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daniel
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@@ -1,24 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="SlothLoad" type="GradleRunConfiguration" factoryName="Gradle">
|
||||
<ExternalSystemSettings>
|
||||
<option name="executionName" />
|
||||
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
||||
<option name="externalSystemIdString" value="GRADLE" />
|
||||
<option name="scriptParameters" value="" />
|
||||
<option name="taskDescriptions">
|
||||
<list />
|
||||
</option>
|
||||
<option name="taskNames">
|
||||
<list>
|
||||
<option value="TeamCode:deploySloth" />
|
||||
</list>
|
||||
</option>
|
||||
<option name="vmOptions" />
|
||||
</ExternalSystemSettings>
|
||||
<ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
|
||||
<ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
|
||||
<DebugAllEnabled>false</DebugAllEnabled>
|
||||
<RunAsTest>false</RunAsTest>
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,75 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="TeamCode" type="AndroidRunConfigurationType" factoryName="Android App" activateToolWindowBeforeRun="false">
|
||||
<module name="DecodeFTCMain.TeamCode" />
|
||||
<option name="ANDROID_RUN_CONFIGURATION_SCHEMA_VERSION" value="1" />
|
||||
<option name="DEPLOY" value="true" />
|
||||
<option name="DEPLOY_APK_FROM_BUNDLE" value="false" />
|
||||
<option name="DEPLOY_AS_INSTANT" value="false" />
|
||||
<option name="ARTIFACT_NAME" value="" />
|
||||
<option name="PM_INSTALL_OPTIONS" value="" />
|
||||
<option name="ALL_USERS" value="false" />
|
||||
<option name="ALWAYS_INSTALL_WITH_PM" value="false" />
|
||||
<option name="ALLOW_ASSUME_VERIFIED" value="false" />
|
||||
<option name="CLEAR_APP_STORAGE" value="false" />
|
||||
<option name="DYNAMIC_FEATURES_DISABLED_LIST" value="" />
|
||||
<option name="ACTIVITY_EXTRA_FLAGS" value="" />
|
||||
<option name="MODE" value="default_activity" />
|
||||
<option name="RESTORE_ENABLED" value="false" />
|
||||
<option name="RESTORE_FILE" value="" />
|
||||
<option name="RESTORE_FRESH_INSTALL_ONLY" value="false" />
|
||||
<option name="CLEAR_LOGCAT" value="false" />
|
||||
<option name="SHOW_LOGCAT_AUTOMATICALLY" value="false" />
|
||||
<option name="TARGET_SELECTION_MODE" value="DEVICE_AND_SNAPSHOT_COMBO_BOX" />
|
||||
<option name="SELECTED_CLOUD_MATRIX_CONFIGURATION_ID" value="-1" />
|
||||
<option name="SELECTED_CLOUD_MATRIX_PROJECT_ID" value="" />
|
||||
<option name="DEBUGGER_TYPE" value="Auto" />
|
||||
<Auto>
|
||||
<option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
|
||||
<option name="SHOW_STATIC_VARS" value="true" />
|
||||
<option name="WORKING_DIR" value="" />
|
||||
<option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
|
||||
<option name="SHOW_OPTIMIZED_WARNING" value="true" />
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Auto>
|
||||
<Hybrid>
|
||||
<option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
|
||||
<option name="SHOW_STATIC_VARS" value="true" />
|
||||
<option name="WORKING_DIR" value="" />
|
||||
<option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
|
||||
<option name="SHOW_OPTIMIZED_WARNING" value="true" />
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Hybrid>
|
||||
<Java>
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Java>
|
||||
<Native>
|
||||
<option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
|
||||
<option name="SHOW_STATIC_VARS" value="true" />
|
||||
<option name="WORKING_DIR" value="" />
|
||||
<option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
|
||||
<option name="SHOW_OPTIMIZED_WARNING" value="true" />
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Native>
|
||||
<Profilers>
|
||||
<option name="ADVANCED_PROFILING_ENABLED" value="false" />
|
||||
<option name="STARTUP_PROFILING_ENABLED" value="false" />
|
||||
<option name="STARTUP_CPU_PROFILING_ENABLED" value="false" />
|
||||
<option name="STARTUP_CPU_PROFILING_CONFIGURATION_NAME" value="Java/Kotlin Method Sample (legacy)" />
|
||||
<option name="STARTUP_NATIVE_MEMORY_PROFILING_ENABLED" value="false" />
|
||||
<option name="NATIVE_MEMORY_SAMPLE_RATE_BYTES" value="2048" />
|
||||
</Profilers>
|
||||
<option name="DEEP_LINK" value="" />
|
||||
<option name="ACTIVITY" value="" />
|
||||
<option name="ACTIVITY_CLASS" value="" />
|
||||
<option name="SEARCH_ACTIVITY_IN_GLOBAL_SCOPE" value="false" />
|
||||
<option name="SKIP_ACTIVITY_VALIDATION" value="false" />
|
||||
<method v="2">
|
||||
<option name="Gradle.BeforeRunTask" enabled="true" tasks="removeSlothRemote" externalProjectPath="$PROJECT_DIR$/TeamCode" vmOptions="" scriptParameters="" />
|
||||
<option name="Android.Gradle.BeforeRunTask" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,8 +1,8 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
xmlns:tools="http://schemas.android.com/tools"
|
||||
android:versionCode="61"
|
||||
android:versionName="11.1">
|
||||
android:versionCode="60"
|
||||
android:versionName="11.0">
|
||||
|
||||
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
|
||||
|
||||
|
||||
@@ -92,6 +92,7 @@ public class ConceptAprilTag extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
@@ -109,6 +110,7 @@ public class ConceptAprilTag extends LinearOpMode {
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
@@ -88,6 +88,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
@@ -105,6 +106,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
@@ -81,6 +81,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryCameraSwitching();
|
||||
@@ -101,6 +102,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
visionPortal.close();
|
||||
|
||||
@@ -83,22 +83,6 @@ public class ConceptGamepadEdgeDetection extends LinearOpMode {
|
||||
telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
|
||||
telemetry.addData("Gamepad 1 Right Bumper Status", gamepad1.right_bumper);
|
||||
|
||||
// Add an empty line to separate the buttons in telemetry
|
||||
telemetry.addLine();
|
||||
|
||||
// Add the status of the Gamepad 1 Left trigger
|
||||
telemetry.addData("Gamepad 1 Left Trigger Pressed", gamepad1.leftTriggerWasPressed());
|
||||
telemetry.addData("Gamepad 1 Left Trigger Released", gamepad1.leftTriggerWasReleased());
|
||||
telemetry.addData("Gamepad 1 Left Trigger Status", gamepad1.left_trigger_pressed);
|
||||
|
||||
// Add an empty line to separate the buttons in telemetry
|
||||
telemetry.addLine();
|
||||
|
||||
// Add the status of the Gamepad 1 Right trigger
|
||||
telemetry.addData("Gamepad 1 Right Trigger Pressed", gamepad1.rightTriggerWasPressed());
|
||||
telemetry.addData("Gamepad 1 Right Trigger Released", gamepad1.rightTriggerWasReleased());
|
||||
telemetry.addData("Gamepad 1 Right Trigger Status", gamepad1.right_trigger_pressed);
|
||||
|
||||
// Add a note that the telemetry is only updated every 2 seconds
|
||||
telemetry.addLine("\nTelemetry is updated every 2 seconds.");
|
||||
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples;
|
||||
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples;
|
||||
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
15
README.md
15
README.md
@@ -59,21 +59,6 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
|
||||
|
||||
# Release Information
|
||||
|
||||
## Version 11.1 (20251231-104637)
|
||||
|
||||
### Enhancements
|
||||
|
||||
* Gamepad triggers can now be accessed as booleans and have edge detection supported.
|
||||
* GoBildaPinpointDriver now supports Pinpoint v2 functionality
|
||||
* Adds webcam calibrations for goBILDA's USB camera.
|
||||
|
||||
### Bug Fixes
|
||||
* Fixes issue [1654](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1654) in GoBildaPinpointDriver that caused error if resolution was set in other than MM
|
||||
* Fixes issue [1628](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1628) Blocks editor displays incorrect Java code for gamepad edge detection blocks.
|
||||
* Fixes possible race condition issue [1884](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1884) on Driver Station startup when Driver Station name doesn't match the Robot Controller name.
|
||||
* Fixes issue [1863](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1863) - Incorrect package paths in samples.
|
||||
* Fixes an issue where an OnBotJava filename that begins with a lowercase character would fail to properly rename the file if the user tried to rename it so that it begins with an uppercase character.
|
||||
|
||||
## Version 11.0 (20250827-105138)
|
||||
|
||||
### Enhancements
|
||||
|
||||
@@ -12,25 +12,8 @@
|
||||
// Custom definitions may go here
|
||||
|
||||
// Include common definitions from above.
|
||||
|
||||
buildscript {
|
||||
repositories {
|
||||
mavenCentral()
|
||||
maven {
|
||||
url "https://repo.dairy.foundation/releases"
|
||||
}
|
||||
}
|
||||
dependencies {
|
||||
classpath "dev.frozenmilk:Load:0.2.4"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
apply from: '../build.common.gradle'
|
||||
apply from: '../build.dependencies.gradle'
|
||||
// there should be 2 or 3 more lines that start with 'apply plugin:' here
|
||||
apply plugin: 'dev.frozenmilk.sinister.sloth.load'
|
||||
|
||||
|
||||
android {
|
||||
namespace = 'org.firstinspires.ftc.teamcode'
|
||||
@@ -40,37 +23,6 @@ android {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
repositories {
|
||||
maven {
|
||||
url = 'https://maven.brott.dev/'
|
||||
}
|
||||
// Dairy releases repository
|
||||
maven {
|
||||
url = "https://repo.dairy.foundation/releases"
|
||||
}
|
||||
// Dairy snapshots repository
|
||||
maven {
|
||||
url = "https://repo.dairy.foundation/snapshots"
|
||||
}
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation project(':FtcRobotController')
|
||||
implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
|
||||
implementation 'org.ftclib.ftclib:core:2.1.1' // core
|
||||
implementation("com.acmerobotics.roadrunner:ftc:0.1.25") {
|
||||
exclude group: "com.acmerobotics.dashboard"
|
||||
}
|
||||
implementation("com.acmerobotics.roadrunner:actions:1.0.1") {
|
||||
exclude group: "com.acmerobotics.dashboard"
|
||||
}
|
||||
implementation("com.acmerobotics.roadrunner:core:1.0.1") {
|
||||
exclude group: "com.acmerobotics.dashboard"
|
||||
}
|
||||
|
||||
implementation("com.acmerobotics.slothboard:dashboard:0.2.4+0.5.1") //Slothdashboard
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,819 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
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;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2d;
|
||||
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.acmerobotics.roadrunner.ftc.PinpointIMU;
|
||||
import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
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;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class Auto_LT_Close extends LinearOpMode {
|
||||
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
|
||||
public static double velGate0Start = 2700, hoodGate0Start = 0.6;
|
||||
|
||||
public static double velGate0End = 2700, hoodGate0End = 0.35;
|
||||
public static double hood0MoveTime = 2;
|
||||
public static double spindexerSpeedIncrease = 0.014;
|
||||
|
||||
public static double shootAllTime = 3.5;
|
||||
public static double intake1Time = 3.3;
|
||||
public static double intake2Time = 3.8;
|
||||
|
||||
public static double intake3Time = 4.2;
|
||||
|
||||
public static double flywheel0Time = 1.5;
|
||||
public static double pickup1Speed = 12;
|
||||
// ---- POSITION TOLERANCES ----
|
||||
public static double posXTolerance = 5.0;
|
||||
public static double posYTolerance = 5.0;
|
||||
// ---- OBELISK DETECTION ----
|
||||
public static double shoot1Time = 2.5;
|
||||
public static double shoot2Time = 2.5;
|
||||
public static double shoot3Time = 2.5;
|
||||
public static double colorSenseTime = 1.2;
|
||||
public static double waitToShoot0 = 0.5;
|
||||
public static double waitToPickupGate2 = 0.3;
|
||||
public static double pickupStackGateSpeed = 19;
|
||||
public static double intake2TimeGate = 5;
|
||||
public static double shoot2GateTime = 1.7;
|
||||
public static double endGateTime = 22;
|
||||
public static double waitToPickupGateWithPartner = 0.7;
|
||||
public static double waitToPickupGateSolo = 0.01;
|
||||
public static double intakeGateTime = 5.6;
|
||||
public static double shootGateTime = 1.5;
|
||||
public static double shoot1GateTime = 1.7;
|
||||
public static double intake1GateTime = 3.3;
|
||||
public static double lastShootTime = 27;
|
||||
|
||||
public static double openGateX = 26;
|
||||
public static double openGateY = 48;
|
||||
public static double openGateH = Math.toRadians(155);
|
||||
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
AutoActions autoActions;
|
||||
Light light;
|
||||
|
||||
int motif = 0;
|
||||
double x1, y1, h1;
|
||||
double x2a, y2a, h2a, t2a;
|
||||
|
||||
double x2b, y2b, h2b, t2b;
|
||||
double x2c, y2c, h2c, t2c;
|
||||
|
||||
double x3a, y3a, h3a;
|
||||
double x3b, y3b, h3b;
|
||||
double x4a, y4a, h4a;
|
||||
double x4b, y4b, h4b;
|
||||
|
||||
double xShoot, yShoot, hShoot;
|
||||
double xShoot0, yShoot0, hShoot0;
|
||||
double pickupGateAX, pickupGateAY, pickupGateAH;
|
||||
double pickupGateBX, pickupGateBY, pickupGateBH;
|
||||
double xShootGate, yShootGate, hShootGate;
|
||||
double xLeave, yLeave, hLeave;
|
||||
double xLeaveGate, yLeaveGate, hLeaveGate;
|
||||
|
||||
int ballCycles = 3;
|
||||
int prevMotif = 0;
|
||||
boolean gateCycle = true;
|
||||
boolean withPartner = true;
|
||||
double obeliskTurrPos1 = 0.0;
|
||||
double obeliskTurrPos2 = 0.0;
|
||||
double obeliskTurrPos3 = 0.0;
|
||||
double waitToPickupGate = 0;
|
||||
|
||||
// initialize path variables here
|
||||
TrajectoryActionBuilder shoot0 = null;
|
||||
TrajectoryActionBuilder pickup1 = null;
|
||||
TrajectoryActionBuilder shoot1 = null;
|
||||
TrajectoryActionBuilder pickup2 = null;
|
||||
TrajectoryActionBuilder shoot2 = null;
|
||||
TrajectoryActionBuilder pickup3 = null;
|
||||
TrajectoryActionBuilder shoot3 = null;
|
||||
TrajectoryActionBuilder shoot0ToPickup2 = null;
|
||||
TrajectoryActionBuilder gateCyclePickup = null;
|
||||
TrajectoryActionBuilder gateCycleShoot = null;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
|
||||
light = Light.getInstance();
|
||||
|
||||
light.init(robot.light, spindexer, turret);
|
||||
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
servos.setSpinPos(spinStartPos);
|
||||
|
||||
servos.setTransferPos(transferServo_out);
|
||||
|
||||
limelightUsed = true;
|
||||
|
||||
robot.light.setPosition(1);
|
||||
|
||||
hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
|
||||
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
servos.setHoodPos(hoodGate0Start);
|
||||
} else {
|
||||
servos.setHoodPos(shoot0Hood);
|
||||
}
|
||||
|
||||
turret.setTurret(turrDefault);
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
turrDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadRightWasPressed()) {
|
||||
turrDefault += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
ballCycles++;
|
||||
}
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
ballCycles--;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
|
||||
|
||||
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
|
||||
|
||||
|
||||
if (!gateCycle) {
|
||||
turret.pipelineSwitch(1);
|
||||
} else if (redAlliance) {
|
||||
turret.pipelineSwitch(4);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
}
|
||||
robot.limelight.start();
|
||||
|
||||
|
||||
|
||||
gamepad2.rumble(500);
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = rx1;
|
||||
y1 = ry1;
|
||||
h1 = rh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = rx2a;
|
||||
y2a = ry2a;
|
||||
h2a = rh2a;
|
||||
x2b = rx2b;
|
||||
y2b = ry2b;
|
||||
h2b = rh2b;
|
||||
x3a = rx3a;
|
||||
y3a = ry3a;
|
||||
h3a = rh3a;
|
||||
x3b = rx3b;
|
||||
y3b = ry3b;
|
||||
h3b = rh3b;
|
||||
x4a = rx4a;
|
||||
y4a = ry4a;
|
||||
h4a = rh4a;
|
||||
x4b = rx4b;
|
||||
y4b = ry4b;
|
||||
h4b = rh4b;
|
||||
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
xLeave = rLeaveX;
|
||||
yLeave = rLeaveY;
|
||||
hLeave = rLeaveH;
|
||||
|
||||
xShoot0 = rShoot0X;
|
||||
yShoot0 = rShoot0Y;
|
||||
hShoot0 = rShoot0H;
|
||||
xShootGate = rShootGateX;
|
||||
yShootGate = rShootGateY;
|
||||
hShootGate = rShootGateH;
|
||||
xLeaveGate = rLeaveGateX;
|
||||
yLeaveGate = rLeaveGateY;
|
||||
hLeaveGate = rLeaveGateH;
|
||||
|
||||
pickupGateAX = rPickupGateAX;
|
||||
pickupGateAY = rPickupGateAY;
|
||||
pickupGateAH = rPickupGateAH;
|
||||
pickupGateBX = rPickupGateBX;
|
||||
pickupGateBY = rPickupGateBY;
|
||||
pickupGateBH = rPickupGateBH;
|
||||
|
||||
obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = bx1;
|
||||
y1 = by1;
|
||||
h1 = bh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = bx2a;
|
||||
y2a = by2a;
|
||||
h2a = bh2a;
|
||||
x2b = bx2b;
|
||||
y2b = by2b;
|
||||
h2b = bh2b;
|
||||
x3a = bx3a;
|
||||
y3a = by3a;
|
||||
h3a = bh3a;
|
||||
x3b = bx3b;
|
||||
y3b = by3b;
|
||||
h3b = bh3b;
|
||||
x4a = bx4a;
|
||||
y4a = by4a;
|
||||
h4a = bh4a;
|
||||
x4b = bx4b;
|
||||
y4b = by4b;
|
||||
h4b = bh4b;
|
||||
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
xLeave = bLeaveX;
|
||||
yLeave = bLeaveY;
|
||||
hLeave = bLeaveH;
|
||||
|
||||
xShoot0 = bShoot0X;
|
||||
yShoot0 = bShoot0Y;
|
||||
hShoot0 = bShoot0H;
|
||||
xShootGate = bShootGateX;
|
||||
yShootGate = bShootGateY;
|
||||
hShootGate = bShootGateH;
|
||||
xLeaveGate = bLeaveGateX;
|
||||
yLeaveGate = bLeaveGateY;
|
||||
hLeaveGate = bLeaveGateH;
|
||||
|
||||
pickupGateAX = bPickupGateAX;
|
||||
pickupGateAY = bPickupGateAY;
|
||||
pickupGateAH = bPickupGateAH;
|
||||
pickupGateBX = bPickupGateBX;
|
||||
pickupGateBY = bPickupGateBY;
|
||||
pickupGateBH = bPickupGateBH;
|
||||
|
||||
obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
|
||||
}
|
||||
|
||||
if (gateCycle) {
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
|
||||
} else {
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
|
||||
}
|
||||
|
||||
if (gateCycle) {
|
||||
pickup2 = shoot0.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
||||
} else {
|
||||
pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
}
|
||||
|
||||
if (gateCycle&& withPartner) {
|
||||
shoot2 = pickup2.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(openGateX, openGateY), Math.toRadians(openGateH))
|
||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
|
||||
} else if (gateCycle) {
|
||||
shoot2 = pickup2.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
|
||||
} else if (ballCycles < 3) {
|
||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
} else {
|
||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
}
|
||||
|
||||
gateCyclePickup = shoot2.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
|
||||
.waitSeconds(waitToPickupGate)
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH))
|
||||
.waitSeconds(0.1)
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateCX, pickupGateCY), Math.toRadians(pickupGateCH),
|
||||
new TranslationalVelConstraint(13));
|
||||
|
||||
gateCycleShoot = gateCyclePickup.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
pickup1 = gateCycleShoot.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
||||
} else {
|
||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
}
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
shoot1 = pickup1.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
|
||||
} else if (ballCycles < 2) {
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
} else {
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(x4a, y4a), Math.toRadians(h4a))
|
||||
.strafeToLinearHeading(new Vector2d(x4b, y4b), Math.toRadians(h4b),
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
|
||||
shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
|
||||
if (withPartner) {
|
||||
waitToPickupGate = waitToPickupGateWithPartner;
|
||||
} else {
|
||||
waitToPickupGate = waitToPickupGateSolo;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.addData("Turret Default", turrDefault);
|
||||
TELE.addData("Ball Cycles", ballCycles);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
startAutoGate();
|
||||
shoot();
|
||||
cycleStackMiddleGate();
|
||||
shoot();
|
||||
|
||||
while (getRuntime() - stamp < endGateTime) {
|
||||
cycleGateIntake();
|
||||
if (getRuntime() - stamp < lastShootTime) {
|
||||
cycleGateShoot();
|
||||
shoot();
|
||||
}
|
||||
}
|
||||
cycleStackCloseIntakeGate();
|
||||
|
||||
if (getRuntime() - stamp < lastShootTime) {
|
||||
cycleStackCloseShootGate();
|
||||
}
|
||||
|
||||
shoot();
|
||||
|
||||
} else {
|
||||
startAuto();
|
||||
shoot();
|
||||
|
||||
if (ballCycles > 0) {
|
||||
cycleStackClose();
|
||||
shoot();
|
||||
}
|
||||
|
||||
if (ballCycles > 1) {
|
||||
cycleStackMiddle();
|
||||
shoot();
|
||||
}
|
||||
|
||||
if (ballCycles > 2) {
|
||||
cycleStackFar();
|
||||
shoot();
|
||||
}
|
||||
}
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
flywheel.manageFlywheel(0);
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void shoot() {
|
||||
Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease));
|
||||
}
|
||||
|
||||
void startAuto() {
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
flywheel0Time,
|
||||
x1,
|
||||
y1,
|
||||
h1,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void startAutoGate() {
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
flywheel0Time,
|
||||
xShoot0,
|
||||
yShoot0,
|
||||
hShoot0,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackClose() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
autoActions.intake(
|
||||
intake1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
h2b
|
||||
),
|
||||
autoActions.detectObelisk(
|
||||
intake1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
posXTolerance,
|
||||
posYTolerance,
|
||||
obeliskTurrPos1
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 0) motif = 22;
|
||||
prevMotif = motif;
|
||||
|
||||
double posX;
|
||||
double posY;
|
||||
double posH;
|
||||
if (ballCycles > 1) {
|
||||
posX = xShoot;
|
||||
posY = yShoot;
|
||||
posH = hShoot;
|
||||
} else {
|
||||
posX = xLeave;
|
||||
posY = yLeave;
|
||||
posH = hLeave;
|
||||
}
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot1Time,
|
||||
motif,
|
||||
posX,
|
||||
posY,
|
||||
posH
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackMiddle() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
autoActions.intake(
|
||||
intake2Time,
|
||||
x3b,
|
||||
y3b,
|
||||
h3b
|
||||
),
|
||||
autoActions.detectObelisk(
|
||||
intake2Time,
|
||||
x3b,
|
||||
y3b,
|
||||
posXTolerance,
|
||||
posYTolerance,
|
||||
obeliskTurrPos2
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 0) motif = prevMotif;
|
||||
prevMotif = motif;
|
||||
|
||||
double posX;
|
||||
double posY;
|
||||
double posH;
|
||||
if (ballCycles > 2) {
|
||||
posX = xShoot;
|
||||
posY = yShoot;
|
||||
posH = hShoot;
|
||||
} else {
|
||||
posX = xLeave;
|
||||
posY = yLeave;
|
||||
posH = hLeave;
|
||||
}
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot2Time,
|
||||
motif,
|
||||
posX,
|
||||
posY,
|
||||
posH)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackFar() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
autoActions.intake(
|
||||
intake3Time,
|
||||
x4b,
|
||||
y4b,
|
||||
h4b
|
||||
),
|
||||
autoActions.detectObelisk(
|
||||
intake3Time,
|
||||
x4b,
|
||||
y4b,
|
||||
posXTolerance,
|
||||
posYTolerance,
|
||||
obeliskTurrPos3
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 0) motif = prevMotif;
|
||||
prevMotif = motif;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot3Time,
|
||||
motif,
|
||||
xLeave,
|
||||
yLeave,
|
||||
hLeave
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackMiddleGate() {
|
||||
drive.updatePoseEstimate();
|
||||
pickup2 = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
autoActions.intake(
|
||||
intake2TimeGate,
|
||||
x3b,
|
||||
y3b,
|
||||
h3b
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
servos.setSpinPos(spinStartPos);
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot2Time,
|
||||
motif,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
pickupGateAH)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGateIntake() {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
gateCyclePickup.build(),
|
||||
autoActions.intake(
|
||||
intakeGateTime,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
hShootGate
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGateShoot() {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
servos.setSpinPos(spinStartPos);
|
||||
|
||||
gateCycleShoot = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
gateCycleShoot.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
shootGateTime,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
pickupGateAH,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackCloseIntakeGate() {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
pickup1 = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
autoActions.intake(
|
||||
intake1GateTime,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
hShootGate
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackCloseShootGate(){
|
||||
servos.setSpinPos(spinStartPos);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
shoot1 = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
shoot1GateTime,
|
||||
xLeaveGate,
|
||||
yLeaveGate,
|
||||
hLeaveGate,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,438 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueTurretShootPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redTurretShootPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
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;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class Auto_LT_Far extends LinearOpMode {
|
||||
public static double shoot0Vel = 3300, shoot0Hood = 0.48;
|
||||
double xLeave, yLeave, hLeave;
|
||||
public int motif = 0;
|
||||
double turretShootPos = 0.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
AutoActions autoActions;
|
||||
Light light;
|
||||
double xShoot, yShoot, hShoot;
|
||||
double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
|
||||
public static double flywheel0Time = 1.5;
|
||||
boolean gatePickup = true;
|
||||
boolean stack3 = true;
|
||||
double xStackPickupA, yStackPickupA, hStackPickupA;
|
||||
double xStackPickupB, yStackPickupB, hStackPickupB;
|
||||
public static int pickupStackSpeed = 17;
|
||||
public static int pickupGateSpeed = 25;
|
||||
int prevMotif = 0;
|
||||
public static double spindexerSpeedIncrease = 0.014;
|
||||
public static double shootAllTime = 2;
|
||||
// ---- POSITION TOLERANCES ----
|
||||
public static double posXTolerance = 5.0;
|
||||
public static double posYTolerance = 5.0;
|
||||
public static double shootStackTime = 2;
|
||||
public static double shootGateTime = 2.5;
|
||||
public static double colorSenseTime = 1;
|
||||
public static double intakeStackTime = 4.5;
|
||||
public static double intakeGateTime = 8;
|
||||
double obeliskTurrPos1 = 0.0;
|
||||
double obeliskTurrPos2 = 0.0;
|
||||
double obeliskTurrPos3 = 0.0;
|
||||
public static double endAutoTime = 26;
|
||||
|
||||
// initialize path variables here
|
||||
TrajectoryActionBuilder leave3Ball = null;
|
||||
TrajectoryActionBuilder leaveFromShoot = null;
|
||||
TrajectoryActionBuilder pickup3 = null;
|
||||
TrajectoryActionBuilder shoot3 = null;
|
||||
TrajectoryActionBuilder pickupGate = null;
|
||||
TrajectoryActionBuilder shootGate = null;
|
||||
Pose2d autoStart = new Pose2d(0,0,0);
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
light = Light.getInstance();
|
||||
|
||||
light.init(robot.light, spindexer, turret);
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
turret.setTurret(turrDefault);
|
||||
|
||||
servos.setSpinPos(spinStartPos);
|
||||
|
||||
servos.setTransferPos(transferServo_out);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()){
|
||||
gatePickup = !gatePickup;
|
||||
}
|
||||
if (gamepad2.rightBumperWasPressed()){
|
||||
stack3 = !stack3;
|
||||
}
|
||||
|
||||
turret.setTurret(turretShootPos);
|
||||
|
||||
robot.hood.setPosition(shoot0Hood);
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
turrDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadRightWasPressed()) {
|
||||
turrDefault += 0.01;
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
autoStart = new Pose2d(autoStartRX, autoStartRY, Math.toRadians(autoStartRH));
|
||||
drive = new MecanumDrive(hardwareMap, autoStart);
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
xLeave = rLeaveX;
|
||||
yLeave = rLeaveY;
|
||||
hLeave = rLeaveH;
|
||||
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
|
||||
xStackPickupA = rStackPickupAX;
|
||||
yStackPickupA = rStackPickupAY;
|
||||
hStackPickupA = rStackPickupAH;
|
||||
|
||||
xStackPickupB = rStackPickupBX;
|
||||
yStackPickupB = rStackPickupBY;
|
||||
hStackPickupB = rStackPickupBH;
|
||||
|
||||
pickupGateX = rPickupGateX;
|
||||
pickupGateY = rPickupGateY;
|
||||
pickupGateH = rPickupGateH;
|
||||
|
||||
obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
|
||||
turretShootPos = turrDefault + redTurretShootPos;
|
||||
|
||||
if (gamepad2.squareWasPressed()){
|
||||
turret.pipelineSwitch(4);
|
||||
robot.limelight.start();
|
||||
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
|
||||
|
||||
gamepad2.rumble(500);
|
||||
}
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
autoStart = new Pose2d(autoStartBX, autoStartBY, Math.toRadians(autoStartBH));
|
||||
drive = new MecanumDrive(hardwareMap, autoStart);
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
xLeave = bLeaveX;
|
||||
yLeave = bLeaveY;
|
||||
hLeave = bLeaveH;
|
||||
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
|
||||
xStackPickupA = bStackPickupAX;
|
||||
yStackPickupA = bStackPickupAY;
|
||||
