoHood = true;
     public boolean green1 = false;
@@ -72,6 +75,8 @@ public class TeleopV3 extends LinearOpMode {
     Flywheel flywheel;
     MecanumDrive drive;
     Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
     double autoHoodOffset = 0.0;
 
     int shooterTicker = 0;
@@ -146,6 +151,8 @@ public class TeleopV3 extends LinearOpMode {
         flywheel = new Flywheel(hardwareMap);
         drive = new MecanumDrive(hardwareMap, teleStart);
         spindexer = new Spindexer(hardwareMap);
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0,0.0);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
@@ -402,13 +409,14 @@ public class TeleopV3 extends LinearOpMode {
                 pos = 0.83;
             }
 
-            //SHOOTER:
 
-            flywheel.manageFlywheel(vel);
+            targetingSettings = targeting.calculateSettings
+                    (robotX,robotY,robotHeading,0.0);
 
             //VELOCITY AUTOMATIC
-
-            if (autoVel) {
+            if (targetingVel) {
+                vel = targetingSettings.flywheelRPM;
+            } else if (autoVel) {
                 vel = velPrediction(distanceToGoal);
             } else {
                 vel = manualVel;
@@ -430,6 +438,9 @@ public class TeleopV3 extends LinearOpMode {
                 manualVel = 3100;
             }
 
+            //SHOOTER:
+            flywheel.manageFlywheel(vel);
+
             //TODO: test the camera teleop code
 
             TELE.addData("posS2", pos);
@@ -480,7 +491,9 @@ public class TeleopV3 extends LinearOpMode {
 
             //HOOD:
 
-            if (autoHood) {
+            if (targetingHood) {
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+            } else if (autoHood) {
                 robot.hood.setPosition(0.15 + hoodOffset);
             } else {
                 robot.hood.setPosition(hoodDefaultPos + hoodOffset);
@@ -845,16 +858,27 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
+            // Spindexer Debug
             TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
             TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
             TELE.addData("spinIntakeState", spindexer.currentIntakeState);
             TELE.addData("spinTestCounter", spindexer.counter);
             TELE.addData("autoSpintake", autoSpintake);
-            TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
-            TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
-            TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+            //TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+            //TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+            //TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
             TELE.addData("shootall commanded", shootAll);
+            // Targeting Debug
+            TELE.addData("robotX", robotX);
+            TELE.addData( "robotY", robotY);
+            TELE.addData("robotInchesX", targeting.robotInchesX);
+            TELE.addData( "robotInchesY", targeting.robotInchesY);
+            TELE.addData("Targeting GridX", targeting.robotGridX);
+            TELE.addData("Targeting GridY", targeting.robotGridY);
+            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
             TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+
             TELE.update();
 
             ticker++;

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

@@ -1,22 +1,13 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
-import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
 public class Flywheel {
     Robot robot;
-    MultipleTelemetry TELE;
-
-    double initPos = 0.0;
-    double stamp = 0.0;
-    double stamp1 = 0.0;
-    double ticker = 0.0;
-    double currentPos = 0.0;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
     double velo1 = 0.0;
     double velo2 = 0.0;
@@ -25,6 +16,10 @@ public class Flywheel {
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
+        shooterPIDF1 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+        shooterPIDF2 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
     }
 
     public double getVelo () {
@@ -48,10 +43,6 @@ public class Flywheel {
         robot.shooterPIDF.d = d;
         robot.shooterPIDF.f = f;
     }
-    private double getTimeSeconds ()
-    {
-        return (double) System.currentTimeMillis()/1000.0;
-    }
 
     // Convert from RPM to Ticks per Second
     private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
@@ -62,19 +53,20 @@ public class Flywheel {
     public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        // Turn PIDF for Target Velocities
+        // Add code here to set PIDF based on desired RPM
         //robot.shooterPIDF.p = P;
         //robot.shooterPIDF.i = I;
         //robot.shooterPIDF.d = D;
         //robot.shooterPIDF.f = F;
-        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
         robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 
         // Record Current Velocity
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-        velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); // Possible error: should it be shooter2 not shooter1?
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
         velo = Math.max(velo1,velo2);
 
         // really should be a running average of the last 5

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

@@ -0,0 +1,111 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import android.provider.Settings;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Targeting {
+    MultipleTelemetry TELE;
+
+    double cancelOffsetX = 7.071067811;
+    double cancelOffsetY = 7.071067811;
+    double unitConversionFactor = 0.95;
+
+    int tileSize = 24; //inches
+
+    public double robotInchesX, robotInchesY = 0.0;
+
+    public int robotGridX, robotGridY = 0;
+
+
+    public static class Settings {
+        public double flywheelRPM = 0.0;
+        public double hoodAngle = 0.0;
+
+        public Settings (double flywheelRPM, double hoodAngle) {
+            this.flywheelRPM = flywheelRPM;
+            this.hoodAngle = hoodAngle;
+        }
+    }
+
+    // Known settings discovered using shooter test.
+    // Keep the fidelity at 1 floor tile for now but we could also half it if more
+    // accuracy is needed.
+    public static final Settings[][] KNOWNTARGETING;
+    static {
+        KNOWNTARGETING = new Settings[6][6];
+        // ROW 0 - Closet to the goals
+        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
+        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
+        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
+        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
+        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
+        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
+        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
+        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
+        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
+        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        // ROW 2
+        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
+        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
+        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
+        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
+        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
+        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
+        KNOWNTARGETING[4][2] = new Settings (4542.0, 0.1);
+        KNOWNTARGETING[4][3] = new Settings (4543.0, 0.1);
+        KNOWNTARGETING[4][4] = new Settings (4544.0, 0.1);
+        KNOWNTARGETING[4][5] = new Settings (4545.0, 0.1);
+        // ROW 1
+        KNOWNTARGETING[5][0] = new Settings (4550.0, 0.1);
+        KNOWNTARGETING[5][1] = new Settings (4551.0, 0.1);
+        KNOWNTARGETING[5][2] = new Settings (4552.0, 0.1);
+        KNOWNTARGETING[5][3] = new Settings (4553.0, 0.1);
+        KNOWNTARGETING[5][4] = new Settings (4554.0, 0.1);
+        KNOWNTARGETING[5][5] = new Settings (4555.0, 0.1);
+    }
+
+    public Targeting()
+    {
+    }
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity) {
+        Settings recommendedSettings = new Settings(0.0, 0.0);
+
+        double cos45 = Math.cos(Math.toRadians(-45));
+        double sin45 = Math.sin(Math.toRadians(-45));
+        double rotatedY = (robotX -40.0) * sin45 + (robotY +7.0) * cos45;
+        double rotatedX = (robotX -40.0) * cos45 - (robotY +7.0) * sin45;
+
+        // Convert robot coordinates to inches
+        robotInchesX = rotatedX * unitConversionFactor;
+        robotInchesY = rotatedY * unitConversionFactor;
+
+        // Find approximate location in the grid
+        robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) +1);
+        robotGridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+
+        // Use Grid Location to perform lookup
+        // Keep it simple for now but may want to interpolate results
+        if ((robotGridY < 6) && (robotGridX <6)) {
+            recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
+            recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+        }
+        return recommendedSettings;
+    }
+}