hStackPickupA = bStackPickupAH;
|
||||
|
||||
xStackPickupB = bStackPickupBX;
|
||||
yStackPickupB = bStackPickupBY;
|
||||
hStackPickupB = bStackPickupBH;
|
||||
|
||||
pickupGateX = bPickupGateX;
|
||||
pickupGateY = bPickupGateY;
|
||||
pickupGateH = bPickupGateH;
|
||||
|
||||
obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
|
||||
turretShootPos = turrDefault + blueTurretShootPos;
|
||||
|
||||
if (gamepad2.squareWasPressed()){
|
||||
turret.pipelineSwitch(2);
|
||||
robot.limelight.start();
|
||||
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
|
||||
|
||||
gamepad2.rumble(500);
|
||||
}
|
||||
}
|
||||
|
||||
leave3Ball = drive.actionBuilder(autoStart)
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
|
||||
leaveFromShoot = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(xStackPickupA, yStackPickupA), Math.toRadians(hStackPickupA))
|
||||
.strafeToLinearHeading(new Vector2d(xStackPickupB, yStackPickupB), Math.toRadians(hStackPickupB),
|
||||
new TranslationalVelConstraint(pickupStackSpeed));
|
||||
|
||||
shoot3 = drive.actionBuilder(new Pose2d(xStackPickupB, yStackPickupB, Math.toRadians(hStackPickupB)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
|
||||
pickupGate = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateX, pickupGateY), Math.toRadians(pickupGateH))
|
||||
.waitSeconds(0.2)
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateXB, pickupGateYB), Math.toRadians(pickupGateHB))
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateXC, pickupGateYC), Math.toRadians(pickupGateHC),
|
||||
new TranslationalVelConstraint(pickupGateSpeed));
|
||||
|
||||
shootGate = drive.actionBuilder(new Pose2d(pickupGateX, pickupGateY, Math.toRadians(pickupGateH)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
|
||||
limelightUsed = true;
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.addData("Turret Default", turrDefault);
|
||||
TELE.addData("Gate Cycle?", gatePickup);
|
||||
TELE.addData("Pickup Stack?", stack3);
|
||||
TELE.addData("Start Position", autoStart);
|
||||
TELE.addData("Current Position", drive.localizer.getPose()); // use this to test standstill drift
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
// Currently only shoots; keep this start and modify times and then add extra paths
|
||||
if (opModeIsActive()) {
|
||||
double stamp = getRuntime();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
startAuto();
|
||||
shoot();
|
||||
|
||||
if (stack3){
|
||||
cycleStackFar();
|
||||
shoot();
|
||||
}
|
||||
|
||||
while (gatePickup && getRuntime() - stamp < endAutoTime){
|
||||
cycleGatePickupBalls();
|
||||
if (getRuntime() - stamp > endAutoTime){
|
||||
break;
|
||||
}
|
||||
cycleGatePrepareShoot();
|
||||
if (getRuntime() - stamp > endAutoTime + shootAllTime + 1){
|
||||
break;
|
||||
}
|
||||
shoot();
|
||||
}
|
||||
|
||||
if (gatePickup || stack3){
|
||||
leave();
|
||||
} else {
|
||||
leave3Ball();
|
||||
}
|
||||
|
||||
// Actual way to end autonomous in to find final position
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
flywheel.manageFlywheel(0);
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void shoot(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
}
|
||||
|
||||
void startAuto(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
autoActions.manageShooterAuto(
|
||||
flywheel0Time,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
true
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void leave3Ball(){
|
||||
assert leave3Ball != null;
|
||||
Actions.runBlocking(leave3Ball.build());
|
||||
}
|
||||
|
||||
void leave(){
|
||||
assert leaveFromShoot != null;
|
||||
Actions.runBlocking(leaveFromShoot.build());
|
||||
}
|
||||
|
||||
void cycleStackFar(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
autoActions.intake(
|
||||
intakeStackTime,
|
||||
xStackPickupB,
|
||||
yStackPickupB,
|
||||
hStackPickupB
|
||||
),
|
||||
autoActions.detectObelisk(
|
||||
intakeStackTime,
|
||||
xStackPickupB,
|
||||
yStackPickupB,
|
||||
posXTolerance,
|
||||
posYTolerance,
|
||||
obeliskTurrPos3
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 0) motif = 22;
|
||||
prevMotif = motif;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shootStackTime,
|
||||
motif,
|
||||
xShoot,
|
||||
yShoot,
|
||||
hShoot)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGatePickupBalls(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickupGate.build(),
|
||||
autoActions.intake(
|
||||
intakeStackTime,
|
||||
pickupGateX,
|
||||
pickupGateY,
|
||||
pickupGateH
|
||||
),
|
||||
autoActions.detectObelisk(
|
||||
intakeGateTime,
|
||||
pickupGateX,
|
||||
pickupGateY,
|
||||
posXTolerance,
|
||||
posYTolerance,
|
||||
obeliskTurrPos3
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 0) motif = prevMotif;
|
||||
prevMotif = motif;
|
||||
}
|
||||
|
||||
void cycleGatePrepareShoot(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shootGate.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shootGateTime,
|
||||
motif,
|
||||
xShoot,
|
||||
yShoot,
|
||||
hShoot
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,478 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.h1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.h2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.h2_b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.h3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.x1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.x2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.x2_b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.x3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.y1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.y2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.y2_b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.y3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Intake;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@Config
|
||||
@Autonomous (preselectTeleOp = "TeleopV1")
|
||||
public class Blue extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTag aprilTag;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
|
||||
|
||||
public static double angle = 0.1;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
public class shooterOn implements Action {
|
||||
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
if (ticker ==1){
|
||||
stamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
ticker ++;
|
||||
|
||||
if (getRuntime() - stamp < 0.2){
|
||||
return true;
|
||||
} else if (getRuntime() - stamp < 0.4) {
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
shooter.update();
|
||||
|
||||
return true;
|
||||
} else {
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
|
||||
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0,0,0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTag(robot, TELE);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
shooter.sethoodPosition(0.53);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
transfer.setTransferPosition(transferServo_out);
|
||||
|
||||
Intake intake = new Intake(robot);
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.turnTo(Math.toRadians(-135))
|
||||
.strafeToLinearHeading(new Vector2d(x2, -y2), -h2 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, -y2, -h2))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x2_b, -y2_b), -h2_b )
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x3, -y3), -h3 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, -y3, -h3))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1-30), h1 );
|
||||
|
||||
while(opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()){
|
||||
hoodDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()){
|
||||
hoodDefault += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
shooter.setTurretPosition(turret_blue);
|
||||
|
||||
aprilTag.initTelemetry();
|
||||
|
||||
aprilTag.update();
|
||||
shooter.update();
|
||||
|
||||
TELE.addData("hood", hoodDefault);
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()){
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
transfer.setTransferPower(1);
|
||||
|
||||
transfer.update();
|
||||
|
||||
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
traj1.build(),
|
||||
new shooterOn()
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
transfer.setTransferPower(1);
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.3);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
traj2.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
traj3.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.3);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
traj4.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
traj5.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.3);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
Actions.runBlocking(
|
||||
traj6.build()
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addLine("finished");
|
||||
|
||||
TELE.update();
|
||||
|
||||
sleep (2000);
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,431 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Intake;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
|
||||
|
||||
@Config
|
||||
@Autonomous
|
||||
public class Red extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTag aprilTag;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
|
||||
|
||||
public static double angle = 0.1;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
|
||||
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0,0,0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTag(robot, TELE);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
shooter.sethoodPosition(hoodDefault);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
transfer.setTransferPosition(transferServo_out);
|
||||
|
||||
Intake intake = new Intake(robot);
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.turnTo(Math.toRadians(135))
|
||||
.strafeToLinearHeading(new Vector2d(x2, y2), h2 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b )
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x3, y3), h3 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
|
||||
|
||||
while(opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()){
|
||||
hoodDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()){
|
||||
hoodDefault += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
shooter.setTurretPosition(turret_red);
|
||||
|
||||
aprilTag.initTelemetry();
|
||||
|
||||
aprilTag.update();
|
||||
shooter.update();
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()){
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
transfer.setTransferPower(1);
|
||||
|
||||
transfer.update();
|
||||
|
||||
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build()
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
transfer.setTransferPower(1);
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.31);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
pickup1.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
shoot1.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.31);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
pickup2.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
shoot2.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.31);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
Actions.runBlocking(
|
||||
park.build()
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addLine("finished");
|
||||
|
||||
TELE.update();
|
||||
|
||||
sleep (2000);
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,612 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.actions;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
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.Objects;
|
||||
|
||||
@Config
|
||||
public class AutoActions {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servos;
|
||||
Flywheel flywheel;
|
||||
MecanumDrive drive;
|
||||
Spindexer spindexer;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
Light light;
|
||||
Turret turret;
|
||||
private int driverSlotGreen = 0;
|
||||
private int passengerSlotGreen = 0;
|
||||
private int rearSlotGreen = 0;
|
||||
private int mostGreenSlot = 0;
|
||||
private double firstSpindexShootPos = spinStartPos;
|
||||
private boolean shootForward = true;
|
||||
public int motif = 0;
|
||||
double spinEndPos = ServoPositions.spinEndPos;
|
||||
|
||||
public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
|
||||
this.robot = rob;
|
||||
this.drive = dri;
|
||||
this.TELE = tel;
|
||||
this.servos = ser;
|
||||
this.flywheel = fly;
|
||||
this.spindexer = spi;
|
||||
this.targeting = tar;
|
||||
this.targetingSettings = tS;
|
||||
this.turret = tur;
|
||||
this.light = lig;
|
||||
}
|
||||
|
||||
public Action prepareShootAll(
|
||||
double colorSenseTime,
|
||||
double time,
|
||||
int motif_id,
|
||||
double posX,
|
||||
double posY,
|
||||
double posH
|
||||
) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
double spindexerWiggle = 0.01;
|
||||
|
||||
boolean decideGreenSlot = false;
|
||||
|
||||
void spin1PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = spindexer_outtakeBall3 + 0.1;
|
||||
}
|
||||
|
||||
void spin2PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = false;
|
||||
spinEndPos = spindexer_outtakeBall3b - 0.1;
|
||||
}
|
||||
|
||||
void reverseSpin2PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
|
||||
void spin3PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3;
|
||||
shootForward = false;
|
||||
spinEndPos = spindexer_outtakeBall1 - 0.1;
|
||||
}
|
||||
|
||||
void oddSpin3PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = spindexer_outtakeBall2 + 0.1;
|
||||
}
|
||||
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
||||
}
|
||||
ticker++;
|
||||
servos.setTransferPos(transferServo_out);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
light.setState(StateEnums.LightState.GOAL_LOCK);
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
|
||||
|
||||
spindexerWiggle *= -1.0;
|
||||
|
||||
servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
|
||||
|
||||
spindexer.detectBalls(true, true);
|
||||
|
||||
if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
|
||||
driverSlotGreen++;
|
||||
}
|
||||
|
||||
if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
|
||||
passengerSlotGreen++;
|
||||
}
|
||||
|
||||
if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
|
||||
rearSlotGreen++;
|
||||
}
|
||||
|
||||
spindexer.setIntakePower(1);
|
||||
|
||||
decideGreenSlot = true;
|
||||
|
||||
return true;
|
||||
} else if (decideGreenSlot) {
|
||||
|
||||
if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
|
||||
mostGreenSlot = 3;
|
||||
} else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
|
||||
mostGreenSlot = 2;
|
||||
} else {
|
||||
mostGreenSlot = 1;
|
||||
}
|
||||
|
||||
decideGreenSlot = false;
|
||||
|
||||
if (motif_id == 21) {
|
||||
if (mostGreenSlot == 1) {
|
||||
spin1PosFirst();
|
||||
} else if (mostGreenSlot == 2) {
|
||||
spin2PosFirst();
|
||||
} else {
|
||||
spin3PosFirst();
|
||||
}
|
||||
} else if (motif_id == 22) {
|
||||
if (mostGreenSlot == 1) {
|
||||
spin2PosFirst();
|
||||
} else if (mostGreenSlot == 2) {
|
||||
spin3PosFirst();
|
||||
} else {
|
||||
reverseSpin2PosFirst();
|
||||
}
|
||||
|
||||
} else {
|
||||
if (mostGreenSlot == 1) {
|
||||
spin3PosFirst();
|
||||
} else if (mostGreenSlot == 2) {
|
||||
oddSpin3PosFirst();
|
||||
} else {
|
||||
spin1PosFirst();
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
} else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
|
||||
spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
|
||||
|
||||
servos.setSpinPos(firstSpindexShootPos);
|
||||
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
spindexer.setIntakePower(-0.1);
|
||||
|
||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
||||
light.update();
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(shootTime, 0.501, 0.501, 0.501, false);
|
||||
|
||||
}
|
||||
ticker++;
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
double prevSpinPos = servos.getSpinCmdPos();
|
||||
|
||||
boolean end;
|
||||
if (shootForward) {
|
||||
end = prevSpinPos > spinEndPos;
|
||||
} else {
|
||||
end = prevSpinPos < spinEndPos;
|
||||
}
|
||||
|
||||
if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
|
||||
|
||||
if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
|
||||
servos.setSpinPos(firstSpindexShootPos);
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_in);
|
||||
shooterTicker++;
|
||||
Spindexer.whileShooting = true;
|
||||
if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos + spindexSpeed);
|
||||
} else if (shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_out);
|
||||
Spindexer.whileShooting = false;
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllManual(
|
||||
double shootTime,
|
||||
double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
|
||||
double spindexSpeed,
|
||||
double velStart,
|
||||
double hoodStart,
|
||||
double velEnd,
|
||||
double hoodEnd,
|
||||
double turr) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
spindexer.setIntakePower(-0.1);
|
||||
|
||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
||||
light.update();
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
|
||||
|
||||
}
|
||||
ticker++;
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
double prevSpinPos = servos.getSpinCmdPos();
|
||||
|
||||
boolean end;
|
||||
if (shootForward) {
|
||||
end = prevSpinPos > spinEndPos;
|
||||
} else {
|
||||
end = prevSpinPos < spinEndPos;
|
||||
}
|
||||
|
||||
if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
|
||||
servos.setTransferPos(transferServo_in);
|
||||
shooterTicker++;
|
||||
Spindexer.whileShooting = true;
|
||||
if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos + spindexSpeed);
|
||||
} else if (shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_out);
|
||||
Spindexer.whileShooting = false;
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posH
|
||||
) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
||||
}
|
||||
ticker++;
|
||||
|
||||
spindexer.processIntake();
|
||||
spindexer.setIntakePower(1);
|
||||
light.setState(StateEnums.LightState.BALL_COUNT);
|
||||
light.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
if ((System.currentTimeMillis() - stamp) > (time * 1000) || spindexer.isFull()) {
|
||||
spindexer.setIntakePower(-0.1);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
private boolean detectingObelisk = false;
|
||||
|
||||
public Action detectObelisk(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance,
|
||||
double turrPos
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
detectingObelisk = true;
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
turret.pipelineSwitch(1);
|
||||
}
|
||||
|
||||
ticker++;
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
turret.setTurret(turrPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull();
|
||||
|
||||
teleStart = currentPose;
|
||||
|
||||
if (shouldFinish) {
|
||||
if (redAlliance) {
|
||||
turret.pipelineSwitch(4);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
}
|
||||
detectingObelisk = false;
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posH,
|
||||
boolean flywheelSensor
|
||||
) {
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
final boolean timeFallback = (time != 0.501);
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = currentPose.position.x;
|
||||
double robotY = currentPose.position.y;
|
||||
|
||||
double robotHeading = currentPose.heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose2d deltaPose;
|
||||
if (posX != 0.501) {
|
||||
deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
|
||||
Turret.limelightUsed = false;
|
||||
} else {
|
||||
deltaPose = new Pose2d(dx, dy, robotHeading);
|
||||
Turret.limelightUsed = true;
|
||||
}
|
||||
|
||||
// double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
if (!detectingObelisk) {
|
||||
turret.trackGoal(deltaPose);
|
||||
}
|
||||
|
||||
servos.setHoodPos(targetingSettings.hoodAngle);
|
||||
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
|
||||
|
||||
teleStart = currentPose;
|
||||
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Wait(double time) {
|
||||
return new Action() {
|
||||
boolean ticker = false;
|
||||
double stamp = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (!ticker) {
|
||||
stamp = System.currentTimeMillis();
|
||||
ticker = true;
|
||||
}
|
||||
|
||||
return (System.currentTimeMillis() - stamp < time * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterManual(
|
||||
double maxTime,
|
||||
double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
|
||||
double velStart,
|
||||
double hoodStart,
|
||||
double velEnd,
|
||||
double hoodEnd,
|
||||
double turr
|
||||
) {
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
final boolean timeFallback = (maxTime != 0.501);
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = currentPose.position.x;
|
||||
double robotY = currentPose.position.y;
|
||||
|
||||
double robotHeading = currentPose.heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose2d deltaPose;
|
||||
if (turr == 0.501) {
|
||||
deltaPose = new Pose2d(dx, dy, robotHeading);
|
||||
if (!detectingObelisk) {
|
||||
turret.trackGoal(deltaPose);
|
||||
}
|
||||
} else {
|
||||
turret.setTurret(turr);
|
||||
}
|
||||
|
||||
servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
|
||||
double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
|
||||
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
||||
flywheel.manageFlywheel(vel);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
|
||||
|
||||
teleStart = currentPose;
|
||||
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.update();
|
||||
|
||||
return !timeDone;
|
||||
}
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,919 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
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;
|
||||
|
||||
@Disabled
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class Auto_LT_Close_12Ball extends LinearOpMode {
|
||||
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
|
||||
public static double autoSpinStartPos = 0.2;
|
||||
public static double shoot0SpinSpeedIncrease = 0.014;
|
||||
|
||||
public static double spindexerSpeedIncrease = 0.02;
|
||||
|
||||
public static double obeliskTurrPos = 0.53;
|
||||
public static double normalIntakeTime = 3.0;
|
||||
public static double shoot1Turr = 0.57;
|
||||
public static double shoot0XTolerance = 1.0;
|
||||
public static double turretShootPos = 0.53;
|
||||
public static double shootAllTime = 1.8;
|
||||
public static double shoot0Time = 1.6;
|
||||
public static double intake1Time = 3.0;
|
||||
public static double flywheel0Time = 3.5;
|
||||
public static double pickup1Speed = 17;
|
||||
// ---- SECOND SHOT / PICKUP ----
|
||||
public static double shoot1Vel = 2300;
|
||||
public static double shoot1Hood = 0.93;
|
||||
|
||||
public static double shootAllVelocity = 2500;
|
||||
public static double shootAllHood = 0.78;
|
||||
// ---- PICKUP TIMING ----
|
||||
public static double pickup1Time = 3.0;
|
||||
// ---- PICKUP POSITION TOLERANCES ----
|
||||
public static double pickup1XTolerance = 2.0;
|
||||
public static double pickup1YTolerance = 2.0;
|
||||
// ---- OBELISK DETECTION ----
|
||||
public static double obelisk1Time = 1.5;
|
||||
public static double obelisk1XTolerance = 2.0;
|
||||
public static double obelisk1YTolerance = 2.0;
|
||||
public static double shoot1ToleranceX = 2.0;
|
||||
public static double shoot1ToleranceY = 2.0;
|
||||
public static double shoot1Time = 2.0;
|
||||
public static double shootCycleTime = 2.5;
|
||||
public int motif = 0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
private double x1, y1, h1;
|
||||
|
||||
private double x2a, y2a, h2a, t2a;
|
||||
|
||||
private double x2b, y2b, h2b, t2b;
|
||||
private double x2c, y2c, h2c, t2c;
|
||||
|
||||
private double x3a, y3a, h3a;
|
||||
private double x3b, y3b, h3b;
|
||||
private double x4a, y4a, h4a;
|
||||
private double x4b, y4b, h4b;
|
||||
|
||||
private double xShoot, yShoot, hShoot;
|
||||
private double xGate, yGate, hGate;
|
||||
private double xPrep, yPrep, hPrep;
|
||||
|
||||
private double shoot1Tangent;
|
||||
|
||||
|
||||
public Action prepareShootAll(double time) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
turret.setTurret(turretShootPos);
|
||||
|
||||
robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return (System.currentTimeMillis() - stamp) < (time * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
double velo = vel;
|
||||
|
||||
int shooterTicker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
spindexer.processIntake();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
spindexer.ballCounterLight();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action detectObelisk(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance,
|
||||
double turrPos
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
robot.turr1.setPosition(turrPos);
|
||||
robot.turr2.setPosition(1 - turrPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageFlywheel(
|
||||
double vel,
|
||||
double hoodPos,
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
robot.hood.setPosition(hoodPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x;
|
||||
double robotY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
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);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
turret.trackGoal(deltaPose);
|
||||
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageFlywheelAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x;
|
||||
double robotY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
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);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
turret.setTurret(0.4);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TrajectoryActionBuilder shoot0 = null;
|
||||
TrajectoryActionBuilder pickup1 = null;
|
||||
TrajectoryActionBuilder shoot1 = null;
|
||||
TrajectoryActionBuilder pickup2 = null;
|
||||
TrajectoryActionBuilder shoot2 = null;
|
||||
TrajectoryActionBuilder pickup3 = null;
|
||||
TrajectoryActionBuilder shoot3 = null;
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
robot.light.setPosition(1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
robot.hood.setPosition(shoot0Hood);
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = rx1;
|
||||
y1 = ry1;
|
||||
h1 = rh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = rx2a;
|
||||
y2a = ry2a;
|
||||
h2a = rh2a;
|
||||
x2b = rx2b;
|
||||
y2b = ry2b;
|
||||
h2b = rh2b;
|
||||
x3a = rx3a;
|
||||
y3a = ry3a;
|
||||
h3a = rh3a;
|
||||
x3b = rx3b;
|
||||
y3b = ry3b;
|
||||
h3b = rh3b;
|
||||
x4a = rx4a;
|
||||
y4a = ry4a;
|
||||
h4a = rh4a;
|
||||
x4b = rx4b;
|
||||
y4b = ry4b;
|
||||
h4b = rh4b;
|
||||
xPrep = rxPrep;
|
||||
yPrep = ryPrep;
|
||||
hPrep = rhPrep;
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
|
||||
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = bx1;
|
||||
y1 = by1;
|
||||
h1 = bh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = bx2a;
|
||||
y2a = by2a;
|
||||
h2a = bh2a;
|
||||
x2b = bx2b;
|
||||
y2b = by2b;
|
||||
h2b = bh2b;
|
||||
x3a = bx3a;
|
||||
y3a = by3a;
|
||||
h3a = bh3a;
|
||||
x3b = bx3b;
|
||||
y3b = by3b;
|
||||
h3b = bh3b;
|
||||
x4a = bx4a;
|
||||
y4a = by4a;
|
||||
h4a = bh4a;
|
||||
x4b = bx4b;
|
||||
y4b = by4b;
|
||||
h4b = bh4b;
|
||||
|
||||
xPrep = bxPrep;
|
||||
yPrep = byPrep;
|
||||
hPrep = bhPrep;
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
|
||||
}
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
|
||||
.strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
manageFlywheel(
|
||||
shoot0Vel,
|
||||
shoot0Hood,
|
||||
flywheel0Time,
|
||||
x1,
|
||||
0.501,
|
||||
shoot0XTolerance,
|
||||
0.501
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
manageFlywheel(
|
||||
shootAllVelocity,
|
||||
shootAllHood,
|
||||
pickup1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(intake1Time)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheel(
|
||||
shootAllVelocity,
|
||||
shootAllHood,
|
||||
shoot1Time,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot1.build(),
|
||||
prepareShootAll(shoot1Time)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
manageShooterAuto(
|
||||
normalIntakeTime,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(normalIntakeTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheelAuto(
|
||||
shootCycleTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot2.build(),
|
||||
prepareShootAll(shootCycleTime)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
manageShooterAuto(
|
||||
normalIntakeTime,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(normalIntakeTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheelAuto(
|
||||
shootCycleTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot3.build(),
|
||||
prepareShootAll(shootCycleTime)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,804 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
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.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;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
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;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
@Disabled
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
public static double intake1Time = 2.7;
|
||||
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;
|
||||
Flywheel flywheel;
|
||||
Servos servo;
|
||||
double velo = 0.0;
|
||||
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
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21) {
|
||||
gpp = true;
|
||||
} else if (id == 22) {
|
||||
pgp = true;
|
||||
} else if (id == 23) {
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
robot.turr1.setPosition(turret_redClose);
|
||||
robot.turr2.setPosition(1 - turret_redClose);
|
||||
return false;
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = turret_blueClose;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPosition(spinPID);
|
||||
robot.spin2.setPosition(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)) {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
double initPos = 0.0;
|
||||
double finalPos = 0.0;
|
||||
boolean zeroNeeded = false;
|
||||
boolean zeroPassed = false;
|
||||
double currentPos = 0.0;
|
||||
double prevPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 2.7) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
|
||||
robot.spin1.setPosition(-spinPow);
|
||||
robot.spin2.setPosition(spinPow);
|
||||
return true;
|
||||
|
||||
} else {
|
||||
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.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
|
||||
} else {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
}
|
||||
|
||||
if (getRuntime() - stamp > jamTime+0.4) {
|
||||
|
||||
robot.intake.setPower(0.5);
|
||||
|
||||
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;
|
||||
int ticker = 0;
|
||||
double spinCurrentPos = 0.0;
|
||||
double spinInitPos = 0.0;
|
||||
boolean reverse = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker % 60 < 12) {
|
||||
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
|
||||
} else if (ticker % 60 < 30) {
|
||||
robot.spin1.setPosition(-0.5);
|
||||
robot.spin2.setPosition(0.5);
|
||||
}
|
||||
else if (ticker % 60 < 42) {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
}
|
||||
else {
|
||||
robot.spin1.setPosition(0.5);
|
||||
robot.spin2.setPosition(-0.5);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
|
||||
if (getRuntime() - stamp > intakeTime) {
|
||||
if (reverse) {
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
} else {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
}
|
||||
return false;
|
||||
} else {
|
||||
if (ticker % 4 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
servo = new Servos(hardwareMap);
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.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 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,
|
||||
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,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
|
||||
}
|
||||
|
||||
double turretPID;
|
||||
if (redAlliance) {
|
||||
turretPID = turret_redClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
// lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(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,
|
||||
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))
|
||||
.strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
|
||||
.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;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
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,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
shoot1.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = (bearing / 1300);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addLine("Shooting");
|
||||
TELE.update();
|
||||
Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,298 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@Autonomous
|
||||
public class redDaniel extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTag aprilTag;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
// TODO: change this velocity PID
|
||||
public Action initShooter(int velocity){
|
||||
return new Action(){
|
||||
double velo = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double powPID = 0.0;
|
||||
double ticker = 0.0;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket){
|
||||
velo = -60 * ((((double) robot.shooter1.getCurrentPosition() / 2048) - initPos) / (getRuntime() - stamp));
|
||||
stamp = getRuntime();
|
||||
initPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
if (Math.abs(velocity - velo) > initTolerance) {
|
||||
powPID = (double) velocity / maxVel;
|
||||
ticker = getRuntime();
|
||||
} else if (velocity - velTolerance > velo) {
|
||||
powPID = powPID + 0.0001;
|
||||
ticker = getRuntime();
|
||||
} else if (velocity + velTolerance < velo) {
|
||||
powPID = powPID - 0.0001;
|
||||
ticker = getRuntime();
|
||||
}
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower((powPID / 4) + 0.75);
|
||||
|
||||
return getRuntime() - ticker < 0.5;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public void Obelisk (){
|
||||
// TODO: write the code to detect order
|
||||
}
|
||||
|
||||
public Action Shoot(double spindexer){
|
||||
return new Action() {
|
||||
boolean transfer = false;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1-spindexer);
|
||||
if (scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01 && scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01){
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transfer = true;
|
||||
}
|
||||
if (scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3) < transferServo_in + 0.01 && scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3) > transferServo_in - 0.01 && transfer){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake (){
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
final double intakeTime = 4.0; // TODO: change this so it serves as a backup
|
||||
final double stamp = getRuntime();
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
return !(robot.pin1.getState() && robot.pin3.getState() && robot.pin5.getState()) || getRuntime() - stamp > intakeTime;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect (){
|
||||
return new Action() {
|
||||
int t1 = 0;
|
||||
int t2 = 0;
|
||||
int t3 = 0;
|
||||
int tP1 = 0;
|
||||
int tP2 = 0;
|
||||
int tP3 = 0;
|
||||
final double stamp = getRuntime();
|
||||
final double detectTime = 3.0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
if (robot.pin1.getState()) {
|
||||
t1 += 1;
|
||||
if (robot.pin0.getState()){
|
||||
tP1 += 1;
|
||||
}
|
||||
}
|
||||
if (robot.pin3.getState()) {
|
||||
t2 += 1;
|
||||
if (robot.pin0.getState()){
|
||||
tP2 += 1;
|
||||
}
|
||||
}
|
||||
if (robot.pin5.getState()) {
|
||||
t3 += 1;
|
||||
if (robot.pin0.getState()){
|
||||
tP3 += 1;
|
||||
}
|
||||
}
|
||||
if (t1 > 20){
|
||||
if (tP1 > 20){
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
if (t2 > 20){
|
||||
if (tP2 > 20){
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
if (t3 > 20){
|
||||
if (tP3 > 20){
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
return !(b1 + b2 + b3 >= 5) || (getRuntime() - stamp < detectTime);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTag(robot, TELE);
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.turnTo(Math.toRadians(h2))
|
||||
.strafeToLinearHeading(new Vector2d(x2, y2), h2);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x3, y3), h3);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1 + 30), h1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodDefault += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
robot.turr1.setPosition(turret_red);
|
||||
robot.turr2.setPosition(1 - turret_red);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
aprilTag.initTelemetry();
|
||||
|
||||
aprilTag.update();
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build()
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
pickup1.build()
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
shoot1.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
pickup2.build()
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
shoot2.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
park.build()
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addLine("finished");
|
||||
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,29 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class Back_Poses {
|
||||
public static double rLeaveX = 90, rLeaveY = 50, rLeaveH = 50.1;
|
||||
public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50;
|
||||
|
||||
public static double rShootX = 100, rShootY = 55, rShootH = 90;
|
||||
public static double bShootX = 100, bShootY = -55, bShootH = -90;
|
||||
|
||||
public static double rStackPickupAX = 73, rStackPickupAY = 51, rStackPickupAH = 140;
|
||||
public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
|
||||
|
||||
public static double rStackPickupBX = 53, rStackPickupBY = 71, rStackPickupBH = 140.1;
|
||||
public static double bStackPickupBX = 55, bStackPickupBY = -73, bStackPickupBH = -140.1;
|
||||
|
||||
public static double rPickupGateX = 50, rPickupGateY = 83, rPickupGateH = 140;
|
||||
public static double bPickupGateX = 70, bPickupGateY = -90, bPickupGateH = -140;
|
||||
public static double pickupGateXB = 84, pickupGateYB = 76, pickupGateHB = 140;
|
||||
public static double pickupGateXC = 50, pickupGateYC = 83, pickupGateHC = 190;
|
||||
|
||||
|
||||
|
||||
public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 50;
|
||||
public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -50;
|
||||
|
||||
}
|
||||
@@ -1,16 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class Color {
|
||||
public static boolean redAlliance = true;
|
||||
public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
|
||||
public static double LightGreen = 0.5;
|
||||
public static double LightPurple = 0.715;
|
||||
public static double LightOrange = 0.33;
|
||||
public static double LightRed = 0.28;
|
||||
public static double LightBlue = 0.6;
|
||||
|
||||
public static double colorFilterAlpha = 1;
|
||||
}
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Front_Poses {
|
||||
|
||||
|
||||
public static double rx1 = 20, ry1 = 0.5, rh1 = 0.1;
|
||||
public static double bx1 = 20, by1 = -0.5, bh1 = -0.1;
|
||||
|
||||
public static double rx2a = 41, ry2a = 18, rh2a = 155;
|
||||
public static double bx2a = 41, by2a = -18, bh2a = -140;
|
||||
|
||||
public static double rx2b = 21, ry2b = 34, rh2b = 155.1;
|
||||
public static double bx2b = 23, by2b = -36, bh2b = -140.1;
|
||||
|
||||
public static double rx3a = 55, ry3a = 39, rh3a = 140;
|
||||
public static double bx3a = 55, by3a = -39, bh3a = -140;
|
||||
|
||||
public static double rx3aG = 60, ry3aG = 34, rh3aG = 140;
|
||||
public static double bx3aG = 60, by3aG = -34, bh3aG = -140;
|
||||
|
||||
public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
|
||||
public static double bx3b = 36, by3b = -58, bh3b = -140.1;
|
||||
|
||||
public static double rx4a = 75, ry4a = 53, rh4a = 140;
|
||||
public static double bx4a = 75, by4a = -53, bh4a = -140;
|
||||
|
||||
public static double rx4b = 50, ry4b = 78, rh4b = 140.1;
|
||||
public static double bx4b = 50, by4b = -78, bh4b = -140.1;
|
||||
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0;
|
||||
|
||||
public static double rShootX = 40, rShootY = 10, rShootH = 50;
|
||||
public static double bShootX = 40, bShootY = -10, bShootH = -50;
|
||||
|
||||
public static double rxPrep = 45, ryPrep = 10, rhPrep = 50;
|
||||
public static double bxPrep = 45, byPrep = -10, bhPrep = -50;
|
||||
|
||||
public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
|
||||
public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
|
||||
|
||||
public static double rShoot0X = 53, rShoot0Y = 10.1, rShoot0H = 80.1;
|
||||
public static double bShoot0X = 53, bShoot0Y = -10.1, bShoot0H = -80.1;
|
||||
|
||||
public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
|
||||
public static double bShootGateX = 50, bShootGateY = -10, bShootGateH = -90;
|
||||
|
||||
public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
|
||||
public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
|
||||
|
||||
public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
|
||||
public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
|
||||
|
||||
public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
|
||||
public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
|
||||
public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(0, 0, 0);
|
||||
}
|
||||
@@ -0,0 +1,29 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Poses {
|
||||
|
||||
public static double goalHeight = 42; //in inches
|
||||
|
||||
public static double turretHeight = 12;
|
||||
|
||||
public static double relativeGoalHeight = goalHeight - turretHeight;
|
||||
|
||||
public static double x1 = 50, y1 = 0, h1 = 0;
|
||||
|
||||
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
|
||||
|
||||
public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
|
||||
|
||||
|
||||
public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(x1,-10,0);
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
|
||||
@Disabled
|
||||
@Config
|
||||
public class Poses_V2 {
|
||||
|
||||
public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
|
||||
|
||||
public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
|
||||
|
||||
public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
|
||||
|
||||
public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
|
||||
public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
|
||||
|
||||
public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
|
||||
|
||||
}
|
||||
@@ -1,45 +1,34 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos1 = 0.22; //0.13;
|
||||
public static double spindexer_intakePos1 = 0.665;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.41; //0.33;//0.5;
|
||||
public static double spindexer_intakePos3 = 0.29;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.60; //0.53;//0.66;
|
||||
public static double spindexer_intakePos2 = 0.99;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.88; //0.65; //0.24;
|
||||
public static double spindexer_outtakeBall3b = 0.31; //0.65; //0.24;
|
||||
public static double spindexer_outtakeBall3 = 0.845;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.7; //0.46; //0.6;
|
||||
public static double spindexer_outtakeBall1 = 0.51; //0.27; //0.4;
|
||||
public static double spinStartPos = 0.14;
|
||||
public static double spinEndPos = 0.95;
|
||||
|
||||
public static double shootAllSpindexerSpeedIncrease = 0.014;
|
||||
public static double spindexer_outtakeBall2 = 0.48;
|
||||
public static double spindexer_outtakeBall1 = 0.1;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
public static double transferServo_in = 0.38;
|
||||
|
||||
public static double hoodAuto = 0.27;
|
||||
public static double hoodDefault = 0.35;
|
||||
|
||||
public static double hoodOffset = -0.04; // offset from 0.93
|
||||
public static double hoodHigh = 0.21;
|
||||
|
||||
public static double turret_redClose = 0;
|
||||
public static double turret_blueClose = 0;
|
||||
public static double hoodLow = 1.0;
|
||||
|
||||
public static double turret_red = 0.43;
|
||||
public static double turret_blue = 0.4;
|
||||
|
||||
// These values are ADDED to turrDefault
|
||||
public static double redObeliskTurrPos1 = 0.12;
|
||||
public static double redObeliskTurrPos2 = 0.13;
|
||||
public static double redObeliskTurrPos3 = 0.14;
|
||||
public static double blueObeliskTurrPos1 = -0.12;
|
||||
public static double blueObeliskTurrPos2 = -0.13;
|
||||
public static double blueObeliskTurrPos3 = -0.14;
|
||||
public static double redTurretShootPos = 0.05;
|
||||
public static double blueTurretShootPos = -0.05;
|
||||
|
||||
}
|
||||
|
||||
@@ -1,13 +1,16 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
|
||||
@Disabled
|
||||
@Config
|
||||
public class ShooterVars {
|
||||
public static double turret_GearRatio = 0.9974;
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3175; //3300;
|
||||
public static double turret_Range = 355;
|
||||
|
||||
public static int velTolerance = 300;
|
||||
|
||||
public static int initTolerance = 1000;
|
||||
|
||||
public static int maxVel = 4000;
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class StateEnums {
|
||||
public enum Motif {
|
||||
NONE,
|
||||
GPP, // Green, Purple, Purple
|
||||
PGP, // Purple, Green, Purple
|
||||
PPG // Purple, Purple, Green
|
||||
}
|
||||
|
||||
public enum LightState {
|
||||
BALL_COUNT,
|
||||
BALL_COLOR,
|
||||
GOAL_LOCK,
|
||||
MANUAL,
|
||||
DISABLED,
|
||||
OFF
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.disabled;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -5,9 +5,7 @@ import androidx.annotation.NonNull;
|
||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.AccelConstraint;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.Actions;
|
||||
import com.acmerobotics.roadrunner.*;
|
||||
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
||||
import com.acmerobotics.roadrunner.DualNum;
|
||||
import com.acmerobotics.roadrunner.HolonomicController;
|
||||
@@ -16,20 +14,12 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
|
||||
import com.acmerobotics.roadrunner.MotorFeedforward;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.Pose2dDual;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2d;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2dDual;
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.ProfileParams;
|
||||
import com.acmerobotics.roadrunner.Rotation2d;
|
||||
import com.acmerobotics.roadrunner.Time;
|
||||
import com.acmerobotics.roadrunner.TimeTrajectory;
|
||||
import com.acmerobotics.roadrunner.TimeTurn;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
|
||||
import com.acmerobotics.roadrunner.TurnConstraints;
|
||||
import com.acmerobotics.roadrunner.Twist2d;
|
||||
import com.acmerobotics.roadrunner.Twist2dDual;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.VelConstraint;
|
||||
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
|
||||
import com.acmerobotics.roadrunner.ftc.Encoder;
|
||||
@@ -56,131 +46,13 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
|
||||
|
||||
import java.lang.Math;
|
||||
import java.util.Arrays;
|
||||
import java.util.LinkedList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
public final class MecanumDrive {
|
||||
public static Params PARAMS = new Params();
|
||||
public final MecanumKinematics kinematics = new MecanumKinematics(
|
||||
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
||||
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
||||
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
||||
public final VelConstraint defaultVelConstraint =
|
||||
new MinVelConstraint(Arrays.asList(
|
||||
kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
|
||||
new AngularVelConstraint(PARAMS.maxAngVel)
|
||||
));
|
||||
public final AccelConstraint defaultAccelConstraint =
|
||||
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
||||
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
||||
public final VoltageSensor voltageSensor;
|
||||
public final LazyImu lazyImu;
|
||||
public final Localizer localizer;
|
||||
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
||||
private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
|
||||
private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
|
||||
private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
|
||||
private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
|
||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
||||
|
||||
for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
|
||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||
}
|
||||
|
||||
// TODO: make sure your config has motors with these names (or change them)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
leftFront = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
leftBack = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
rightBack = hardwareMap.get(DcMotorEx.class, "br");
|
||||
rightFront = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
|
||||
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
// TODO: reverse motor directions if needed
|
||||
//
|
||||
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||
|
||||
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
||||
|
||||
localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
|
||||
|
||||
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
||||
}
|
||||
|
||||
public void setDrivePowers(PoseVelocity2d powers) {
|
||||
MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
|
||||
PoseVelocity2dDual.constant(powers, 1));
|
||||
|
||||
double maxPowerMag = 1;
|
||||
for (DualNum<Time> power : wheelVels.all()) {
|
||||
maxPowerMag = Math.max(maxPowerMag, power.value());
|
||||
}
|
||||
|
||||
leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
|
||||
leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
|
||||
rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
|
||||
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
||||
}
|
||||
|
||||
public PoseVelocity2d updatePoseEstimate() {
|
||||
PoseVelocity2d vel = localizer.update();
|
||||
poseHistory.add(localizer.getPose());
|
||||
|
||||
while (poseHistory.size() > 100) {
|
||||
poseHistory.removeFirst();
|
||||
}
|
||||
|
||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
||||
|
||||
return vel;
|
||||
}
|
||||
|
||||
private void drawPoseHistory(Canvas c) {
|
||||
double[] xPoints = new double[poseHistory.size()];
|
||||
double[] yPoints = new double[poseHistory.size()];
|
||||
|
||||
int i = 0;
|
||||
for (Pose2d t : poseHistory) {
|
||||
xPoints[i] = t.position.x;
|
||||
yPoints[i] = t.position.y;
|
||||
|
||||
i++;
|
||||
}
|
||||
|
||||
c.setStrokeWidth(1);
|
||||
c.setStroke("#3F51B5");
|
||||
c.strokePolyline(xPoints, yPoints);
|
||||
}
|
||||
|
||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||
return new TrajectoryActionBuilder(
|
||||
TurnAction::new,
|
||||
FollowTrajectoryAction::new,
|
||||
new TrajectoryBuilderParams(
|
||||
1e-6,
|
||||
new ProfileParams(
|
||||
0.25, 0.1, 1e-2
|
||||
)
|
||||
),
|
||||
beginPose, 0.0,
|
||||
defaultTurnConstraints,
|
||||
defaultVelConstraint, defaultAccelConstraint
|
||||
);
|
||||
}
|
||||
|
||||
public static class Params {
|
||||
// IMU orientation
|
||||
// TODO: fill in these values based on
|
||||
@@ -192,33 +64,62 @@ public final class MecanumDrive {
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.001367789463080072;
|
||||
public double trackWidthTicks = 6913.070212622687;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.23;
|
||||
public double kV = 0.00035;
|
||||
public double kA = 0.00008;
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 70;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 70;
|
||||
public double maxWheelVel = 120;
|
||||
public double minProfileAccel = -30;
|
||||
public double maxProfileAccel = 120;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 2 *Math.PI; // shared with path
|
||||
public double maxAngAccel = 2 * Math.PI;
|
||||
public double maxAngVel = 2* Math.PI; // shared with path
|
||||
public double maxAngAccel = 2* Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 6.0;
|
||||
public double lateralGain = 6.0;
|
||||
public double headingGain = 6.0; // shared with turn
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
public double headingVelGain = 0.0; // shared with turn
|
||||
}
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
|
||||
public final MecanumKinematics kinematics = new MecanumKinematics(
|
||||
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
||||
|
||||
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
||||
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
||||
public final VelConstraint defaultVelConstraint =
|
||||
new MinVelConstraint(Arrays.asList(
|
||||
kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
|
||||
new AngularVelConstraint(PARAMS.maxAngVel)
|
||||
));
|
||||
public final AccelConstraint defaultAccelConstraint =
|
||||
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
||||
|
||||
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
||||
|
||||
public final VoltageSensor voltageSensor;
|
||||
|
||||
public final LazyImu lazyImu;
|
||||
|
||||
public final Localizer localizer;
|
||||
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
||||
|
||||
private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
|
||||
private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
|
||||
private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
|
||||
private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
|
||||
|
||||
public class DriveLocalizer implements Localizer {
|
||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||
public final IMU imu;
|
||||
@@ -243,13 +144,13 @@ public final class MecanumDrive {
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -315,11 +216,64 @@ public final class MecanumDrive {
|
||||
}
|
||||
}
|
||||
|
||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
||||
|
||||
for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
|
||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||
}
|
||||
|
||||
// TODO: make sure your config has motors with these names (or change them)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
leftFront = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
leftBack = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
rightBack = hardwareMap.get(DcMotorEx.class, "br");
|
||||
rightFront = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
|
||||
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
// TODO: reverse motor directions if needed
|
||||
//
|
||||
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||
|
||||
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
||||
|
||||
localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
|
||||
|
||||
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
||||
}
|
||||
|
||||
public void setDrivePowers(PoseVelocity2d powers) {
|
||||
MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
|
||||
PoseVelocity2dDual.constant(powers, 1));
|
||||
|
||||
double maxPowerMag = 1;
|
||||
for (DualNum<Time> power : wheelVels.all()) {
|
||||
maxPowerMag = Math.max(maxPowerMag, power.value());
|
||||
}
|
||||
|
||||
leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
|
||||
leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
|
||||
rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
|
||||
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
||||
}
|
||||
|
||||
public final class FollowTrajectoryAction implements Action {
|
||||
public final TimeTrajectory timeTrajectory;
|
||||
private final double[] xPoints, yPoints;
|
||||
private double beginTs = -1;
|
||||
|
||||
private final double[] xPoints, yPoints;
|
||||
|
||||
public FollowTrajectoryAction(TimeTrajectory t) {
|
||||
timeTrajectory = t;
|
||||
|
||||
@@ -345,16 +299,7 @@ public final class MecanumDrive {
|
||||
t = Actions.now() - beginTs;
|
||||
}
|
||||
|
||||
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
||||
|
||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
||||
|
||||
Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
|
||||
|
||||
if ((t >= timeTrajectory.duration && error.position.norm() < 1
|
||||
&& robotVelRobot.linearVel.norm() < 0.5)
|
||||
|| t >= timeTrajectory.duration + 0.01) {
|
||||
if (t >= timeTrajectory.duration) {
|
||||
leftFront.setPower(0);
|
||||
leftBack.setPower(0);
|
||||
rightBack.setPower(0);
|
||||
@@ -363,6 +308,10 @@ public final class MecanumDrive {
|
||||
return false;
|
||||
}
|
||||
|
||||
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
||||
|
||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
||||
|
||||
PoseVelocity2dDual<Time> command = new HolonomicController(
|
||||
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
||||
@@ -393,6 +342,7 @@ public final class MecanumDrive {
|
||||
p.put("y", localizer.getPose().position.y);
|
||||
p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));
|
||||
|
||||
Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
|
||||
p.put("xError", error.position.x);
|
||||
p.put("yError", error.position.y);
|
||||
p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
|
||||
@@ -500,4 +450,51 @@ public final class MecanumDrive {
|
||||
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
||||
}
|
||||
}
|
||||
|
||||
public PoseVelocity2d updatePoseEstimate() {
|
||||
PoseVelocity2d vel = localizer.update();
|
||||
poseHistory.add(localizer.getPose());
|
||||
|
||||
while (poseHistory.size() > 100) {
|
||||
poseHistory.removeFirst();
|
||||
}
|
||||
|
||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
||||
|
||||
|
||||
return vel;
|
||||
}
|
||||
|
||||
private void drawPoseHistory(Canvas c) {
|
||||
double[] xPoints = new double[poseHistory.size()];
|
||||
double[] yPoints = new double[poseHistory.size()];
|
||||
|
||||
int i = 0;
|
||||
for (Pose2d t : poseHistory) {
|
||||
xPoints[i] = t.position.x;
|
||||
yPoints[i] = t.position.y;
|
||||
|
||||
i++;
|
||||
}
|
||||
|
||||
c.setStrokeWidth(1);
|
||||
c.setStroke("#3F51B5");
|
||||
c.strokePolyline(xPoints, yPoints);
|
||||
}
|
||||
|
||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||
return new TrajectoryActionBuilder(
|
||||
TurnAction::new,
|
||||
FollowTrajectoryAction::new,
|
||||
new TrajectoryBuilderParams(
|
||||
1e-6,
|
||||
new ProfileParams(
|
||||
0.25, 0.1, 1e-2
|
||||
)
|
||||
),
|
||||
beginPose, 0.0,
|
||||
defaultTurnConstraints,
|
||||
defaultVelConstraint, defaultAccelConstraint
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -16,11 +16,10 @@ import java.util.Objects;
|
||||
@Config
|
||||
public final class PinpointLocalizer implements Localizer {
|
||||
public static class Params {
|
||||
public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
|
||||
public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
|
||||
}
|
||||
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
|
||||
public final GoBildaPinpointDriver driver;
|
||||
@@ -49,8 +48,6 @@ public final class PinpointLocalizer implements Localizer {
|
||||
txWorldPinpoint = initialPose;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
txWorldPinpoint = pose.times(txPinpointRobot.inverse());
|
||||
|
||||
@@ -1,130 +1,147 @@
|
||||
## TeamCode Module
|
||||
# Team FTC Git Workflow Guide
|
||||
|
||||
Welcome!
|
||||
|
||||
This module, TeamCode, is the place where you will write/paste the code for your team's
|
||||
robot controller App. This module is currently empty (a clean slate) but the
|
||||
process for adding OpModes is straightforward.
|
||||
## 1. Cloning the Repository
|
||||
|
||||
## Creating your own OpModes
|
||||
1. Open a terminal (or the terminal inside Android Studio).
|
||||
2. Navigate to the folder where you want to keep the project.
|
||||
3. Run:
|
||||
|
||||
The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
|
||||
```bash
|
||||
git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
|
||||
cd DecodeFTCMain
|
||||
```
|
||||
|
||||
Sample opmodes exist in the FtcRobotController module.
|
||||
To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
|
||||
4. Verify your remotes:
|
||||
|
||||
Expand the following tree elements:
|
||||
FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
|
||||
```bash
|
||||
git remote -v
|
||||
```
|
||||
|
||||
### Naming of Samples
|
||||
You should see:
|
||||
```
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
|
||||
```
|
||||
|
||||
To gain a better understanding of how the samples are organized, and how to interpret the
|
||||
naming system, it will help to understand the conventions that were used during their creation.
|
||||
---
|
||||
|
||||
These conventions are described (in detail) in the sample_conventions.md file in this folder.
|
||||
## 2. Keeping `master` Clean
|
||||
|
||||
To summarize: A range of different samples classes will reside in the java/external/samples.
|
||||
The class names will follow a naming convention which indicates the purpose of each class.
|
||||
The prefix of the name will be one of the following:
|
||||
- `master` should only contain clean, tested code.
|
||||
- Nobody should ever code directly on `master`.
|
||||
- To stay up to date:
|
||||
|
||||
Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure
|
||||
of a particular style of OpMode. These are bare bones examples.
|
||||
```bash
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
```
|
||||
|
||||
Sensor: This is a Sample OpMode that shows how to use a specific sensor.
|
||||
It is not intended to drive a functioning robot, it is simply showing the minimal code
|
||||
required to read and display the sensor values.
|
||||
---
|
||||
|
||||
Robot: This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
|
||||
It may be used to provide a common baseline driving OpMode, or
|
||||
to demonstrate how a particular sensor or concept can be used to navigate.
|
||||
## 3. Creating a Feature Branch
|
||||
|
||||
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
|
||||
These may be complex, but their operation should be explained clearly in the comments,
|
||||
or the comments should reference an external doc, guide or tutorial.
|
||||
Each OpMode should try to only demonstrate a single concept so they are easy to
|
||||
locate based on their name. These OpModes may not produce a drivable robot.
|
||||
Whenever you start a new task (feature, fix, experiment):
|
||||
|
||||
After the prefix, other conventions will apply:
|
||||
1. Update `master` (see above).
|
||||
2. Create a new branch from `master`:
|
||||
|
||||
* Sensor class names are constructed as: Sensor - Company - Type
|
||||
* Robot class names are constructed as: Robot - Mode - Action - OpModetype
|
||||
* Concept class names are constructed as: Concept - Topic - OpModetype
|
||||
```bash
|
||||
git checkout master
|
||||
git pull origin master
|
||||
git checkout -b feature/short-description
|
||||
```
|
||||
|
||||
Once you are familiar with the range of samples available, you can choose one to be the
|
||||
basis for your own robot. In all cases, the desired sample(s) needs to be copied into
|
||||
your TeamCode module to be used.
|
||||
### Branch Naming Standard
|
||||
|
||||
This is done inside Android Studio directly, using the following steps:
|
||||
|
||||
1) Locate the desired sample class in the Project/Android tree.
|
||||
|
||||
2) Right click on the sample class and select "Copy"
|
||||
|
||||
3) Expand the TeamCode/java folder
|
||||
|
||||
4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
|
||||
|
||||
5) You will be prompted for a class name for the copy.
|
||||
Choose something meaningful based on the purpose of this class.
|
||||
Start with a capital letter, and remember that there may be more similar classes later.
|
||||
|
||||
Once your copy has been created, you should prepare it for use on your robot.
|
||||
This is done by adjusting the OpMode's name, and enabling it to be displayed on the
|
||||
Driver Station's OpMode list.
|
||||
|
||||
Each OpMode sample class begins with several lines of code like the ones shown below:
|
||||
Branches **must** follow the format:
|
||||
|
||||
```
|
||||
@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
|
||||
@Disabled
|
||||
<type>/<short-description>
|
||||
```
|
||||
|
||||
The name that will appear on the driver station's "opmode list" is defined by the code:
|
||||
``name="Template: Linear OpMode"``
|
||||
You can change what appears between the quotes to better describe your opmode.
|
||||
The "group=" portion of the code can be used to help organize your list of OpModes.
|
||||
Where `<type>` is one of:
|
||||
- `feature/` → new functionality
|
||||
- `fix/` → bug fixes
|
||||
- `experiment/` → prototypes or tests
|
||||
- `docs/` → documentation updates
|
||||
- `chore/` → maintenance or cleanup
|
||||
|
||||
As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
|
||||
``@Disabled`` annotation which has been included.
|
||||
This line can simply be deleted , or commented out, to make the OpMode visible.
|
||||
Examples:
|
||||
- `feature/autonomous-path`
|
||||
- `fix/motor-init`
|
||||
- `experiment/vision-test`
|
||||
- `docs/setup-instructions`
|
||||
- `chore/gradle-update`
|
||||
|
||||
## ADVANCED Multi-Team App management: Cloning the TeamCode Module
|
||||
**Rules for names:**
|
||||
- Use lowercase letters and hyphens (`-`) only.
|
||||
- Keep it short but clear (3–5 words).
|
||||
- One branch = one task. Never mix unrelated work.
|
||||
|
||||
In some situations, you have multiple teams in your club and you want them to all share
|
||||
a common code organization, with each being able to *see* the others code but each having
|
||||
their own team module with their own code that they maintain themselves.
|
||||
---
|
||||
|
||||
In this situation, you might wish to clone the TeamCode module, once for each of these teams.
|
||||
Each of the clones would then appear along side each other in the Android Studio module list,
|
||||
together with the FtcRobotController module (and the original TeamCode module).
|
||||
## 4. Working on Your Branch
|
||||
|
||||
Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
|
||||
prior to clicking to the green Run arrow.
|
||||
- Make changes in Android Studio.
|
||||
- Stage and commit your changes:
|
||||
|
||||
Warning: This is not for the inexperienced Software developer.
|
||||
You will need to be comfortable with File manipulations and managing Android Studio Modules.
|
||||
These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
|
||||
```bash
|
||||
git add .
|
||||
git commit -m "short message about what changed"
|
||||
```
|
||||
|
||||
Also.. Make a full project backup before you start this :)
|
||||
- Push your branch to GitHub:
|
||||
|
||||
To clone TeamCode, do the following:
|
||||
```bash
|
||||
git push origin feature/short-description
|
||||
```
|
||||
|
||||
Note: Some names start with "Team" and others start with "team". This is intentional.
|
||||
---
|
||||
|
||||
1) Using your operating system file management tools, copy the whole "TeamCode"
|
||||
folder to a sibling folder with a corresponding new name, eg: "Team0417".
|
||||
## 5. Sharing Your Work
|
||||
|
||||
2) In the new Team0417 folder, delete the TeamCode.iml file.
|
||||
- Once your branch is ready:
|
||||
1. Open a Pull Request (PR) on GitHub to merge into `master`.
|
||||
2. At least one teammate should review before merging.
|
||||
|
||||
3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
|
||||
to a matching name with a lowercase 'team' eg: "team0417".
|
||||
---
|
||||
|
||||
4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
|
||||
contains
|
||||
package="org.firstinspires.ftc.teamcode"
|
||||
to be
|
||||
package="org.firstinspires.ftc.team0417"
|
||||
## 6. Branching Rules
|
||||
|
||||
5) Add: include ':Team0417' to the "/settings.gradle" file.
|
||||
**Do:**
|
||||
- Always branch from `master`.
|
||||
- Follow the naming standard exactly.
|
||||
- Keep branches small and focused.
|
||||
- Delete branches after they’re merged.
|
||||
|
||||
6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
|
||||
**Don’t:**
|
||||
- Don’t push commits directly to `master`.
|
||||
- Don’t leave unfinished work on `master`.
|
||||
- Don’t mix unrelated changes in one branch.
|
||||
|
||||
---
|
||||
|
||||
## 7. Example Workflow
|
||||
|
||||
```bash
|
||||
# Get latest code
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
|
||||
# Start a new feature
|
||||
git checkout -b feature/teleop-improvements
|
||||
|
||||
# Work on code, then commit
|
||||
git add .
|
||||
git commit -m "improved joystick scaling in TeleOp"
|
||||
|
||||
# Push branch
|
||||
git push origin feature/teleop-improvements
|
||||
```
|
||||
|
||||
@@ -0,0 +1,238 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.Collections;
|
||||
import java.util.List;
|
||||
|
||||
public class AprilTag implements Subsystem {
|
||||
|
||||
private AprilTagProcessor aprilTag;
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
private MultipleTelemetry TELE;
|
||||
|
||||
private boolean teleOn = false;
|
||||
|
||||
private int detections = 0;
|
||||
|
||||
List<AprilTagDetection> currentDetections;
|
||||
|
||||
ArrayList<ArrayList<Double>> Data = new ArrayList<>();
|
||||
|
||||
|
||||
|
||||
public AprilTag(Robot robot, MultipleTelemetry tele) {
|
||||
|
||||
|
||||
|
||||
this.aprilTag = robot.aprilTagProcessor;
|
||||
|
||||
|
||||
this.TELE = tele;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
currentDetections = aprilTag.getDetections();
|
||||
|
||||
UpdateData();
|
||||
|
||||
if(teleOn){
|
||||
tagTELE();
|
||||
initTelemetry();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void initTelemetry (){
|
||||
|
||||
TELE.addData("Camera Preview", "Check Driver Station for stream");
|
||||
TELE.addData("Status", "Initialized - Press START");
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void tagTELE () {
|
||||
|
||||
TELE.addData("# AprilTags Detected", detections);
|
||||
|
||||
// Display info for each detected tag
|
||||
for (ArrayList<Double> detection : Data) {
|
||||
if (detection.get(0) ==1) {
|
||||
// Known AprilTag with metadata
|
||||
TELE.addLine(String.format("\n==== (ID %d) %s ====",
|
||||
detection.get(1).intValue(), ""));
|
||||
|
||||
TELE.addLine(String.format("XYZ: %6.1f %6.1f %6.1f (inch)",
|
||||
detection.get(2),
|
||||
detection.get(3),
|
||||
detection.get(4)));
|
||||
|
||||
TELE.addData("Distance", getDistance(detection.get(1).intValue()));
|
||||
|
||||
TELE.addLine(String.format("PRY: %6.1f %6.1f %6.1f (deg)",
|
||||
detection.get(5),
|
||||
detection.get(6),
|
||||
detection.get(7)));
|
||||
|
||||
TELE.addLine(String.format("RBE: %6.1f %6.1f %6.1f (inch, deg, deg)",
|
||||
detection.get(8),
|
||||
detection.get(9),
|
||||
detection.get(10)));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void turnTelemetryOn(boolean bool) {
|
||||
|
||||
teleOn = bool;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void UpdateData () {
|
||||
|
||||
Data.clear(); // <--- THIS FIXES YOUR ISSUE
|
||||
|
||||
|
||||
detections = currentDetections.size();
|
||||
|
||||
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
|
||||
ArrayList<Double> detectionData = new ArrayList<Double>();
|
||||
|
||||
|
||||
|
||||
if (detection.metadata != null) {
|
||||
|
||||
detectionData.add(1.0);
|
||||
// Known AprilTag with metadata
|
||||
|
||||
detectionData.add( (double) detection.id);
|
||||
|
||||
|
||||
|
||||
detectionData.add(detection.ftcPose.x);
|
||||
detectionData.add(detection.ftcPose.y);
|
||||
detectionData.add(detection.ftcPose.z);
|
||||
|
||||
|
||||
|
||||
detectionData.add(detection.ftcPose.pitch);
|
||||
detectionData.add(detection.ftcPose.roll);
|
||||
detectionData.add(detection.ftcPose.yaw);
|
||||
|
||||
detectionData.add(detection.ftcPose.range);
|
||||
detectionData.add(detection.ftcPose.bearing);
|
||||
detectionData.add(detection.ftcPose.elevation);
|
||||
|
||||
} else {
|
||||
|
||||
detectionData.add(0, 0.0);
|
||||
|
||||
}
|
||||
|
||||
Data.add(detectionData);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public int getDetectionCount() {
|
||||
|
||||
return detections;
|
||||
|
||||
}
|
||||
|
||||
public boolean isDetected (int id){
|
||||
return (!filterID(Data, (double) id ).isEmpty());
|
||||
}
|
||||
|
||||
|
||||
|
||||
public double getDistance(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 5) {
|
||||
double x = d.get(2);
|
||||
double y = d.get(3);
|
||||
double z = d.get(4);
|
||||
return Math.sqrt(x*x + y*y + z*z);
|
||||
}
|
||||
return -1; // tag not found
|
||||
}
|
||||
|
||||
// Returns the position as [x, y, z]
|
||||
public List<Double> getPosition(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 5) {
|
||||
List<Double> pos = new ArrayList<>();
|
||||
pos.add(d.get(2));
|
||||
pos.add(d.get(3));
|
||||
pos.add(d.get(4));
|
||||
return pos;
|
||||
}
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
// Returns orientation as [pitch, roll, yaw]
|
||||
public List<Double> getOrientation(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 8) {
|
||||
List<Double> ori = new ArrayList<>();
|
||||
ori.add(d.get(5));
|
||||
ori.add(d.get(6));
|
||||
ori.add(d.get(7));
|
||||
return ori;
|
||||
}
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
// Returns range, bearing, elevation as [range, bearing, elevation]
|
||||
public List<Double> getRBE(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 11) {
|
||||
List<Double> rbe = new ArrayList<>();
|
||||
rbe.add(d.get(8));
|
||||
rbe.add(d.get(9));
|
||||
rbe.add(d.get(10));
|
||||
return rbe;
|
||||
}
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
// Returns full raw data for debugging or custom processing
|
||||
public ArrayList<Double> getRawData(int id) {
|
||||
return filterID(Data, (double) id);
|
||||
}
|
||||
|
||||
public static ArrayList<Double> filterID(ArrayList<ArrayList<Double>> data, double x) {
|
||||
for (ArrayList<Double> innerList : data) {
|
||||
// Ensure it has a second element
|
||||
if (innerList.size() > 1 && Math.abs(innerList.get(1) - x) < 1e-9) {
|
||||
return innerList; // Return the first match
|
||||
}
|
||||
}
|
||||
// Return an empty ArrayList if no match found
|
||||
return new ArrayList<>();
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,99 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.Gamepad;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class Drivetrain implements Subsystem {
|
||||
|
||||
private final GamepadEx gamepad;
|
||||
|
||||
public MultipleTelemetry TELE;
|
||||
|
||||
private String Mode = "Default";
|
||||
|
||||
private final DcMotorEx fl;
|
||||
|
||||
private final DcMotorEx fr;
|
||||
private final DcMotorEx bl;
|
||||
private final DcMotorEx br;
|
||||
|
||||
private double defaultSpeed = 0.7;
|
||||
|
||||
private double slowSpeed = 0.3;
|
||||
public Drivetrain(Robot robot, MultipleTelemetry tele, GamepadEx gamepad1){
|
||||
|
||||
this.fl = robot.frontLeft;
|
||||
this.fr = robot.frontRight;
|
||||
this.br = robot.backRight;
|
||||
this.bl = robot.backLeft;
|
||||
|
||||
this.gamepad = gamepad1;
|
||||
|
||||
this.TELE = tele;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void setMode (String mode){
|
||||
this.Mode = mode;
|
||||
}
|
||||
|
||||
public void setDefaultSpeed (double speed){
|
||||
this.defaultSpeed = speed;
|
||||
}
|
||||
|
||||
public void setSlowSpeed (double speed){
|
||||
this.slowSpeed = speed;
|
||||
}
|
||||
|
||||
public void RobotCentric(double fwd, double strafe, double turn, double turbo){
|
||||
|
||||
double y = -fwd; // Remember, Y stick value is reversed
|
||||
double x = strafe * 1.1; // Counteract imperfect strafing
|
||||
double rx = turn;
|
||||
|
||||
// Denominator is the largest motor power (absolute value) or 1
|
||||
// This ensures all the powers maintain the same ratio,
|
||||
// but only if at least one is out of the range [-1, 1]
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
fl.setPower(frontLeftPower*turbo);
|
||||
bl.setPower(backLeftPower*turbo);
|
||||
fr.setPower(frontRightPower*turbo);
|
||||
br.setPower(backRightPower*turbo);
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (Objects.equals(Mode, "Default")) {
|
||||
|
||||
RobotCentric(
|
||||
gamepad.getRightY(),
|
||||
gamepad.getRightX(),
|
||||
gamepad.getLeftX(),
|
||||
(gamepad.getTrigger(
|
||||
GamepadKeys.Trigger.RIGHT_TRIGGER) * (1-defaultSpeed)
|
||||
- gamepad.getTrigger(GamepadKeys.Trigger.LEFT_TRIGGER) * slowSpeed
|
||||
+ defaultSpeed
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,80 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.Gamepad;
|
||||
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class Intake implements Subsystem {
|
||||
|
||||
private GamepadEx gamepad;
|
||||
|
||||
public MultipleTelemetry TELE;
|
||||
|
||||
|
||||
private DcMotorEx intake;
|
||||
|
||||
private double intakePower = 1.0;
|
||||
|
||||
private int intakeState = 0;
|
||||
|
||||
|
||||
public Intake (Robot robot){
|
||||
|
||||
|
||||
this.intake = robot.intake;
|
||||
|
||||
|
||||
}
|
||||
|
||||
public int getIntakeState() {
|
||||
return intakeState;
|
||||
}
|
||||
|
||||
public void toggle(){
|
||||
if (intakeState !=0){
|
||||
intakeState = 0;
|
||||
} else {
|
||||
intakeState = 1;
|
||||
}
|
||||
}
|
||||
|
||||
public void intakeMinPower(){
|
||||
intakeState = 2;
|
||||
}
|
||||
|
||||
public void intake(){
|
||||
intakeState =1;
|
||||
}
|
||||
|
||||
public void reverse(){
|
||||
intakeState =-1;
|
||||
}
|
||||
|
||||
|
||||
public void stop(){
|
||||
intakeState =0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (intakeState == 1){
|
||||
intake.setPower(intakePower);
|
||||
} else if (intakeState == -1){
|
||||
intake.setPower(-intakePower);
|
||||
} else if (intakeState == 2){
|
||||
intake.setPower(intakePower);
|
||||
}else {
|
||||
intake.setPower(0);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,248 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.controller.PIDController;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.PIDCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.teamcode.constants.Poses;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class Shooter implements Subsystem {
|
||||
private final DcMotorEx fly1;
|
||||
private final DcMotorEx fly2;
|
||||
|
||||
private final DcMotorEx encoder;
|
||||
private final Servo hoodServo;
|
||||
|
||||
private final Servo turret1;
|
||||
|
||||
private final Servo turret2;
|
||||
|
||||
private final MultipleTelemetry telemetry;
|
||||
|
||||
private boolean telemetryOn = false;
|
||||
|
||||
private double manualPower = 0.0;
|
||||
private double hoodPos = 0.0;
|
||||
|
||||
private double turretPos = 0.0;
|
||||
private double velocity = 0.0;
|
||||
private double posPower = 0.0;
|
||||
|
||||
public double velo = 0.0;
|
||||
|
||||
private int targetPosition = 0;
|
||||
|
||||
public double powPID = 1.0;
|
||||
|
||||
private double p = 0.0003, i = 0, d = 0.00001, f=0;
|
||||
|
||||
private PIDFController controller;
|
||||
private double pow = 0.0;
|
||||
|
||||
private String shooterMode = "AUTO";
|
||||
|
||||
private String turretMode = "AUTO";
|
||||
|
||||
public Shooter(Robot robot, MultipleTelemetry TELE) {
|
||||
this.fly1 = robot.shooter1;
|
||||
this.fly2 = robot.shooter2;
|
||||
this.telemetry = TELE;
|
||||
this.hoodServo = robot.hood;
|
||||
|
||||
// Reset encoders
|
||||
fly1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
|
||||
controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setPIDF(p, i, d, f);
|
||||
|
||||
this.turret1 = robot.turr1;
|
||||
|
||||
this.turret2 = robot.turr2;
|
||||
|
||||
this.encoder = robot.shooterEncoder;
|
||||
|
||||
}
|
||||
|
||||
public double gethoodPosition() {
|
||||
return (hoodServo.getPosition());
|
||||
}
|
||||
|
||||
public void sethoodPosition(double pos) { hoodPos = pos; }
|
||||
|
||||
public double getTurretPosition() {
|
||||
return ((turret1.getPosition() + (1 - turret2.getPosition())) / 2);
|
||||
}
|
||||
|
||||
public void setTurretPosition(double pos) { turretPos = pos; }
|
||||
|
||||
public double getVelocity(double vel) {
|
||||
return vel;
|
||||
}
|
||||
|
||||
public void setVelocity(double vel) { velocity = vel; }
|
||||
|
||||
public void setPosPower(double power) { posPower = power; }
|
||||
|
||||
public void setTargetPosition(int pos) {
|
||||
targetPosition = pos;
|
||||
}
|
||||
|
||||
public void setTolerance(int tolerance) {
|
||||
controller.setTolerance(tolerance);
|
||||
}
|
||||
|
||||
public void setControllerCoefficients(double kp, double ki, double kd, double kf) {
|
||||
p = kp;
|
||||
i = ki;
|
||||
d = kd;
|
||||
f = kf;
|
||||
controller.setPIDF(p, i, d, f);
|
||||
|
||||
}
|
||||
|
||||
public PIDCoefficients getControllerCoefficients() {
|
||||
|
||||
return new PIDCoefficients(p, i, d);
|
||||
|
||||
}
|
||||
|
||||
public void setManualPower(double power) { manualPower = power; }
|
||||
|
||||
public String getShooterMode() { return shooterMode; }
|
||||
|
||||
public String getTurretMode() { return turretMode; }
|
||||
|
||||
public double getECPRPosition() {
|
||||
return fly1.getCurrentPosition() / (2 * ecpr);
|
||||
}
|
||||
|
||||
public double getMCPRPosition() {
|
||||
return (double) fly1.getCurrentPosition() / 4;
|
||||
}
|
||||
|
||||
public void setShooterMode(String mode) { shooterMode = mode; }
|
||||
|
||||
public void setTurretMode(String mode) { turretMode = mode; }
|
||||
|
||||
public double trackGoal(Pose2d robotPose, Pose2d goalPose, double offset) {
|
||||
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
|
||||
Pose2d deltaPose = new Pose2d(
|
||||
goalPose.position.x - robotPose.position.x,
|
||||
goalPose.position.y - robotPose.position.y,
|
||||
goalPose.heading.toDouble() - (robotPose.heading.toDouble())
|
||||
);
|
||||
|
||||
double distance = Math.sqrt(
|
||||
deltaPose.position.x * deltaPose.position.x
|
||||
+ deltaPose.position.y * deltaPose.position.y
|
||||
+ Poses.relativeGoalHeight * Poses.relativeGoalHeight
|
||||
);
|
||||
|
||||
telemetry.addData("dst", distance);
|
||||
|
||||
double shooterPow = getPowerByDist(distance);
|
||||
|
||||
double hoodAngle = getAngleByDist(distance);
|
||||
|
||||
// hoodServo.setPosition(hoodAngle);
|
||||
|
||||
moveTurret(getTurretPosByDeltaPose(deltaPose, offset));
|
||||
|
||||
return distance;
|
||||
|
||||
//0.9974 * 355
|
||||
|
||||
}
|
||||
|
||||
public double getTurretPosByDeltaPose(Pose2d dPose, double offset) {
|
||||
|
||||
double deltaAngle = Math.toDegrees(dPose.heading.toDouble());
|
||||
|
||||
double aTanAngle = Math.toDegrees(Math.atan(dPose.position.y / dPose.position.x));
|
||||
|
||||
telemetry.addData("deltaAngle", deltaAngle);
|
||||
|
||||
if (deltaAngle > 90) {
|
||||
deltaAngle -= 360;
|
||||
}
|
||||
|
||||
// deltaAngle += aTanAngle;
|
||||
|
||||
deltaAngle /= (335);
|
||||
|
||||
telemetry.addData("dAngle", deltaAngle);
|
||||
|
||||
telemetry.addData("AtanAngle", aTanAngle);
|
||||
|
||||
return ((0.30 - deltaAngle) + offset);
|
||||
|
||||
}
|
||||
|
||||
//62, 0.44
|
||||
|
||||
//56.5, 0.5
|
||||
|
||||
public double getPowerByDist(double dist) {
|
||||
|
||||
//TODO: ADD LOGIC
|
||||
return dist;
|
||||
}
|
||||
|
||||
public double getAngleByDist(double dist) {
|
||||
|
||||
double newDist = dist - 56.5;
|
||||
|
||||
double pos = newDist * ((0.44 - 0.5) / (62 - 56.5)) + 0.46;
|
||||
|
||||
return pos;
|
||||
}
|
||||
|
||||
public void setTelemetryOn(boolean state) { telemetryOn = state; }
|
||||
|
||||
public void moveTurret(double pos) {
|
||||
turret1.setPosition(pos);
|
||||
turret2.setPosition(1 - pos);
|
||||
}
|
||||
|
||||
public double getpowPID() {
|
||||
return powPID;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (Objects.equals(shooterMode, "MANUAL")) {
|
||||
fly1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
fly1.setPower(manualPower);
|
||||
fly2.setPower(manualPower);
|
||||
} else if (Objects.equals(shooterMode, "VEL")) {
|
||||
powPID = velocity;
|
||||
|
||||
fly1.setPower(powPID);
|
||||
fly2.setPower(powPID);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,255 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class Spindexer implements Subsystem{
|
||||
|
||||
private Servo s1;
|
||||
private Servo s2;
|
||||
|
||||
private DigitalChannel p0;
|
||||
|
||||
private DigitalChannel p1;
|
||||
private DigitalChannel p2;
|
||||
private DigitalChannel p3;
|
||||
private DigitalChannel p4;
|
||||
|
||||
private DigitalChannel p5;
|
||||
|
||||
private AnalogInput input;
|
||||
|
||||
private AnalogInput input2;
|
||||
|
||||
|
||||
private MultipleTelemetry TELE;
|
||||
|
||||
private double position = 0.501;
|
||||
|
||||
private boolean telemetryOn = false;
|
||||
|
||||
private boolean ball0 = false;
|
||||
|
||||
private boolean ball1 = false;
|
||||
|
||||
private boolean ball2 = false;
|
||||
|
||||
private boolean green0 = false;
|
||||
|
||||
private boolean green1 = false;
|
||||
|
||||
private boolean green2 = false;
|
||||
|
||||
|
||||
|
||||
|
||||
public Spindexer (Robot robot, MultipleTelemetry tele){
|
||||
|
||||
this.s1 = robot.spin1;
|
||||
this.s2 = robot.spin2;
|
||||
|
||||
this.p0 = robot.pin0;
|
||||
this.p1 = robot.pin1;
|
||||
this.p2 = robot.pin2;
|
||||
this.p3 = robot.pin3;
|
||||
this.p4 = robot.pin4;
|
||||
this.p5 = robot.pin5;
|
||||
|
||||
this.input = robot.analogInput;
|
||||
|
||||
this.input2 = robot.analogInput2;
|
||||
|
||||
this.TELE = tele;
|
||||
|
||||
}
|
||||
|
||||
public void setTelemetryOn(boolean state){
|
||||
telemetryOn = state;
|
||||
}
|
||||
|
||||
public void colorSensorTelemetry() {
|
||||
|
||||
|
||||
TELE.addData("ball0", ball0);
|
||||
TELE.addData("ball1", ball1);
|
||||
TELE.addData("ball2", ball2);
|
||||
TELE.addData("green0", green0);
|
||||
TELE.addData("green1", green1);
|
||||
TELE.addData("green2", green2);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void checkForBalls() {
|
||||
|
||||
if (p0.getState()){
|
||||
ball0 = true;
|
||||
green0 = p1.getState();
|
||||
} else {
|
||||
ball0 = false;
|
||||
}
|
||||
|
||||
if (p2.getState()){
|
||||
ball1 = true;
|
||||
green1 = p3.getState();
|
||||
} else {
|
||||
ball1 = false;
|
||||
}
|
||||
|
||||
if (p4.getState()){
|
||||
ball2 = true;
|
||||
green2 = p5.getState();
|
||||
} else {
|
||||
ball2 = false;
|
||||
}
|
||||
}
|
||||
|
||||
public void setPosition (double pos) {
|
||||
position = pos;
|
||||
}
|
||||
|
||||
public void intake () {
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
|
||||
public void intakeShake(double runtime) {
|
||||
if ((runtime % 0.25) >0.125) {
|
||||
position = spindexer_intakePos1 + 0.04;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.04;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public void outtake3Shake(double runtime) {
|
||||
if ((runtime % 0.25) >0.125) {
|
||||
position = spindexer_outtakeBall3 + 0.04;
|
||||
} else {
|
||||
position = spindexer_outtakeBall3 - 0.04;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void outtake3 () {
|
||||
position = spindexer_outtakeBall3;
|
||||
}
|
||||
|
||||
public void outtake2 () {
|
||||
position = spindexer_outtakeBall2;
|
||||
}
|
||||
|
||||
public void outtake1 () {
|
||||
position = spindexer_outtakeBall1;
|
||||
}
|
||||
|
||||
|
||||
public int outtakeGreen(int secLast, int Last) {
|
||||
if (green2 && (secLast!=3) && (Last!=3)) {
|
||||
outtake3();
|
||||
return 3;
|
||||
} else if (green1 && (secLast!=2) && (Last!=2)){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else if (green0 && (secLast!=1) && (Last!=1)) {
|
||||
outtake1();
|
||||
return 1;
|
||||
} else {
|
||||
|
||||
if (secLast!=1 && Last!= 1){
|
||||
outtake1();
|
||||
return 1;
|
||||
} else if (secLast!=2 && Last!=2){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else {
|
||||
outtake3();
|
||||
return 3;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void outtakeGreenFs() {
|
||||
if (green0 && ball0) {
|
||||
outtake1();
|
||||
} else if (green1 && ball1){
|
||||
outtake2();
|
||||
} else if (green2 && ball2) {
|
||||
outtake3();
|
||||
}
|
||||
}
|
||||
|
||||
public int greens() {
|
||||
int num = 0;
|
||||
|
||||
if (green0){num++;}
|
||||
|
||||
if (green1){num++;}
|
||||
|
||||
|
||||
if (green2){num++;}
|
||||
|
||||
return num;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
public int outtakePurple(int secLast, int Last) {
|
||||
if (!green2 && (secLast!=3) && (Last!=3)) {
|
||||
outtake3();
|
||||
return 3;
|
||||
} else if (!green1 && (secLast!=2) && (Last!=2)){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else if (!green0 && (secLast!=1) && (Last!=1)) {
|
||||
outtake1();
|
||||
return 1;
|
||||
} else {
|
||||
|
||||
if (secLast!=1 && Last!= 1){
|
||||
outtake1();
|
||||
return 1;
|
||||
} else if (secLast!=2 && Last!=2){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else {
|
||||
outtake3();
|
||||
return 3;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (position !=0.501) {
|
||||
|
||||
s1.setPosition(position);
|
||||
s2.setPosition(1 - position);
|
||||
}
|
||||
|
||||
|
||||
if (telemetryOn) {
|
||||
colorSensorTelemetry();
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
public interface Subsystem {
|
||||
|
||||
public void update();
|
||||
}
|
||||
@@ -0,0 +1,58 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class Transfer implements Subsystem{
|
||||
|
||||
private final Servo servo;
|
||||
|
||||
private final DcMotorEx transfer;
|
||||
|
||||
private double motorPow = 0.0;
|
||||
|
||||
private double servoPos = 0.501;
|
||||
|
||||
public Transfer (Robot robot){
|
||||
|
||||
this.servo = robot.transferServo;
|
||||
|
||||
this.transfer = robot.transfer;
|
||||
|
||||
}
|
||||
|
||||
public void setTransferPosition(double pos){
|
||||
this.servoPos = pos;
|
||||
}
|
||||
|
||||
public void setTransferPower (double pow){
|
||||
this.motorPow = pow;
|
||||
}
|
||||
|
||||
public void transferOut(){
|
||||
this.setTransferPosition(transferServo_out);
|
||||
}
|
||||
|
||||
public void transferIn(){
|
||||
this.setTransferPosition(transferServo_in);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (servoPos!=0.501){
|
||||
servo.setPosition(servoPos);
|
||||
}
|
||||
|
||||
transfer.setPower(motorPow);
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,791 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Intake;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
|
||||
public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
Drivetrain drivetrain;
|
||||
|
||||
Intake intake;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
GamepadEx g1;
|
||||
|
||||
GamepadEx g2;
|
||||
|
||||
public static double defaultSpeed = 1;
|
||||
|
||||
public static double slowMoSpeed = 0.4;
|
||||
|
||||
public static double power = 0.0;
|
||||
|
||||
public static double pos = hoodDefault;
|
||||
|
||||
public boolean all = false;
|
||||
|
||||
public int ticker = 0;
|
||||
|
||||
ToggleButtonReader g1RightBumper;
|
||||
|
||||
ToggleButtonReader g2Circle;
|
||||
|
||||
ToggleButtonReader g2Square;
|
||||
|
||||
ToggleButtonReader g2Triangle;
|
||||
|
||||
ToggleButtonReader g2RightBumper;
|
||||
|
||||
ToggleButtonReader g1LeftBumper;
|
||||
|
||||
ToggleButtonReader g2LeftBumper;
|
||||
|
||||
ToggleButtonReader g2DpadUp;
|
||||
|
||||
ToggleButtonReader g2DpadDown;
|
||||
|
||||
ToggleButtonReader g2DpadRight;
|
||||
|
||||
ToggleButtonReader g2DpadLeft;
|
||||
|
||||
public boolean leftBumper = false;
|
||||
public double g1RightBumperStamp = 0.0;
|
||||
|
||||
public double g1LeftBumperStamp = 0.0;
|
||||
|
||||
public double g2LeftBumperStamp = 0.0;
|
||||
|
||||
public static int spindexerPos = 0;
|
||||
|
||||
public boolean green = false;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
public boolean scoreAll = false;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
public boolean autotrack = false;
|
||||
|
||||
public int last = 0;
|
||||
public int second = 0;
|
||||
|
||||
public double offset = 0.0;
|
||||
|
||||
public static double rIn = 0.59;
|
||||
|
||||
public static double rOut = 0;
|
||||
|
||||
public boolean notShooting = true;
|
||||
|
||||
public boolean circle = false;
|
||||
|
||||
public boolean square = false;
|
||||
|
||||
public boolean tri = false;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(),
|
||||
telemetry
|
||||
);
|
||||
|
||||
g1 = new GamepadEx(gamepad1);
|
||||
|
||||
g1RightBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2 = new GamepadEx(gamepad2);
|
||||
|
||||
g1LeftBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2Circle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.B
|
||||
);
|
||||
|
||||
g2Triangle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.Y
|
||||
);
|
||||
|
||||
g2Square = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.X
|
||||
);
|
||||
|
||||
g2RightBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2LeftBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2DpadUp = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_UP
|
||||
);
|
||||
|
||||
g2DpadDown = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_DOWN
|
||||
);
|
||||
|
||||
g2DpadLeft = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_LEFT
|
||||
);
|
||||
|
||||
g2DpadRight = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_RIGHT
|
||||
);
|
||||
|
||||
drivetrain = new Drivetrain(robot, TELE, g1);
|
||||
|
||||
drivetrain.setMode("Default");
|
||||
|
||||
drivetrain.setDefaultSpeed(defaultSpeed);
|
||||
|
||||
drivetrain.setSlowSpeed(slowMoSpeed);
|
||||
|
||||
intake = new Intake(robot);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.setTelemetryOn(true);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
robot.rejecter.setPosition(rIn);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
|
||||
TELE.addData("off", offset);
|
||||
|
||||
robot.hood.setPosition(pos);
|
||||
|
||||
g1LeftBumper.readValue();
|
||||
|
||||
if (g1LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
leftBumper = true;
|
||||
}
|
||||
|
||||
if (leftBumper) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
if (time < 1.0) {
|
||||
robot.rejecter.setPosition(rOut);
|
||||
} else {
|
||||
robot.rejecter.setPosition(rIn);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake();
|
||||
|
||||
drivetrain.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
transfer.update();
|
||||
|
||||
g2RightBumper.readValue();
|
||||
|
||||
g2LeftBumper.readValue();
|
||||
|
||||
g2DpadDown.readValue();
|
||||
|
||||
g2DpadUp.readValue();
|
||||
|
||||
if (!scoreAll) {
|
||||
spindexer.checkForBalls();
|
||||
}
|
||||
|
||||
if (g2DpadUp.wasJustPressed()) {
|
||||
pos -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadDown.wasJustPressed()) {
|
||||
pos += 0.02;
|
||||
}
|
||||
|
||||
g2DpadLeft.readValue();
|
||||
|
||||
g2DpadRight.readValue();
|
||||
|
||||
if (g2DpadLeft.wasJustPressed()) {
|
||||
offset -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadRight.wasJustPressed()) {
|
||||
offset += 0.02;
|
||||
}
|
||||
|
||||
TELE.addData("hood", pos);
|
||||
|
||||
if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
|
||||
|
||||
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
|
||||
|
||||
} else {
|
||||
|
||||
autotrack = false;
|
||||
|
||||
shooter.moveTurret(0.3 + offset);
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autotrack = true;
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustPressed()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferIn();
|
||||
shooter.setManualPower(1);
|
||||
|
||||
notShooting = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustReleased()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferOut();
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y > 0.5) {
|
||||
|
||||
shooter.setManualPower(0);
|
||||
} else if (gamepad2.left_stick_y < -0.5) {
|
||||
shooter.setManualPower(1);
|
||||
}
|
||||
|
||||
if (g2LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
notShooting = false;
|
||||
scoreAll = true;
|
||||
}
|
||||
|
||||
if (scoreAll) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
TELE.addData("greenImportant", green);
|
||||
|
||||
TELE.addData("last", last);
|
||||
TELE.addData("2ndLast", second);
|
||||
|
||||
int numGreen = spindexer.greens();
|
||||
|
||||
if (square) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (tri) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (circle) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
} else {
|
||||
all = true;
|
||||
}
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake3();
|
||||
last = 3;
|
||||
second = 3;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake2();
|
||||
|
||||
last = 2;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake1();
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void intake() {
|
||||
|
||||
g1RightBumper.readValue();
|
||||
|
||||
g2Circle.readValue();
|
||||
|
||||
g2Square.readValue();
|
||||
|
||||
g2Triangle.readValue();
|
||||
|
||||
if (g1RightBumper.wasJustPressed()) {
|
||||
|
||||
notShooting = true;
|
||||
|
||||
if (getRuntime() - g1RightBumperStamp < 0.3) {
|
||||
intake.reverse();
|
||||
} else {
|
||||
intake.toggle();
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1) {
|
||||
shooter.setManualPower(0);
|
||||
}
|
||||
|
||||
spindexer.intake();
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
g1RightBumperStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1 && notShooting) {
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
} else {
|
||||
if (g2Circle.wasJustPressed()) {
|
||||
circle = true;
|
||||
tri = false;
|
||||
square = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2Triangle.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = true;
|
||||
square = false;
|
||||
}
|
||||
|
||||
if (g2Square.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = true;
|
||||
}
|
||||
|
||||
if (gamepad2.x) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,384 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Drivetrain;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
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.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class TeleopV3 extends LinearOpMode {
|
||||
public static double manualVel = 3000;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
|
||||
public static double spinPow = 0.09;
|
||||
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
|
||||
public static double spinSpeedIncrease = 0.03;
|
||||
public static int resetSpinTicks = 4;
|
||||
public static double hoodSpeedOffset = 0.01;
|
||||
public static double turretSpeedOffset = 0.01;
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public boolean targetingHood = true;
|
||||
// public boolean autoHood = true;
|
||||
public double shootStamp = 0.0;
|
||||
// boolean fixedTurret = false;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Light light;
|
||||
Servos servo;
|
||||
Flywheel flywheel;
|
||||
MecanumDrive drive;
|
||||
Spindexer spindexer;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
Drivetrain drivetrain;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
double autoHoodOffset = 0.0;
|
||||
int shooterTicker = 0;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double hOffset = 0.0;
|
||||
// double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
// boolean autoSpintake = false;
|
||||
boolean enableSpindexerManager = true;
|
||||
|
||||
// boolean overrideTurr = false;
|
||||
|
||||
int intakeTicker = 0;
|
||||
private boolean shootAll = false;
|
||||
boolean relocalize = false;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
robot.light.setPosition(0);
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
drivetrain = new Drivetrain(robot, drive);
|
||||
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
|
||||
PIDFController tController = new PIDFController(tp, ti, td, tf);
|
||||
|
||||
tController.setTolerance(0.001);
|
||||
|
||||
Turret turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
light = Light.getInstance();
|
||||
light.init(robot.light, spindexer, turret);
|
||||
|
||||
light.setState(StateEnums.LightState.MANUAL);
|
||||
limelightUsed = true;
|
||||
|
||||
while (opModeInInit()) {
|
||||
robot.limelight.start();
|
||||
if (redAlliance) {
|
||||
turret.pipelineSwitch(4);
|
||||
light.setManualLightColor(Color.LightRed);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
light.setManualLightColor(Color.LightBlue);
|
||||
|
||||
}
|
||||
robot.light.setPosition(1);
|
||||
|
||||
light.update();
|
||||
}
|
||||
|
||||
limelightUsed = true;
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
servo.setTransferPos(transferServo_out);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
//TELE.addData("Is limelight on?", robot.limelight.getStatus());
|
||||
|
||||
//DRIVETRAIN:
|
||||
|
||||
drivetrain.drive(
|
||||
-gamepad1.right_stick_y,
|
||||
gamepad1.right_stick_x,
|
||||
gamepad1.left_stick_x,
|
||||
gamepad1.left_trigger
|
||||
);
|
||||
|
||||
if (gamepad1.right_bumper) {
|
||||
|
||||
shootAll = false;
|
||||
servo.setTransferPos(transferServo_out);
|
||||
|
||||
light.setState(StateEnums.LightState.BALL_COUNT);
|
||||
|
||||
} else if (gamepad2.triangle){
|
||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
||||
|
||||
} else {
|
||||
light.setState(StateEnums.LightState.GOAL_LOCK);
|
||||
}
|
||||
|
||||
//TURRET TRACKING
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
double robH = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double robotX = robX + xOffset;
|
||||
double robotY = robY + yOffset;
|
||||
double robotHeading = robH + hOffset;
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
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);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, turretInterpolate);
|
||||
|
||||
//RELOCALIZATION
|
||||
|
||||
if (gamepad2.squareWasPressed()){
|
||||
relocalize = !relocalize;
|
||||
gamepad2.rumble(500);
|
||||
}
|
||||
|
||||
if (relocalize){
|
||||
turret.relocalize();
|
||||
xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
|
||||
yOffset = (turret.getLimelightX() * 39.3701) - robY;
|
||||
hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
|
||||
} else {
|
||||
turret.trackGoal(deltaPose);
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
if (autoVel) {
|
||||
vel = targetingSettings.flywheelRPM;
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4600;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
||||
flywheel.manageFlywheel(vel);
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (targetingHood) {
|
||||
servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
|
||||
} else {
|
||||
servo.setHoodPos(hoodDefaultPos);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
autoHoodOffset -= hoodSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
autoHoodOffset += hoodSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
Turret.manualOffset -= turretSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
} else if (gamepad2.dpadRightWasPressed()) {
|
||||
Turret.manualOffset += turretSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
limelightUsed = true;
|
||||
gamepad2.rumble(80);
|
||||
} else if (gamepad2.leftBumperWasPressed()) {
|
||||
limelightUsed = false;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (enableSpindexerManager) {
|
||||
//if (!shootAll) {
|
||||
spindexer.processIntake();
|
||||
//}
|
||||
|
||||
// RIGHT_BUMPER
|
||||
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
|
||||
spindexer.setIntakePower(1);
|
||||
} else if (gamepad1.cross) {
|
||||
spindexer.setIntakePower(-1);
|
||||
} else {
|
||||
spindexer.setIntakePower(0);
|
||||
}
|
||||
|
||||
// LEFT_BUMPER
|
||||
if (!shootAll && gamepad1.leftBumperWasReleased()) {
|
||||
shootStamp = getRuntime();
|
||||
shootAll = true;
|
||||
|
||||
shooterTicker = 0;
|
||||
|
||||
}
|
||||
intakeTicker++;
|
||||
if (shootAll) {
|
||||
intakeTicker = 0;
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (shooterTicker == 0) {
|
||||
spindexer.prepareShootAllContinous();
|
||||
//TELE.addLine("preparing to shoot");
|
||||
// } else if (shooterTicker == 2) {
|
||||
// //servo.setTransferPos(transferServo_in);
|
||||
// spindexer.shootAll();
|
||||
// TELE.addLine("starting to shoot");
|
||||
} else if (spindexer.shootAllComplete()) {
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
shootAll = false;
|
||||
spindexer.resetSpindexer();
|
||||
//spindexer.processIntake();
|
||||
//TELE.addLine("stop shooting");
|
||||
}
|
||||
shooterTicker++;
|
||||
//spindexer.processIntake();
|
||||
}
|
||||
|
||||
if (gamepad1.left_stick_button) {
|
||||
servo.setTransferPos(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
shootAll = false;
|
||||
spindexer.resetSpindexer();
|
||||
}
|
||||
}
|
||||
|
||||
//EXTRA STUFFINESS:
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
loopTimes.loop();
|
||||
//
|
||||
// TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
// TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
// TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
//
|
||||
// TELE.addData("pose", drive.localizer.getPose());
|
||||
// TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
// TELE.addData("distanceToGoal", distanceToGoal);
|
||||
// TELE.addData("hood", robot.hood.getPosition());
|
||||
// TELE.addData("targetVel", vel);
|
||||
// TELE.addData("Velocity", flywheel.getVelo());
|
||||
// TELE.addData("Velo1", flywheel.velo1);
|
||||
// TELE.addData("Velo2", flywheel.velo2);
|
||||
// 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("shootall commanded", shootAll);
|
||||
// Targeting Debug
|
||||
TELE.addData("robotX", robotX);
|
||||
TELE.addData("robotY", robotY);
|
||||
TELE.addData("robot H", robotHeading);
|
||||
// TELE.addData("robotInchesX", targeting.robotInchesX);
|
||||
// TELE.addData("robotInchesY", targeting.robotInchesY);
|
||||
// TELE.addData("Targeting Interpolate", turretInterpolate);
|
||||
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.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
|
||||
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
|
||||
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
|
||||
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
|
||||
TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
|
||||
TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
|
||||
TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
|
||||
|
||||
TELE.update();
|
||||
|
||||
light.update();
|
||||
|
||||
ticker++;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class TransferTest extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
public static double pos = 0.40;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()){
|
||||
transfer.setTransferPosition(pos);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,59 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
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 org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class WebcamTest extends LinearOpMode {
|
||||
|
||||
AprilTag webcam;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
Robot robot;
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
webcam = new AprilTag(robot, TELE);
|
||||
|
||||
webcam.turnTelemetryOn(true);
|
||||
|
||||
|
||||
|
||||
|
||||
while(opModeInInit()){
|
||||
|
||||
webcam.initTelemetry();
|
||||
|
||||
TELE.update();
|
||||
|
||||
};
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
webcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
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 org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ActiveColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException{
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
int b1Purple = 1;
|
||||
int b1Total = 1;
|
||||
int b2Purple = 1;
|
||||
int b2Total = 1;
|
||||
int b3Purple = 1;
|
||||
int b3Total = 1;
|
||||
|
||||
double totalStamp1 = 0.0;
|
||||
double purpleStamp1 = 0.0;
|
||||
double totalStamp2 = 0.0;
|
||||
double purpleStamp2 = 0.0;
|
||||
double totalStamp3 = 0.0;
|
||||
double purpleStamp3 = 0.0;
|
||||
|
||||
String b1 = "none";
|
||||
String b2 = "none";
|
||||
String b3 = "none";
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
// Reset the counters after 1 second of not reading a ball.
|
||||
final double ColorCounterResetDelay = 1.0;
|
||||
// Number of times the loop needs to run before deciding on a color.
|
||||
final int ColorCounterTotalMinCount = 20;
|
||||
// If the color sensor reads a color this percentage of time
|
||||
// out of the total, declare the color.
|
||||
// Usage: (Color Count)/(Total Count) > ColorCounterThreshold
|
||||
final double ColorCounterThreshold = 0.65;
|
||||
|
||||
if (robot.pin1.getState()){
|
||||
if (robot.pin0.getState()){
|
||||
b1Purple ++;
|
||||
}
|
||||
b1Total++;
|
||||
totalStamp1 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b1 = "none";
|
||||
b1Total = 1;
|
||||
b1Purple = 1;
|
||||
}else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b1 = "Purple";
|
||||
}else if (b1Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b1 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin3.getState()){
|
||||
if (robot.pin2.getState()){
|
||||
b2Purple ++;
|
||||
}
|
||||
b2Total++;
|
||||
totalStamp2 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b2 = "none";
|
||||
b2Total = 1;
|
||||
b2Purple = 1;
|
||||
}else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b2 = "Purple";
|
||||
}else if (b2Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b2 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin5.getState()){
|
||||
if (robot.pin4.getState()){
|
||||
b3Purple ++;
|
||||
}
|
||||
b3Total++;
|
||||
totalStamp3 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b3 = "none";
|
||||
b3Total = 1;
|
||||
b3Purple = 1;
|
||||
}else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b3 = "Purple";
|
||||
}else if (b3Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b3 = "Green";
|
||||
}
|
||||
|
||||
TELE.addData("Green1:", robot.pin1.getState());
|
||||
TELE.addData("Purple1:", robot.pin0.getState());
|
||||
TELE.addData("Green2:", robot.pin3.getState());
|
||||
TELE.addData("Purple2:", robot.pin2.getState());
|
||||
TELE.addData("Green3:", robot.pin5.getState());
|
||||
TELE.addData("Purple3:", robot.pin4.getState());
|
||||
TELE.addData("1", b1);
|
||||
TELE.addData("2",b2);
|
||||
TELE.addData("3",b3);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class AprilTagWebcamExample extends OpMode {
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
|
||||
@Override
|
||||
public void init() {
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void loop() {
|
||||
|
||||
aprilTagWebcam.update();
|
||||
aprilTagWebcam.displayAllTelemetry();
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
@@ -11,56 +9,55 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ColorTest extends LinearOpMode {
|
||||
@Config
|
||||
public class ColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
double color1Distance = 0;
|
||||
double color2Distance = 0;
|
||||
double color3Distance = 0;
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
while (opModeIsActive()) {
|
||||
|
||||
// ----- COLOR 1 -----
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
double dist1 = robot.color1.getDistance(DistanceUnit.MM);
|
||||
color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", color1Distance);
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
double dist2 = robot.color2.getDistance(DistanceUnit.MM);
|
||||
color2Distance = (colorFilterAlpha * dist2) + ((1-colorFilterAlpha) * color2Distance);
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", color2Distance);
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
double dist3 = robot.color3.getDistance(DistanceUnit.MM);
|
||||
color3Distance = (colorFilterAlpha * dist3) + ((1-colorFilterAlpha) * color3Distance);
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", color3Distance);
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -1,222 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
|
||||
public class IntakeTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
public static int mode = 0; // 0 for teleop, 1 for auto
|
||||
public static double manualPow = 0.15;
|
||||
double stamp = 0;
|
||||
int ticker = 0;
|
||||
boolean steadySpin = false;
|
||||
double powPID = 0.0;
|
||||
boolean intake = true;
|
||||
double spindexerPos = spindexer_intakePos1;
|
||||
boolean wasMoving = false;
|
||||
double currentPos = 0.0;
|
||||
double initPos = 0.0;
|
||||
boolean reverse = false;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
robot = new Robot(hardwareMap);
|
||||
servo = new Servos(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (mode == 0) {
|
||||
if (gamepad1.right_bumper) {
|
||||
ticker++;
|
||||
if (ticker % 16 == 0){
|
||||
currentPos = servo.getSpinPos();
|
||||
if (Math.abs(currentPos - initPos) == 0.0){
|
||||
reverse = !reverse;
|
||||
}
|
||||
initPos = currentPos;
|
||||
}
|
||||
if (reverse){
|
||||
robot.spin1.setPosition(manualPow);
|
||||
robot.spin2.setPosition(-manualPow);
|
||||
} else {
|
||||
robot.spin1.setPosition(-manualPow);
|
||||
robot.spin2.setPosition(manualPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
stamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
ticker = 0;
|
||||
}
|
||||
} else if (mode == 1) {
|
||||
|
||||
if (gamepad1.right_bumper && intake){
|
||||
robot.intake.setPower(1);
|
||||
} else if (gamepad1.left_bumper){
|
||||
robot.intake.setPower(-1);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
colorDetect();
|
||||
spindexer();
|
||||
|
||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
||||
if (!ballIn(2)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
}
|
||||
} else if (!ballIn(3)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if (mode == 2){ // switch to this mode before switching modes or to reset balls
|
||||
powPID = 0;
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
stamp = getRuntime();
|
||||
ticker = 0;
|
||||
spindexer();
|
||||
intake = true;
|
||||
}
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
TELE.addData("Manual Power", manualPow);
|
||||
TELE.addData("PID Power", powPID);
|
||||
TELE.addData("B1", ballIn(1));
|
||||
TELE.addData("B2", ballIn(2));
|
||||
TELE.addData("B3", ballIn(3));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
public void colorDetect() {
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
TELE.addData("Color 1 Distance", s1D);
|
||||
TELE.addData("Color 2 Distance", s2D);
|
||||
TELE.addData("Color 3 Distance", s3D);
|
||||
TELE.update();
|
||||
|
||||
if (s1D < 43) {
|
||||
s1T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
}
|
||||
|
||||
public void spindexer() {
|
||||
boolean atTarget = servo.spinEqual(spindexerPos);
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos);
|
||||
robot.spin1.setPosition(powPID);
|
||||
robot.spin2.setPosition(-powPID);
|
||||
|
||||
steadySpin = false;
|
||||
wasMoving = true; // remember we were moving
|
||||
stamp = getRuntime();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
steadySpin = true;
|
||||
wasMoving = false;
|
||||
}
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
List<Double> times;
|
||||
|
||||
if (slot == 1) {times = s1T;}
|
||||
else if (slot == 2) {times = s2T;}
|
||||
else if (slot == 3) {times = s3T;}
|
||||
else return false;
|
||||
|
||||
if (!times.isEmpty()){
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,69 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
//TODO: fix to get the apriltag that it is reading
|
||||
public class LimelightTest extends LinearOpMode {
|
||||
MultipleTelemetry TELE;
|
||||
Turret turret;
|
||||
Robot robot;
|
||||
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
|
||||
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
|
||||
public static boolean turretMode = false;
|
||||
public static double turretPos = 0.501;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
robot = new Robot(hardwareMap);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (mode == 0){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else if (mode == 1){
|
||||
int obeliskID = turret.detectObelisk();
|
||||
TELE.addData("Limelight ID", obeliskID);
|
||||
TELE.update();
|
||||
} else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
|
||||
double tx = turret.getBearing();
|
||||
double ty = turret.getTy();
|
||||
double x = turret.getLimelightX();
|
||||
double y = turret.getLimelightY();
|
||||
TELE.addData("tx", tx);
|
||||
TELE.addData("ty", ty);
|
||||
TELE.addData("x", x);
|
||||
TELE.addData("y", y);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(0);
|
||||
}
|
||||
|
||||
if (turretMode){
|
||||
if (turretPos != 0.501){
|
||||
turret.setTurret(turretPos);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,62 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
public static double p = 2, i = 0, d = 0, f = 0;
|
||||
|
||||
public static double target = 0.5;
|
||||
|
||||
public static int mode = 0; //0 is for turret, 1 is for spindexer
|
||||
|
||||
public static double scalar = 1.01;
|
||||
public static double restPos = 0.0;
|
||||
|
||||
Robot robot;
|
||||
|
||||
double pos = 0.0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0.001);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.spin1.setPosition(pid);
|
||||
robot.spin2.setPosition(-pid);
|
||||
}
|
||||
|
||||
telemetry.addData("pos", pos);
|
||||
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
|
||||
telemetry.addData("target", target);
|
||||
telemetry.addData("Mode", mode);
|
||||
telemetry.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,208 +1,210 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
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.teleop.TeleopV3.spinSpeedIncrease;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
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 org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
public static int mode = 1;
|
||||
public static double parameter = 0.0;
|
||||
// --- CONSTANTS YOU TUNE ---
|
||||
|
||||
public static double Velocity = 0.0;
|
||||
public static double P = 255.0;
|
||||
public static double I = 0.0;
|
||||
public static double D = 0.0;
|
||||
public static double F = 75;
|
||||
public static double transferPower = 1.0;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double turretPos = 0.501;
|
||||
Robot robot;
|
||||
|
||||
public static double pow = 0.0;
|
||||
public static double vel = 0.0;
|
||||
public static double ecpr = 1024.0; // CPR of the encoder
|
||||
public static double hoodPos = 0.5;
|
||||
public static double turretPos = 0.9;
|
||||
|
||||
public static String flyMode = "VEL";
|
||||
|
||||
public static boolean AutoTrack = false;
|
||||
|
||||
double initPos = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
|
||||
double stamp1 = 0.0;
|
||||
|
||||
double initPos1 = 0.0;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
|
||||
public static boolean shoot = false;
|
||||
|
||||
public static boolean intake = false;
|
||||
public static boolean turretTrack = true;
|
||||
Robot robot;
|
||||
Flywheel flywheel;
|
||||
Servos servo;
|
||||
MecanumDrive drive;
|
||||
Turret turret;
|
||||
double shootStamp = 0.0;
|
||||
boolean shootAll = false;
|
||||
public static int spindexPos = 1;
|
||||
|
||||
public double spinPow = 0.09;
|
||||
public static boolean intake = true;
|
||||
|
||||
public static boolean enableHoodAutoOpen = false;
|
||||
public double hoodAdjust = 0.0;
|
||||
public static double hoodAdjustFactor = 1.0;
|
||||
private int shooterTicker = 0;
|
||||
public static double spinSpeed = 0.02;
|
||||
Spindexer spindexer ;
|
||||
public static int tolerance = 50;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
public static double distance = 50;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
DcMotorEx leftShooter = robot.shooter1;
|
||||
DcMotorEx rightShooter = robot.shooter2;
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
servo = new Servos(hardwareMap);
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,0));
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
Turret.limelightUsed = true;
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Shooter shooter = new Shooter(robot, TELE);
|
||||
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooter.setTelemetryOn(true);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
initPos = shooter.getECPRPosition();
|
||||
|
||||
int ticker = 0;
|
||||
|
||||
waitForStart();
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(4);
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
ticker++;
|
||||
|
||||
if (AutoTrack){
|
||||
hoodPos = hoodAnglePrediction(distance);
|
||||
vel = velPrediction(distance);
|
||||
}
|
||||
|
||||
//TURRET TRACKING
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robX - goalX; // delta x from robot to goal
|
||||
double dy = robY - goalY; // delta y from robot to goal
|
||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
if (turretTrack){
|
||||
turret.trackGoal(deltaPose);
|
||||
} else if (turretPos != 0.501){
|
||||
turret.setTurret(turretPos);
|
||||
}
|
||||
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
|
||||
if (mode == 0) {
|
||||
rightShooter.setPower(parameter);
|
||||
leftShooter.setPower(parameter);
|
||||
} else if (mode == 1) {
|
||||
flywheel.setPIDF(P, I, D, F / voltage);
|
||||
flywheel.manageFlywheel((int) Velocity);
|
||||
}
|
||||
|
||||
if (hoodPos != 0.501) {
|
||||
if (enableHoodAutoOpen) {
|
||||
robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodPos + hoodOffset);
|
||||
}
|
||||
}
|
||||
shooter.setManualPower(pow);
|
||||
|
||||
robot.hood.setPosition(hoodPos);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
if (intake) {
|
||||
robot.intake.setPower(1);
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
robot.intake.setPower(0.75);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
} else {
|
||||
robot.transfer.setPower(.75 + (powPID/4));
|
||||
robot.intake.setPower(0);
|
||||
if (spindexPos == 1) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall1);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall1);
|
||||
} else if (spindexPos == 2) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall2);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall2);
|
||||
} else if (spindexPos == 3) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall3);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall3);
|
||||
}
|
||||
}
|
||||
|
||||
double penguin = 0;
|
||||
if (ticker % 8 ==0){
|
||||
penguin = shooter.getECPRPosition();
|
||||
stamp = getRuntime();
|
||||
velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
|
||||
initPos1 = penguin;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
|
||||
velo = velo1;
|
||||
|
||||
double feed = vel / maxVel; // Example: vel=2500 → feed=0.5
|
||||
|
||||
if (vel > 500){
|
||||
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
}
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo1;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
|
||||
if (vel - velo > 1000){
|
||||
powPID = 1;
|
||||
} else if (velo - vel > 1000){
|
||||
powPID = 0;
|
||||
}
|
||||
|
||||
shooter.setVelocity(powPID);
|
||||
|
||||
if (shoot) {
|
||||
shootStamp = getRuntime();
|
||||
shootAll = true;
|
||||
shoot = false;
|
||||
robot.transfer.setPower(transferPower);
|
||||
shooterTicker = 0;
|
||||
}
|
||||
if (shootAll) {
|
||||
|
||||
//intake = false;
|
||||
//reject = false;
|
||||
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
if (getRuntime() - shootStamp < 3.5) {
|
||||
|
||||
if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
|
||||
robot.spin1.setPosition(spinStartPos);
|
||||
robot.spin2.setPosition(1-spinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
|
||||
if (prevSpinPos < 0.9){
|
||||
robot.spin1.setPosition(prevSpinPos + spinSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spinSpeed);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
shootAll = false;
|
||||
shooterTicker = 0;
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
}
|
||||
} else {
|
||||
spindexer.processIntake();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Velocity 1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity 2", flywheel.getVelo2());
|
||||
TELE.addData("Power", robot.shooter1.getPower());
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.addData("Position", robot.shooter1.getCurrentPosition());
|
||||
TELE.addData("Voltage", voltage);
|
||||
shooter.update();
|
||||
|
||||
TELE.addData("Revolutions", shooter.getECPRPosition());
|
||||
TELE.addData("hoodPos", shooter.gethoodPosition());
|
||||
TELE.addData("turretPos", shooter.getTurretPosition());
|
||||
TELE.addData("Power Fly 1", robot.shooter1.getPower());
|
||||
TELE.addData("Power Fly 2", robot.shooter2.getPower());
|
||||
TELE.addData("powPID", shooter.getpowPID());
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double distance) {
|
||||
double L = 0.298317;
|
||||
double A = 1.02124;
|
||||
double k = 0.0157892;
|
||||
double n = 3.39375;
|
||||
|
||||
double dist = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
return L + A * Math.exp(-Math.pow(k * dist, n));
|
||||
}
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
double x = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
|
||||
|
||||
double A = -211149.992;
|
||||
double B = -1.19943;
|
||||
double C = 3720.15909;
|
||||
|
||||
return A * Math.pow(x, B) + C;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -1,51 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TurretTest extends LinearOpMode {
|
||||
public static boolean zeroTurr = false;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
Robot robot = new Robot(hardwareMap);
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
Turret turret = new Turret(robot, TELE, robot.limelight);
|
||||
waitForStart();
|
||||
|
||||
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
turret.trackGoal(drive.localizer.getPose());
|
||||
|
||||
TELE.addData("tpos", turret.getTurrPos());
|
||||
TELE.addData("Limelight tx", turret.getBearing());
|
||||
TELE.addData("Limelight ty", turret.getTy());
|
||||
TELE.addData("Limelight X", turret.getLimelightX());
|
||||
TELE.addData("Limelight Y", turret.getLimelightY());
|
||||
|
||||
if(zeroTurr){
|
||||
turret.zeroTurretEncoder();
|
||||
}
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,104 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import android.util.Size;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
public class AprilTagWebcam {
|
||||
|
||||
private AprilTagProcessor aprilTagProcessor;
|
||||
private VisionPortal visionPortal;
|
||||
private List<AprilTagDetection> detectedTags = new ArrayList<>();
|
||||
private MultipleTelemetry telemetry;
|
||||
public void init(Robot robot, MultipleTelemetry TELE){
|
||||
|
||||
this.telemetry = TELE;
|
||||
|
||||
aprilTagProcessor = new AprilTagProcessor.Builder()
|
||||
.setDrawTagID(true)
|
||||
.setDrawTagOutline(true)
|
||||
.setDrawAxes(true)
|
||||
.setDrawCubeProjection(true)
|
||||
.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
|
||||
.build();
|
||||
|
||||
VisionPortal.Builder builder = new VisionPortal.Builder();
|
||||
builder.setCamera(robot.webcam);
|
||||
builder.setCameraResolution(new Size(640, 480));
|
||||
builder.addProcessor(aprilTagProcessor);
|
||||
|
||||
visionPortal = builder.build();
|
||||
|
||||
}
|
||||
|
||||
public void update() {
|
||||
detectedTags = aprilTagProcessor.getDetections();
|
||||
}
|
||||
|
||||
public List<AprilTagDetection> getDetectedTags() {
|
||||
return detectedTags;
|
||||
}
|
||||
|
||||
public AprilTagDetection getTagById(int id){
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.id ==id){
|
||||
return detection;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
public void stop(){
|
||||
if (visionPortal != null){
|
||||
visionPortal.close();
|
||||
}
|
||||
}
|
||||
|
||||
//Helper Functions
|
||||
|
||||
public void displayDetectionTelemetry (AprilTagDetection detectedId){
|
||||
if (detectedId ==null){return;}
|
||||
|
||||
if (detectedId.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detectedId.center.x, detectedId.center.y));
|
||||
}
|
||||
}
|
||||
|
||||
public void displayAllTelemetry (){
|
||||
if (detectedTags ==null){return;}
|
||||
|
||||
telemetry.addData("# AprilTags Detected", detectedTags.size());
|
||||
|
||||
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -5,17 +5,15 @@ import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ConfigureColorRangefinder extends LinearOpMode {
|
||||
|
||||
public static int LED_Brightness = 50;
|
||||
|
||||
public static int lowerGreen = 110;
|
||||
|
||||
public static double lowerBound = 80;
|
||||
public static double higherBound = 120;
|
||||
|
||||
public static int led = 0;
|
||||
public static int higherGreen = 150;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
@@ -24,11 +22,12 @@ public class ConfigureColorRangefinder extends LinearOpMode {
|
||||
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
|
||||
pin0 --> purple
|
||||
pin1 --> green */
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3, 20);
|
||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
|
||||
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
|
||||
crf.setLedBrightness(led);
|
||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.DISTANCE, 0, 40); // green
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, higherGreen / 360.0 * 255, 360 / 360.0 * 255); // purple
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 0, lowerGreen/360.0 * 255);
|
||||
crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement
|
||||
|
||||
crf.setLedBrightness(LED_Brightness);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -143,6 +142,7 @@ class ColorRangefinder {
|
||||
|
||||
/**
|
||||
* Read distance via I2C
|
||||
*
|
||||
* @return distance in millimeters
|
||||
*/
|
||||
public double readDistance() {
|
||||
|
||||
@@ -1,87 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.Gamepad;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
|
||||
public class Drivetrain {
|
||||
|
||||
Robot robot;
|
||||
boolean autoDrive = false;
|
||||
|
||||
Pose2d brakePos = new Pose2d(0, 0, 0);
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
private final TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
|
||||
private final ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
|
||||
|
||||
|
||||
public Drivetrain (Robot rob, MecanumDrive mecanumDrive){
|
||||
|
||||
this.robot = rob;
|
||||
this.drive = mecanumDrive;
|
||||
|
||||
}
|
||||
|
||||
public void drive(double y, double x, double rx, double brake){
|
||||
|
||||
if (!autoDrive) {
|
||||
|
||||
x = x* 1.1; // Counteract imperfect strafing
|
||||
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
}
|
||||
|
||||
if (brake > 0.4 && robot.frontLeft.getZeroPowerBehavior() != DcMotor.ZeroPowerBehavior.BRAKE && !autoDrive) {
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
brakePos = drive.localizer.getPose();
|
||||
autoDrive = true;
|
||||
|
||||
} else if (brake > 0.4) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
Pose2d currentPos = drive.localizer.getPose();
|
||||
|
||||
TrajectoryActionBuilder traj2 = drive.actionBuilder(currentPos)
|
||||
.strafeToLinearHeading(new Vector2d(brakePos.position.x, brakePos.position.y), brakePos.heading.toDouble(), VEL_CONSTRAINT, ACCEL_CONSTRAINT);
|
||||
|
||||
if (Math.abs(currentPos.position.x - brakePos.position.x) > 1 || Math.abs(currentPos.position.y - brakePos.position.y) > 1) {
|
||||
Actions.runBlocking(
|
||||
traj2.build()
|
||||
);
|
||||
}
|
||||
} else {
|
||||
autoDrive = false;
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,85 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
public PIDFCoefficients shooterPIDF1, shooterPIDF2;
|
||||
double velo = 0.0;
|
||||
public double velo1 = 0.0;
|
||||
public double velo2 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
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 () {
|
||||
return velo;
|
||||
}
|
||||
public double getVelo1 () {
|
||||
return velo1;
|
||||
}
|
||||
public double getVelo2 () {
|
||||
return velo2;
|
||||
}
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
// Set the robot PIDF for the next cycle.
|
||||
private double prevF = 0;
|
||||
public static double voltagePIDFDifference = 0.8;
|
||||
public void setPIDF(double p, double i, double d, double f) {
|
||||
shooterPIDF1.p = p;
|
||||
shooterPIDF1.i = i;
|
||||
shooterPIDF1.d = d;
|
||||
shooterPIDF1.f = f;
|
||||
shooterPIDF2.p = p;
|
||||
shooterPIDF2.i = i;
|
||||
shooterPIDF2.d = d;
|
||||
shooterPIDF2.f = f;
|
||||
if (Math.abs(prevF - f) > voltagePIDFDifference){
|
||||
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
|
||||
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
|
||||
prevF = f;
|
||||
}
|
||||
}
|
||||
|
||||
// Convert from RPM to Ticks per Second
|
||||
private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
|
||||
|
||||
// Convert from Ticks per Second to RPM
|
||||
private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
|
||||
|
||||
public void manageFlywheel(double commandedVelocity) {
|
||||
|
||||
if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
|
||||
targetVelocity = commandedVelocity;
|
||||
// Add code here to set PIDF based on desired RPM
|
||||
//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));
|
||||
velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
|
||||
velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
|
||||
velo = Math.max(velo1, velo2);
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(commandedVelocity - velo) < 50);
|
||||
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
}
|
||||
}
|
||||
@@ -1,108 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums.LightState;
|
||||
|
||||
|
||||
@Config
|
||||
public final class Light {
|
||||
|
||||
private static Light instance;
|
||||
public static double ballColorCycleTime = 1000; //in ms
|
||||
public static double restingTime = 125; //in ms
|
||||
|
||||
private Servo lightServo;
|
||||
private LightState state = LightState.DISABLED;
|
||||
|
||||
// References to other systems (NOT static)
|
||||
private Spindexer spindexer;
|
||||
private Turret turret;
|
||||
private double manualLightColor = Color.Light0;
|
||||
|
||||
private double lightColor = Color.Light0;
|
||||
private double previousLightColor = lightColor;
|
||||
|
||||
private Light() {
|
||||
}
|
||||
|
||||
public static synchronized Light getInstance() {
|
||||
if (instance == null) {
|
||||
instance = new Light();
|
||||
}
|
||||
return instance;
|
||||
}
|
||||
|
||||
// Call once in OpMode init()
|
||||
public void init(
|
||||
Servo servo,
|
||||
Spindexer spin,
|
||||
Turret turr
|
||||
) {
|
||||
this.lightServo = servo;
|
||||
this.spindexer = spin;
|
||||
this.turret = turr;
|
||||
}
|
||||
|
||||
public void setManualLightColor(double value) {
|
||||
this.manualLightColor = value;
|
||||
}
|
||||
|
||||
public void setState(LightState newState) {
|
||||
state = newState;
|
||||
}
|
||||
|
||||
public void update() {
|
||||
if (lightServo == null) return;
|
||||
|
||||
switch (state) {
|
||||
|
||||
case BALL_COUNT:
|
||||
lightColor = spindexer.ballCounterLight();
|
||||
break;
|
||||
|
||||
case BALL_COLOR:
|
||||
|
||||
if ((System.currentTimeMillis() % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
|
||||
lightColor = spindexer.getRearCenterLight();
|
||||
} else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime / 3)) {
|
||||
lightColor = 0;
|
||||
} else if ((System.currentTimeMillis() % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
|
||||
lightColor = spindexer.getDriverLight();
|
||||
|
||||
} else if ((System.currentTimeMillis() % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
|
||||
lightColor = 0;
|
||||
} else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
|
||||
lightColor = spindexer.getPassengerLight();
|
||||
|
||||
} else {
|
||||
lightColor = 0;
|
||||
}
|
||||
break;
|
||||
|
||||
case GOAL_LOCK:
|
||||
lightColor = turret.getLightColor();
|
||||
break;
|
||||
|
||||
case MANUAL:
|
||||
lightColor = manualLightColor;
|
||||
break;
|
||||
|
||||
case DISABLED:
|
||||
break;
|
||||
|
||||
case OFF:
|
||||
lightColor = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
if (lightColor != previousLightColor) {
|
||||
lightServo.setPosition(lightColor);
|
||||
}
|
||||
|
||||
previousLightColor = lightColor;
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,66 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.robotcore.util.ElapsedTime;
|
||||
|
||||
public class MeasuringLoopTimes {
|
||||
private ElapsedTime elapsedtime;
|
||||
private double minLoopTime = 999999999999.0;
|
||||
|
||||
private double maxLoopTime = 0.0;
|
||||
double mainLoopTime = 0.0;
|
||||
|
||||
private double MeasurementStart = 0.0;
|
||||
double currentTime = 0.0;
|
||||
|
||||
private double avgLoopTime = 0.0;
|
||||
private int avgLoopTimeTicker = 0;
|
||||
private double avgLoopTimeSum = 0;
|
||||
|
||||
private double getTimeSeconds ()
|
||||
{
|
||||
return (double) System.currentTimeMillis()/1000.0;
|
||||
}
|
||||
|
||||
public void init() {
|
||||
elapsedtime = new ElapsedTime();
|
||||
elapsedtime.reset();
|
||||
|
||||
MeasurementStart = getTimeSeconds();
|
||||
}
|
||||
|
||||
|
||||
public double getAvgLoopTime() {
|
||||
return avgLoopTime;
|
||||
}
|
||||
|
||||
public double getMaxLoopTimeOneMin() {
|
||||
return maxLoopTime;
|
||||
}
|
||||
|
||||
public double getMinLoopTimeOneMin() {
|
||||
return minLoopTime;
|
||||
}
|
||||
|
||||
public void loop() {
|
||||
currentTime = getTimeSeconds();
|
||||
if ((MeasurementStart + 15.0) < currentTime)
|
||||
{
|
||||
minLoopTime = 9999999.0;
|
||||
maxLoopTime = 0.0;
|
||||
MeasurementStart = currentTime;
|
||||
|
||||
avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
|
||||
avgLoopTimeSum = 0.0;
|
||||
avgLoopTimeTicker = 0;
|
||||
}
|
||||
|
||||
mainLoopTime = elapsedtime.milliseconds();
|
||||
elapsedtime.reset();
|
||||
|
||||
avgLoopTimeSum += mainLoopTime;
|
||||
avgLoopTimeTicker++;
|
||||
minLoopTime = Math.min(minLoopTime,mainLoopTime);
|
||||
maxLoopTime = Math.max(maxLoopTime,mainLoopTime);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,37 +1,27 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
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 org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PositionalServoProgrammer extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
|
||||
public static double spindexPos = 0.501;
|
||||
public static double turretPos = 0.501;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double light = 0.501;
|
||||
|
||||
Turret turret;
|
||||
|
||||
public static double scalar = 1.112;
|
||||
public static double restPos = 0.158;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos(hardwareMap);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight );
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
@@ -49,17 +39,14 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
if (hoodPos != 0.501){
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
if (light !=0.501){
|
||||
robot.light.setPosition(light);
|
||||
}
|
||||
|
||||
TELE.addData("spindexer pos", servo.getSpinPos());
|
||||
TELE.addData("turret pos", robot.turr1.getPosition());
|
||||
TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
|
||||
TELE.addData("hood pos", robot.hood.getPosition());
|
||||
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("tpos ", turret.getTurrPos() );
|
||||
TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("hoodA", robot.hoodPos.getVoltage());
|
||||
TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("turretA", robot.turr1Pos.getVoltage());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,65 +1,94 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorImplEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.I2cDevice;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
import org.openftc.easyopencv.OpenCvWebcam;
|
||||
|
||||
@Config
|
||||
public class Robot {
|
||||
|
||||
//Initialize Public Components
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
public static boolean usingCamera = false;
|
||||
public DcMotorEx frontLeft;
|
||||
public DcMotorEx frontRight;
|
||||
|
||||
public DcMotorEx backLeft;
|
||||
|
||||
public DcMotorEx backRight;
|
||||
|
||||
public DcMotorEx intake;
|
||||
|
||||
public DcMotorEx transfer;
|
||||
public PIDFCoefficients shooterPIDF;
|
||||
public static double shooterPIDF_P = 255;
|
||||
public static double shooterPIDF_I = 0.0;
|
||||
public static double shooterPIDF_D = 0.0;
|
||||
public static double shooterPIDF_F = 75;
|
||||
// public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
|
||||
|
||||
public DcMotorEx shooter1;
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
|
||||
public Servo transferServo;
|
||||
|
||||
public Servo rejecter;
|
||||
|
||||
public Servo turr1;
|
||||
|
||||
public Servo turr2;
|
||||
|
||||
public Servo spin1;
|
||||
|
||||
public Servo spin2;
|
||||
|
||||
public DigitalChannel pin0;
|
||||
|
||||
public DigitalChannel pin1;
|
||||
public DigitalChannel pin2;
|
||||
public DigitalChannel pin3;
|
||||
public DigitalChannel pin4;
|
||||
|
||||
public DigitalChannel pin5;
|
||||
|
||||
public AnalogInput analogInput;
|
||||
|
||||
public AnalogInput analogInput2;
|
||||
|
||||
public AnalogInput spin1Pos;
|
||||
|
||||
public AnalogInput spin2Pos;
|
||||
|
||||
public AnalogInput hoodPos;
|
||||
|
||||
public AnalogInput turr1Pos;
|
||||
|
||||
public AnalogInput turr2Pos;
|
||||
|
||||
public AnalogInput transferServoPos;
|
||||
|
||||
public AprilTagProcessor aprilTagProcessor;
|
||||
|
||||
public WebcamName webcam;
|
||||
|
||||
public DcMotorEx shooterEncoder;
|
||||
|
||||
public RevColorSensorV3 color1;
|
||||
|
||||
public RevColorSensorV3 color2;
|
||||
|
||||
public RevColorSensorV3 color3;
|
||||
public Limelight3A limelight;
|
||||
public Servo light;
|
||||
public VoltageSensor voltage;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
|
||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
@@ -73,36 +102,50 @@ public class Robot {
|
||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
||||
rejecter = hardwareMap.get(Servo.class, "rejecter");
|
||||
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
||||
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
||||
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
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(0);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
shooter2.setVelocity(0);
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
|
||||
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
|
||||
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
|
||||
turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
|
||||
|
||||
spin1 = hardwareMap.get(Servo.class, "spin2");
|
||||
spin1 = hardwareMap.get(Servo.class, "spin1");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(Servo.class, "spin1");
|
||||
spin2 = hardwareMap.get(Servo.class, "spin2");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
|
||||
|
||||
pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
|
||||
|
||||
pin2 = hardwareMap.get(DigitalChannel.class, "pin2");
|
||||
|
||||
pin3 = hardwareMap.get(DigitalChannel.class, "pin3");
|
||||
|
||||
pin4 = hardwareMap.get(DigitalChannel.class, "pin4");
|
||||
|
||||
pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
|
||||
|
||||
analogInput = hardwareMap.get(AnalogInput.class, "analog");
|
||||
|
||||
analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
|
||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
||||
@@ -110,22 +153,15 @@ public class Robot {
|
||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
|
||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight) {
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
} else if (usingCamera) {
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
}
|
||||
|
||||
light = hardwareMap.get(Servo.class, "light");
|
||||
voltage = hardwareMap.voltageSensor.iterator().next();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,84 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
@Config
|
||||
public class Servos {
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
|
||||
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
|
||||
public static double spin_scalar = 1.112;
|
||||
public static double spin_restPos = 0.155;
|
||||
Robot robot;
|
||||
PIDFController spinPID;
|
||||
PIDFController turretPID;
|
||||
|
||||
private double prevSpinPos = 0.0;
|
||||
private boolean firstSpinPos = true;
|
||||
|
||||
private double prevTransferPos = 0.0;
|
||||
private boolean firstTransferPos = true;
|
||||
|
||||
private double prevHoodPos = 0.0;
|
||||
private boolean firstHoodPos = true;
|
||||
|
||||
public Servos(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
||||
|
||||
turretPID.setTolerance(0.001);
|
||||
}
|
||||
|
||||
// In the code below, encoder = robot.servo.getVoltage()
|
||||
// TODO: set the restPos and scalar
|
||||
public double getSpinPos() {
|
||||
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
|
||||
}
|
||||
|
||||
public double getSpinCmdPos() {
|
||||
return prevSpinPos;
|
||||
}
|
||||
|
||||
public static boolean servoPosEqual(double pos1, double pos2) {
|
||||
return (Math.abs(pos1 - pos2) < 0.005);
|
||||
}
|
||||
|
||||
public void setTransferPos(double pos) {
|
||||
if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
|
||||
robot.transferServo.setPosition(pos);
|
||||
firstTransferPos = false;
|
||||
}
|
||||
|
||||
prevTransferPos = pos;
|
||||
}
|
||||
|
||||
public double setSpinPos(double pos) {
|
||||
if (firstSpinPos || !servoPosEqual(pos, prevSpinPos)) {
|
||||
robot.spin1.setPosition(pos);
|
||||
robot.spin2.setPosition(1-pos);
|
||||
firstSpinPos = false;
|
||||
}
|
||||
|
||||
prevSpinPos = pos;
|
||||
return pos;
|
||||
}
|
||||
|
||||
public void setHoodPos(double pos){
|
||||
if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
|
||||
robot.hood.setPosition(pos + hoodOffset);
|
||||
firstHoodPos = false;
|
||||
}
|
||||
|
||||
prevHoodPos = pos;
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos) {
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.03;
|
||||
}
|
||||
}
|
||||
@@ -1,680 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
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.utils.Servos.spinD;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class Spindexer {
|
||||
|
||||
Robot robot;
|
||||
Servos servos;
|
||||
Flywheel flywheel;
|
||||
MecanumDrive drive;
|
||||
double lastKnownSpinPos = 0.0;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
|
||||
double spinCurrentPos = 0.0;
|
||||
|
||||
public int commandedIntakePosition = 0;
|
||||
|
||||
public double distanceRearCenter = 0.0;
|
||||
public double distanceFrontDriver = 0.0;
|
||||
public double distanceFrontPassenger = 0.0;
|
||||
|
||||
public double spindexerWiggle = 0.01;
|
||||
|
||||
public double spindexerOuttakeWiggle = 0.01;
|
||||
private double prevPos = 0.0;
|
||||
public double spindexerPosOffset = 0.00;
|
||||
public static int shootWaitMax = 4;
|
||||
public static boolean whileShooting = false;
|
||||
public static int waitFirstBallTicks = 4;
|
||||
private int shootTicks = 0;
|
||||
public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
|
||||
// For Use
|
||||
enum RotatedBallPositionNames {
|
||||
REARCENTER,
|
||||
FRONTDRIVER,
|
||||
FRONTPASSENGER
|
||||
}
|
||||
// Array of commandedIntakePositions with contents
|
||||
// {RearCenter, FrontDriver, FrontPassenger}
|
||||
static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
|
||||
class spindexerBallRoatation {
|
||||
int rearCenter = 0; // aka commanded Position
|
||||
int frontDriver = 0;
|
||||
int frontPassenger = 0;
|
||||
}
|
||||
|
||||
enum IntakeState {
|
||||
UNKNOWN_START,
|
||||
UNKNOWN_MOVE,
|
||||
UNKNOWN_DETECT,
|
||||
INTAKE,
|
||||
FINDNEXT,
|
||||
MOVING,
|
||||
FULL,
|
||||
SHOOTNEXT,
|
||||
SHOOTMOVING,
|
||||
SHOOTWAIT,
|
||||
SHOOT_ALL_PREP,
|
||||
SHOOT_ALL_READY,
|
||||
SHOOT_PREP_CONTINOUS,
|
||||
SHOOT_CONTINOUS
|
||||
}
|
||||
|
||||
int shootWaitCount = 0;
|
||||
|
||||
public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
|
||||
public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
|
||||
public int unknownColorDetect = 0;
|
||||
public enum BallColor {
|
||||
UNKNOWN,
|
||||
GREEN,
|
||||
PURPLE
|
||||
}
|
||||
|
||||
class BallPosition {
|
||||
boolean isEmpty = true;
|
||||
int foundEmpty = 0;
|
||||
BallColor ballColor = BallColor.UNKNOWN;
|
||||
}
|
||||
|
||||
BallPosition[] ballPositions = new BallPosition[3];
|
||||
|
||||
public boolean init () {
|
||||
return true;
|
||||
}
|
||||
|
||||
public Spindexer(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
servos = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
//TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
lastKnownSpinPos = servos.getSpinPos();
|
||||
|
||||
ballPositions[0] = new BallPosition();
|
||||
ballPositions[1] = new BallPosition();
|
||||
ballPositions[2] = new BallPosition();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
double[] outakePositions =
|
||||
{spindexer_outtakeBall1+spindexerPosOffset,
|
||||
spindexer_outtakeBall2+spindexerPosOffset,
|
||||
spindexer_outtakeBall3+spindexerPosOffset};
|
||||
|
||||
double[] intakePositions =
|
||||
{spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
|
||||
|
||||
public int counter = 0;
|
||||
|
||||
// private double getTimeSeconds ()
|
||||
// {
|
||||
// return (double) System.currentTimeMillis()/1000.0;
|
||||
// }
|
||||
|
||||
// public double getPos() {
|
||||
// robot.spin1Pos.getVoltage();
|
||||
// robot.spin1Pos.getMaxVoltage();
|
||||
// return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
|
||||
// }
|
||||
|
||||
// public void manageSpindexer() {
|
||||
//
|
||||
// }
|
||||
|
||||
public void resetBallPosition (int pos) {
|
||||
ballPositions[pos].isEmpty = true;
|
||||
ballPositions[pos].foundEmpty = 0;
|
||||
ballPositions[pos].ballColor = BallColor.UNKNOWN;
|
||||
distanceRearCenter = 61;
|
||||
distanceFrontDriver = 61;
|
||||
distanceFrontPassenger = 61;
|
||||
}
|
||||
|
||||
public void resetSpindexer () {
|
||||
for (int i = 0; i < 3; i++) {
|
||||
resetBallPosition(i);
|
||||
}
|
||||
currentIntakeState = IntakeState.UNKNOWN_START;
|
||||
}
|
||||
|
||||
// Detects if a ball is found and what color.
|
||||
// Returns true is there was a new ball found in Position 1
|
||||
// FIXIT: Reduce number of times that we read the color sensors for loop times.
|
||||
public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
|
||||
|
||||
boolean newPos1Detection = false;
|
||||
int spindexerBallPos = 0;
|
||||
|
||||
// Read Distances
|
||||
double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
|
||||
distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
|
||||
double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
|
||||
distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
|
||||
double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
|
||||
distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
|
||||
|
||||
// Position 1
|
||||
if (distanceRearCenter < 48) {
|
||||
|
||||
// Mark Ball Found
|
||||
newPos1Detection = true;
|
||||
|
||||
if (detectRearColor) {
|
||||
// Detect which color
|
||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
||||
|
||||
double gP = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
||||
|
||||
// FIXIT - Add filtering to improve accuracy.
|
||||
if (gP >= 0.38) {
|
||||
ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE; // purple
|
||||
}
|
||||
}
|
||||
}
|
||||
// Position 2
|
||||
// Find which ball position this is in the spindexer
|
||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
|
||||
if (distanceFrontDriver < 50) {
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor) {
|
||||
NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
|
||||
|
||||
double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE; // purple
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (!ballPositions[spindexerBallPos].isEmpty) {
|
||||
if (ballPositions[spindexerBallPos].foundEmpty > 3) {
|
||||
resetBallPosition(spindexerBallPos);
|
||||
}
|
||||
ballPositions[spindexerBallPos].foundEmpty++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Position 3
|
||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
|
||||
if (distanceFrontPassenger < 29) {
|
||||
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor) {
|
||||
NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
|
||||
|
||||
double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
|
||||
|
||||
if (gP >= 0.42) {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE; // purple
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (!ballPositions[spindexerBallPos].isEmpty) {
|
||||
if (ballPositions[spindexerBallPos].foundEmpty > 3) {
|
||||
resetBallPosition(spindexerBallPos);
|
||||
}
|
||||
ballPositions[spindexerBallPos].foundEmpty++;
|
||||
}
|
||||
}
|
||||
|
||||
// TELE.addData("Velocity", velo);
|
||||
// TELE.addLine("Detecting");
|
||||
// TELE.addData("Distance 1", s1D);
|
||||
// TELE.addData("Distance 2", s2D);
|
||||
// TELE.addData("Distance 3", s3D);
|
||||
// TELE.addData("B1", b1);
|
||||
// TELE.addData("B2", b2);
|
||||
// TELE.addData("B3", b3);
|
||||
// TELE.update();
|
||||
|
||||
return newPos1Detection;
|
||||
}
|
||||
// Has code to unjam spindexer
|
||||
private void moveSpindexerToPos(double pos) {
|
||||
servos.setSpinPos(pos);
|
||||
// double currentPos = servos.getSpinPos();
|
||||
// if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
|
||||
// if (currentPos > pos){
|
||||
// robot.spin1.setPosition(servos.getSpinPos() + 0.05);
|
||||
// robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
|
||||
// } else {
|
||||
// robot.spin1.setPosition(servos.getSpinPos() - 0.05);
|
||||
// robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
|
||||
// }
|
||||
// }
|
||||
// prevPos = pos;
|
||||
}
|
||||
|
||||
public void stopSpindexer() {
|
||||
|
||||
}
|
||||
|
||||
public double getRearCenterLight() {
|
||||
BallColor color = GetRearCenterColor();
|
||||
if (Objects.equals(color, BallColor.GREEN)) {
|
||||
return LightGreen;
|
||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
||||
return LightPurple;
|
||||
} else {
|
||||
return LightOrange;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public double getDriverLight() {
|
||||
BallColor color = GetFrontDriverColor();
|
||||
if (Objects.equals(color, BallColor.GREEN)) {
|
||||
return LightGreen;
|
||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
||||
return LightPurple;
|
||||
} else {
|
||||
return LightOrange;
|
||||
}
|
||||
}
|
||||
|
||||
public double getPassengerLight() {
|
||||
BallColor color = GetFrontPassengerColor();
|
||||
if (Objects.equals(color, BallColor.GREEN)) {
|
||||
return LightGreen;
|
||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
||||
return LightPurple;
|
||||
} else {
|
||||
return LightOrange;
|
||||
}
|
||||
}
|
||||
public double ballCounterLight() {
|
||||
int counter = 0;
|
||||
if (!ballPositions[0].isEmpty) {
|
||||
counter++;
|
||||
}
|
||||
if (!ballPositions[1].isEmpty) {
|
||||
counter++;
|
||||
}
|
||||
if (!ballPositions[2].isEmpty) {
|
||||
counter++;
|
||||
}
|
||||
|
||||
if (counter == 3) {
|
||||
return Light3;
|
||||
} else if (counter == 2) {
|
||||
return Light2;
|
||||
} else if (counter == 1) {
|
||||
return Light1;
|
||||
} else {
|
||||
return Light0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public boolean slotIsEmpty(int slot){
|
||||
return !ballPositions[slot].isEmpty;
|
||||
}
|
||||
|
||||
public boolean isFull () {
|
||||
return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
|
||||
}
|
||||
|
||||
private double intakeTicker = 0;
|
||||
public boolean processIntake() {
|
||||
|
||||
switch (currentIntakeState) {
|
||||
case UNKNOWN_START:
|
||||
// For now just set position ONE if UNKNOWN
|
||||
commandedIntakePosition = 0;
|
||||
servos.setSpinPos(intakePositions[0]);
|
||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
|
||||
break;
|
||||
case UNKNOWN_MOVE:
|
||||
// Stopping when we get to the new position
|
||||
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
|
||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
|
||||
stopSpindexer();
|
||||
unknownColorDetect = 0;
|
||||
} else {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
||||
}
|
||||
break;
|
||||
case UNKNOWN_DETECT:
|
||||
if (unknownColorDetect >5) {
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
} else {
|
||||
//detectBalls(true, true);
|
||||
unknownColorDetect++;
|
||||
}
|
||||
break;
|
||||
case INTAKE:
|
||||
// Ready for intake and Detecting a New Ball
|
||||
if (detectBalls(true, false)) {
|
||||
ballPositions[commandedIntakePosition].isEmpty = false;
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
} else {
|
||||
// Maintain Position
|
||||
spindexerWiggle *= -1.0;
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
||||
}
|
||||
break;
|
||||
case FINDNEXT:
|
||||
// Find Next Open Position and start movement
|
||||
double currentSpindexerPos = servos.getSpinPos();
|
||||
double commandedtravelDistance = 2.0;
|
||||
double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
|
||||
//if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
|
||||
if (ballPositions[0].isEmpty) {
|
||||
// Position 1
|
||||
commandedIntakePosition = 0;
|
||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
||||
}
|
||||
//proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
|
||||
//if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
|
||||
else if (ballPositions[1].isEmpty) {
|
||||
// Position 2
|
||||
commandedIntakePosition = 1;
|
||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
||||
}
|
||||
//proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
|
||||
else if (ballPositions[2].isEmpty) {
|
||||
// Position 3
|
||||
commandedIntakePosition = 2;
|
||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
||||
}
|
||||
if (currentIntakeState != Spindexer.IntakeState.MOVING) {
|
||||
// Full
|
||||
//commandedIntakePosition = bestFitMotif();
|
||||
currentIntakeState = Spindexer.IntakeState.FULL;
|
||||
}
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
||||
break;
|
||||
|
||||
case MOVING:
|
||||
// Stopping when we get to the new position
|
||||
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
|
||||
if (intakeTicker > 1){
|
||||
currentIntakeState = Spindexer.IntakeState.INTAKE;
|
||||
stopSpindexer();
|
||||
intakeTicker = 0;
|
||||
} else {
|
||||
intakeTicker++;
|
||||
}
|
||||
//detectBalls(false, false);
|
||||
} else {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
||||
}
|
||||
break;
|
||||
|
||||
case FULL:
|
||||
// Double Check Colors
|
||||
detectBalls(false, false); // Minimize hardware calls
|
||||
if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
|
||||
// Error handling found an empty spot, get it ready for a ball
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
}
|
||||
// Maintain Position
|
||||
spindexerWiggle *= -1.0;
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
||||
break;
|
||||
|
||||
case SHOOT_ALL_PREP:
|
||||
// We get here with function call to prepareToShootMotif
|
||||
// Stopping when we get to the new position
|
||||
commandedIntakePosition = 0;
|
||||
if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOT_ALL_READY: // Not used
|
||||
// Double Check Colors
|
||||
//detectBalls(false, false); // Minimize hardware calls
|
||||
if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
|
||||
// All ball shot move to intake state
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
||||
}
|
||||
// Maintain Position
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
||||
break;
|
||||
|
||||
case SHOOTNEXT:
|
||||
// Find Next Open Position and start movement
|
||||
if (!ballPositions[0].isEmpty) {
|
||||
// Position 1
|
||||
commandedIntakePosition = 0;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
||||
} else if (!ballPositions[1].isEmpty) {
|
||||
// Position 2
|
||||
commandedIntakePosition = 1;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
||||
} else if (!ballPositions[2].isEmpty) {
|
||||
// Position 3
|
||||
commandedIntakePosition = 2;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
||||
} else {
|
||||
// Empty return to intake state
|
||||
currentIntakeState = IntakeState.FINDNEXT;
|
||||
}
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
||||
break;
|
||||
|
||||
case SHOOTMOVING:
|
||||
// Stopping when we get to the new position
|
||||
if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
|
||||
} else {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOTWAIT:
|
||||
// Stopping when we get to the new position
|
||||
if (prevIntakeState != currentIntakeState) {
|
||||
if (commandedIntakePosition==2) {
|
||||
shootWaitMax = 5;
|
||||
}
|
||||
shootWaitCount = 0;
|
||||
} else {
|
||||
shootWaitCount++;
|
||||
}
|
||||
// wait 10 cycles
|
||||
if (shootWaitCount > shootWaitMax) {
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
||||
ballPositions[commandedIntakePosition].isEmpty = true;
|
||||
shootWaitCount = 0;
|
||||
//stopSpindexer();
|
||||
//detectBalls(true, false);
|
||||
}
|
||||
// Keep moving the spindexer
|
||||
spindexerOuttakeWiggle *= -1.0;
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
|
||||
break;
|
||||
|
||||
case SHOOT_PREP_CONTINOUS:
|
||||
if (shootTicks > waitFirstBallTicks){
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
||||
shootTicks++;
|
||||
} else if (servos.spinEqual(spinStartPos)){
|
||||
shootTicks++;
|
||||
servos.setTransferPos(transferServo_in);
|
||||
} else {
|
||||
servos.setSpinPos(spinStartPos);
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOT_CONTINOUS:
|
||||
whileShooting = true;
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
if (servos.getSpinPos() > spinEndPos){
|
||||
whileShooting = false;
|
||||
servos.setTransferPos(transferServo_out);
|
||||
shootTicks = 0;
|
||||
currentIntakeState = IntakeState.FINDNEXT;
|
||||
} else {
|
||||
double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
|
||||
if (spinPos > spinEndPos + 0.03){
|
||||
spinPos = spinEndPos + 0.03;
|
||||
}
|
||||
servos.setSpinPos(spinPos);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
// Statements to execute if no case matches
|
||||
}
|
||||
|
||||
prevIntakeState = currentIntakeState;
|
||||
//TELE.addData("commandedIntakePosition", commandedIntakePosition);
|
||||
//TELE.update();
|
||||
// Signal a successful intake
|
||||
return false;
|
||||
}
|
||||
|
||||
public void setDesiredMotif (StateEnums.Motif newMotif) {
|
||||
desiredMotif = newMotif;
|
||||
}
|
||||
|
||||
// Returns the best fit for the motiff
|
||||
public int bestFitMotif () {
|
||||
switch (desiredMotif) {
|
||||
case GPP:
|
||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
||||
return 2;
|
||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
||||
return 0;
|
||||
} else {
|
||||
return 1;
|
||||
}
|
||||
//break;
|
||||
case PGP:
|
||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
||||
return 0;
|
||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
||||
return 1;
|
||||
} else {
|
||||
return 2;
|
||||
}
|
||||
//break;
|
||||
case PPG:
|
||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
||||
return 1;
|
||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
||||
return 0;
|
||||
} else {
|
||||
return 2;
|
||||
}
|
||||
//break;
|
||||
case NONE:
|
||||
return 0;
|
||||
//break;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void prepareToShootMotif () {
|
||||
commandedIntakePosition = bestFitMotif();
|
||||
}
|
||||
|
||||
public void prepareShootAll(){
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
|
||||
}
|
||||
public void prepareShootAllContinous(){
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
|
||||
}
|
||||
public void shootAll () {
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
||||
}
|
||||
public void shootAllContinous(){
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
||||
}
|
||||
|
||||
public boolean shootAllComplete ()
|
||||
{
|
||||
return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
|
||||
}
|
||||
|
||||
void shootAllToIntake () {
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
}
|
||||
|
||||
public BallColor GetFrontDriverColor () {
|
||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
|
||||
}
|
||||
|
||||
public BallColor GetFrontPassengerColor () {
|
||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
|
||||
}
|
||||
|
||||
public BallColor GetRearCenterColor () {
|
||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
|
||||
}
|
||||
private double prevPow = 0.501;
|
||||
public void setIntakePower(double pow){
|
||||
if (prevPow != 0.501 && prevPow != pow){
|
||||
robot.intake.setPower(pow);
|
||||
}
|
||||
prevPow = pow;
|
||||
}
|
||||
}
|
||||
@@ -1,237 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
|
||||
public class Targeting {
|
||||
// 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(2300.0, 0.93);
|
||||
KNOWNTARGETING[0][1] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[0][2] = new Settings(2500.0, 0.78);
|
||||
KNOWNTARGETING[0][3] = new Settings(2800.0, 0.68);
|
||||
KNOWNTARGETING[0][4] = new Settings(3000.0, 0.58);
|
||||
KNOWNTARGETING[0][5] = new Settings(3000.0, 0.58);
|
||||
// ROW 1
|
||||
KNOWNTARGETING[1][0] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[1][1] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[1][2] = new Settings(2600.0, 0.78);
|
||||
// KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
|
||||
// KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
|
||||
// KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
|
||||
KNOWNTARGETING[1][3] = new Settings(2800.0, 0.68); // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
|
||||
KNOWNTARGETING[1][4] = new Settings(3000.0, 0.58); // Real setting replaced with (0,4) new Settings (3000.0, 0.55);
|
||||
KNOWNTARGETING[1][5] = new Settings(3200.0, 0.50);
|
||||
// ROW 2
|
||||
// KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
|
||||
// KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
|
||||
// KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
|
||||
// KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
|
||||
// KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
|
||||
// KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
|
||||
KNOWNTARGETING[2][0] = new Settings(2500.0, 0.78);
|
||||
KNOWNTARGETING[2][1] = new Settings(2500.0, 0.78);
|
||||
KNOWNTARGETING[2][2] = new Settings(2700.0, 0.60);
|
||||
KNOWNTARGETING[2][3] = new Settings(2800.0, 0.62); // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
|
||||
KNOWNTARGETING[2][4] = new Settings(3000.0, 0.55); // real settings replaces with (1,4) new Settings (3100.0, 0.50);
|
||||
KNOWNTARGETING[2][5] = new Settings(3200.0, 0.50); // real settings replaced with (1,5) new Settings (3100.0, 0.50);
|
||||
// ROW 3
|
||||
KNOWNTARGETING[3][0] = new Settings(2900.0, 0.50);
|
||||
KNOWNTARGETING[3][1] = new Settings(2900.0, 0.50);
|
||||
KNOWNTARGETING[3][2] = new Settings(2900.0, 0.50);
|
||||
KNOWNTARGETING[3][3] = new Settings(3100.0, 0.47);
|
||||
KNOWNTARGETING[3][4] = new Settings(3100.0, 0.47);
|
||||
KNOWNTARGETING[3][5] = new Settings(3100.0, 0.47);
|
||||
// ROW 4
|
||||
KNOWNTARGETING[4][0] = new Settings(3100, 0.49);
|
||||
KNOWNTARGETING[4][1] = new Settings(3100, 0.49);
|
||||
KNOWNTARGETING[4][2] = new Settings(3100, 0.5);
|
||||
KNOWNTARGETING[4][3] = new Settings(3200, 0.5);
|
||||
KNOWNTARGETING[4][4] = new Settings(3250, 0.49);
|
||||
KNOWNTARGETING[4][5] = new Settings(3300, 0.49);
|
||||
// ROW 5
|
||||
KNOWNTARGETING[5][0] = new Settings(3200, 0.48);
|
||||
KNOWNTARGETING[5][1] = new Settings(3200, 0.48);
|
||||
KNOWNTARGETING[5][2] = new Settings(3300, 0.48);
|
||||
KNOWNTARGETING[5][3] = new Settings(3350, 0.48);
|
||||
KNOWNTARGETING[5][4] = new Settings(3350, 0.48);
|
||||
KNOWNTARGETING[5][5] = new Settings(3350, 0.48);
|
||||
|
||||
}
|
||||
|
||||
public final int TILE_UPPER_QUARTILE = 18;
|
||||
public final int TILE_LOWER_QUARTILE = 6;
|
||||
public double robotInchesX, robotInchesY = 0.0;
|
||||
public int robotGridX, robotGridY = 0;
|
||||
MultipleTelemetry TELE;
|
||||
double cancelOffsetX = 0.0; // was -40.0
|
||||
double cancelOffsetY = 0.0; // was 7.0
|
||||
double unitConversionFactor = 0.95;
|
||||
int tileSize = 24; //inches
|
||||
public static boolean turretInterpolate = false;
|
||||
|
||||
public Targeting() {
|
||||
}
|
||||
|
||||
double cos54 = Math.cos(Math.toRadians(-54));
|
||||
double sin54 = Math.sin(Math.toRadians(-54));
|
||||
|
||||
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
|
||||
Settings recommendedSettings = new Settings(0.0, 0.0);
|
||||
if (!redAlliance){
|
||||
sin54 = Math.sin(Math.toRadians(54));
|
||||
} else {
|
||||
sin54 = Math.sin(Math.toRadians(-54));
|
||||
}
|
||||
// TODO: test these values determined from the fmap
|
||||
double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
|
||||
double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
|
||||
|
||||
// Convert robot coordinates to inches
|
||||
robotInchesX = rotatedX * unitConversionFactor;
|
||||
robotInchesY = rotatedY * unitConversionFactor;
|
||||
|
||||
// Find approximate location in the grid
|
||||
int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
|
||||
int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
|
||||
|
||||
int remX = Math.floorMod((int) robotInchesX, tileSize);
|
||||
int remY = Math.floorMod((int) robotInchesY, tileSize);
|
||||
|
||||
//clamp
|
||||
|
||||
//if (redAlliance) {
|
||||
robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
//} else {
|
||||
// robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
// robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
//}
|
||||
|
||||
// Determine if we need to interpolate based on tile position.
|
||||
// if near upper or lower quarter or tile interpolate with next tile.
|
||||
int x0 = 0;
|
||||
int y0 = 0;
|
||||
int x1 = 0;
|
||||
int y1 = 0;
|
||||
interpolate = false;
|
||||
if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
|
||||
(robotGridX < 5) && (robotGridY < 5)) {
|
||||
// +X, +Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX + 1;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY + 1;
|
||||
} else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
|
||||
(robotGridX > 0) && (robotGridY > 0)) {
|
||||
// -X, -Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX - 1;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY - 1;
|
||||
y1 = robotGridY;
|
||||
} else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
|
||||
(robotGridX < 5) && (robotGridY > 0)) {
|
||||
// +X, -Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX + 1;
|
||||
y0 = robotGridY - 1;
|
||||
y1 = robotGridY;
|
||||
} else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
|
||||
(robotGridX > 0) && (robotGridY < 5)) {
|
||||
// -X, +Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX - 1;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY + 1;
|
||||
} else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
|
||||
// -X, Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX - 1;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY;
|
||||
} else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
|
||||
// X, -Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY - 1;
|
||||
y1 = robotGridY;
|
||||
} else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
|
||||
// +X, Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX + 1;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY;
|
||||
} else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
|
||||
// X, +Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY + 1;
|
||||
} else {
|
||||
interpolate = false;
|
||||
}
|
||||
|
||||
// basic search
|
||||
if (true) { //!interpolate) {
|
||||
if ((robotGridY < 6) && (robotGridX < 6)) {
|
||||
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
|
||||
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
|
||||
}
|
||||
return recommendedSettings;
|
||||
} else {
|
||||
|
||||
// bilinear interpolation
|
||||
//int x0 = robotGridX;
|
||||
//int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
|
||||
//int y0 = robotGridY;
|
||||
//int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
|
||||
|
||||
// double x = (robotInchesX - (x0 * tileSize)) / tileSize;
|
||||
// double y = (robotInchesY - (y0 * tileSize)) / tileSize;
|
||||
|
||||
// double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
|
||||
// double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
|
||||
// double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
|
||||
// double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
|
||||
//
|
||||
// double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
|
||||
// double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
|
||||
// double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
|
||||
// double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
|
||||
|
||||
// recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
|
||||
// recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
|
||||
// Average target tiles
|
||||
recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM) / 2.0;
|
||||
recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle) / 2.0;
|
||||
return recommendedSettings;
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,349 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static java.lang.Math.abs;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.controller.PIDController;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
|
||||
public class Turret {
|
||||
|
||||
public static double turretTolerance = 0.02;
|
||||
public static double turrPosScalar = 0.00011264432;
|
||||
public static double turret180Range = 0.54;
|
||||
public static double turrDefault = 0.35;
|
||||
public static double turrMin = 0;
|
||||
public static double turrMax = 1;
|
||||
public static boolean limelightUsed = true;
|
||||
public static double limelightPosOffset = 5;
|
||||
public static double manualOffset = 0.0;
|
||||
|
||||
// public static double visionCorrectionGain = 0.08; // Single tunable gain
|
||||
// public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
|
||||
// public static double cameraBearingEqual = 0.5; // Deadband
|
||||
|
||||
// public static double clampTolerance = 0.03;
|
||||
//public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
|
||||
public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Limelight3A webcam;
|
||||
double tx = 0.0;
|
||||
double ty = 0.0;
|
||||
double limelightPosX = 0.0;
|
||||
double limelightPosY = 0.0;
|
||||
LLResult result;
|
||||
public static double TARGET_POSITION_TOLERANCE = 0.5;
|
||||
public static double COLOR_OK_TOLERANCE = 2;
|
||||
boolean bearingAligned = false;
|
||||
private boolean lockOffset = false;
|
||||
private int obeliskID = 0;
|
||||
private double offset = 0.0;
|
||||
private double currentTrackOffset = 0.0;
|
||||
private double lightColor = Color.LightRed;
|
||||
private int currentTrackCount = 0;
|
||||
double permanentOffset = 0.0;
|
||||
private int prevPipeline = -1;
|
||||
PIDController bearingPID;
|
||||
|
||||
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
|
||||
this.TELE = tele;
|
||||
this.robot = rob;
|
||||
this.webcam = cam;
|
||||
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
|
||||
}
|
||||
|
||||
public double getLightColor() {
|
||||
return lightColor;
|
||||
}
|
||||
|
||||
public void zeroTurretEncoder() {
|
||||
robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
|
||||
|
||||
}
|
||||
private double prevTurrPos = 0;
|
||||
private boolean isFirstTurretPos = true;
|
||||
public void setTurret(double pos) {
|
||||
if (isFirstTurretPos || prevTurrPos != pos){
|
||||
robot.turr1.setPosition(pos);
|
||||
robot.turr2.setPosition(1-pos);
|
||||
isFirstTurretPos = false;
|
||||
}
|
||||
prevTurrPos = pos;
|
||||
}
|
||||
public void pipelineSwitch(int pipeline){
|
||||
if (prevPipeline != pipeline){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
}
|
||||
prevPipeline = pipeline;
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos) {
|
||||
return Math.abs(pos - this.getTurrPos()) < turretTolerance;
|
||||
}
|
||||
|
||||
public static double alphaPosConstant = 0.3;
|
||||
private void limelightRead() { // only for tracking purposes, not general reads
|
||||
Double xPos = null;
|
||||
Double yPos = null;
|
||||
Double zPos = null;
|
||||
Double hPos = null;
|
||||
result = webcam.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
tx = result.getTx();
|
||||
ty = result.getTy();
|
||||
// MegaTag1 code for receiving position
|
||||
Pose3D botpose = result.getBotpose();
|
||||
if (botpose != null) {
|
||||
limelightPosX = botpose.getPosition().x;
|
||||
limelightPosY = botpose.getPosition().y;
|
||||
}
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
limelightTagPose = fiducial.getRobotPoseTargetSpace();
|
||||
if (limelightTagPose != null){
|
||||
xPos = limelightTagPose.getPosition().x;
|
||||
yPos = limelightTagPose.getPosition().y;
|
||||
zPos = limelightTagPose.getPosition().z;
|
||||
hPos = limelightTagPose.getOrientation().getYaw();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
if (xPos != null){
|
||||
if (zPos>0) {
|
||||
limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
|
||||
limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
|
||||
limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
|
||||
limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public double getBearing() {
|
||||
tx = 1000;
|
||||
limelightRead();
|
||||
return tx;
|
||||
}
|
||||
|
||||
public double getTy() {
|
||||
return ty;
|
||||
}
|
||||
|
||||
Pose3D limelightTagPose;
|
||||
double limelightTagX = 0.0;
|
||||
double limelightTagY = 0.0;
|
||||
double limelightTagZ = 0.0;
|
||||
double limelightTagH = 0.0;
|
||||
public double getLimelightX() {
|
||||
return limelightTagX;
|
||||
}
|
||||
public double getLimelightY() {return limelightTagY;}
|
||||
public double getLimelightZ(){return limelightTagZ;}
|
||||
public double getLimelightH(){return limelightTagH;}
|
||||
|
||||
public void relocalize(){
|
||||
setTurret(turrDefault);
|
||||
limelightRead();
|
||||
}
|
||||
|
||||
public int detectObelisk() {
|
||||
webcam.pipelineSwitch(1);
|
||||
LLResult result = webcam.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
obeliskID = fiducial.getFiducialId();
|
||||
}
|
||||
}
|
||||
return obeliskID;
|
||||
}
|
||||
|
||||
public int getObeliskID() {
|
||||
return obeliskID;
|
||||
}
|
||||
|
||||
public void zeroOffset() {
|
||||
offset = 0.0;
|
||||
}
|
||||
|
||||
public void lockOffset(boolean lock) {
|
||||
lockOffset = lock;
|
||||
}
|
||||
|
||||
/*
|
||||
Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
|
||||
*/
|
||||
private double targetTx = 0;
|
||||
public static double alphaTX = 0.5;
|
||||
private double bearingAlign(LLResult llResult) {
|
||||
double bearingOffset = 0.0;
|
||||
double tx = llResult.getTx(); // How far left or right the target is (degrees)
|
||||
targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
|
||||
// final double MIN_OFFSET_POWER = 0.15;
|
||||
// // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
|
||||
// final double HORIZONTAL_FOV_RANGE = 26.0; // Total usable horizontal degrees from center +/-
|
||||
// final double DRIVE_POWER_REDUCTION = 2.0;
|
||||
|
||||
if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
|
||||
bearingAligned = true;
|
||||
lightColor = Color.LightBlue;
|
||||
} else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
|
||||
bearingAligned = false;
|
||||
lightColor = Color.LightPurple;
|
||||
} else {
|
||||
bearingAligned = false;
|
||||
lightColor = Color.LightOrange;
|
||||
}
|
||||
|
||||
// Only with valid data and if too far off target
|
||||
if (llResult.isValid() && !bearingAligned) {
|
||||
|
||||
// Adjust Robot Speed based on how far the target is located
|
||||
// Only drive at half speed max
|
||||
// switched to PID but original formula left for reference in comments
|
||||
//drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
|
||||
bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
|
||||
|
||||
// // Make sure we have enough power to actually drive the wheels
|
||||
// if (abs(bearingOffset) < MIN_OFFSET_POWER) {
|
||||
// if (bearingOffset > 0.0) {
|
||||
// bearingOffset = MIN_OFFSET_POWER;
|
||||
// } else {
|
||||
// bearingOffset = -MIN_OFFSET_POWER;
|
||||
// }
|
||||
//
|
||||
// }
|
||||
}
|
||||
|
||||
return bearingOffset;
|
||||
}
|
||||
|
||||
public void trackGoal(Pose2d deltaPos) {
|
||||
|
||||
/* ---------------- FIELD → TURRET GEOMETRY ---------------- */
|
||||
|
||||
// Angle from robot to goal in robot frame
|
||||
double desiredTurretAngleDeg = Math.toDegrees(
|
||||
Math.atan2(deltaPos.position.y, deltaPos.position.x)
|
||||
);
|
||||
|
||||
// Robot heading (field → robot)
|
||||
double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
|
||||
|
||||
// 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;
|
||||
|
||||
|
||||
/* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
|
||||
// Update local limelight results
|
||||
//double tagBearingDeg = getBearing(); // + = target is to the left
|
||||
//boolean hasValidTarget = (tagBearingDeg != 1000.0);
|
||||
|
||||
turretAngleDeg += permanentOffset;
|
||||
|
||||
limelightRead();
|
||||
// Active correction if we see the target
|
||||
if (result.isValid() && !lockOffset && limelightUsed) {
|
||||
currentTrackOffset += bearingAlign(result);
|
||||
currentTrackCount++;
|
||||
// double bearingError = Math.abs(tagBearingDeg);
|
||||
//
|
||||
// if (bearingError > cameraBearingEqual) {
|
||||
// // Apply sqrt scaling to reduce aggressive corrections at large errors
|
||||
// double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
|
||||
//
|
||||
// // Calculate correction
|
||||
// double offsetChange = visionCorrectionGain * filteredBearing;
|
||||
//
|
||||
// // Limit rate of change to prevent jumps
|
||||
// offsetChange = Math.max(-maxOffsetChangePerCycle,
|
||||
// Math.min(maxOffsetChangePerCycle, offsetChange));
|
||||
//
|
||||
// // Accumulate the correction
|
||||
// offset += offsetChange;
|
||||
//
|
||||
// TELE.addData("Bearing Error", tagBearingDeg);
|
||||
// TELE.addData("Offset Change", offsetChange);
|
||||
// TELE.addData("Total Offset", offset);
|
||||
// } else {
|
||||
// // When centered, lock in the learned offset
|
||||
// permanentOffset = offset;
|
||||
// offset = 0.0;
|
||||
// }
|
||||
} else {
|
||||
// only store perma update after 20+ successful tracks
|
||||
// this did not work good in testing; only current works best so far.
|
||||
// if (currentTrackCount > 20) {
|
||||
// offset = currentTrackOffset;
|
||||
// }
|
||||
lightColor = Color.LightRed;
|
||||
currentTrackOffset = 0.0;
|
||||
currentTrackCount = 0;
|
||||
}
|
||||
|
||||
// Apply accumulated offset
|
||||
turretAngleDeg += offset + currentTrackOffset;
|
||||
|
||||
|
||||
/* ---------------- ANGLE → SERVO POSITION ---------------- */
|
||||
|
||||
double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
|
||||
|
||||
// Clamp to physical servo limits
|
||||
targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
|
||||
|
||||
// Interpolate towards target position
|
||||
// double currentPos = getTurrPos();
|
||||
double turretPos = targetTurretPos;
|
||||
|
||||
if (targetTurretPos == turrMin) {
|
||||
turretPos = turrMin;
|
||||
} else if (targetTurretPos == turrMax) {
|
||||
turretPos = turrMax;
|
||||
}
|
||||
|
||||
// Set servo positions
|
||||
if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
|
||||
setTurret(turretPos + manualOffset);
|
||||
}
|
||||
|
||||
|
||||
/* ---------------- TELEMETRY ---------------- */
|
||||
|
||||
// TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
|
||||
// TELE.addData("Target Pos", "%.3f", targetTurretPos);
|
||||
// TELE.addData("Current Pos", "%.3f", currentPos);
|
||||
// TELE.addData("Commanded Pos", "%.3f", turretPos);
|
||||
// TELE.addData("LL Valid", result.isValid());
|
||||
// TELE.addData("LL getTx", result.getTx());
|
||||
// TELE.addData("LL Offset", offset);
|
||||
// TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
|
||||
// TELE.addData("Learned Offset", "%.2f", offset);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -6,26 +6,30 @@ repositories {
|
||||
maven { url = 'https://maven.brott.dev/' } //RR
|
||||
maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
|
||||
maven { url = "https://repo.dairy.foundation/releases" } //AS
|
||||
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation 'org.firstinspires.ftc:Inspection:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Blocks:11.1.0'
|
||||
//noinspection Aligned16KB
|
||||
implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Hardware:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Vision:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Inspection:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:Blocks:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:Hardware:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:Vision:11.0.0'
|
||||
implementation 'androidx.appcompat:appcompat:1.2.0'
|
||||
|
||||
|
||||
implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
|
||||
implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
|
||||
|
||||
implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
|
||||
implementation 'com.pedropathing:telemetry:0.0.6' //PedroTele
|
||||
|
||||
implementation 'com.bylazar:fullpanels:1.0.2' //Panels
|
||||
|
||||
implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
|
||||
implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
|
||||
implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
|
||||
implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
|
||||
|
||||
implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
|
||||
|
||||
@@ -36,5 +40,11 @@ dependencies {
|
||||
implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -25,9 +25,5 @@ allprojects {
|
||||
}
|
||||
|
||||
repositories {
|
||||
repositories {
|
||||
mavenCentral()
|
||||
google()
|
||||
maven { url 'https://maven.pedropathing.com' }
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user