Compare commits
3 Commits
457eaf5feb
...
organize/e
| Author | SHA1 | Date | |
|---|---|---|---|
| 5931b2e7fa | |||
| 73f804bd2f | |||
| 0a81eb60d3 |
@@ -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" />
|
||||
|
||||
|
||||
@@ -92,22 +92,24 @@ public class ConceptAprilTag extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
|
||||
@@ -88,22 +88,24 @@ public class ConceptAprilTagEasy extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
|
||||
@@ -81,25 +81,27 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryCameraSwitching();
|
||||
telemetryAprilTag();
|
||||
telemetryCameraSwitching();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
doCameraSwitching();
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
doCameraSwitching();
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
|
||||
@@ -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'
|
||||
@@ -45,32 +28,14 @@ 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 "com.acmerobotics.roadrunner:ftc:0.1.25"
|
||||
implementation "com.acmerobotics.roadrunner:core:1.0.1"
|
||||
implementation "com.acmerobotics.roadrunner:actions:1.0.1"
|
||||
implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
|
||||
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
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,606 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
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 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.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.LimelightManager;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoClose_V3 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
LimelightManager limelightManager;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
public static double holdTurrPow = 0.1;
|
||||
|
||||
// Ball color detection: 0 = no ball, 1 = green, 2 = purple
|
||||
int b1 = 0, b2 = 0, b3 = 0;
|
||||
boolean gpp = false, pgp = false, ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
limelightManager.update();
|
||||
int id = limelightManager.detectFiducial();
|
||||
|
||||
if (id == 21) gpp = true;
|
||||
else if (id == 22) pgp = true;
|
||||
else if (id == 23) ppg = true;
|
||||
|
||||
TELE.addData("Fiducial ID", id);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
LimelightManager.LimelightMode mode = redAlliance ?
|
||||
LimelightManager.LimelightMode.RED_GOAL :
|
||||
LimelightManager.LimelightMode.BLUE_GOAL;
|
||||
limelightManager.switchMode(mode);
|
||||
|
||||
double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
|
||||
double turretPID = servo.setTurrPos(turretTarget);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turretTarget);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position)){
|
||||
double spinPID = servo.setSpinPos(position);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
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++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
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 FlywheelV2();
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
servo = new Servos(hardwareMap);
|
||||
limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
|
||||
limelightManager.init();
|
||||
limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
|
||||
|
||||
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);
|
||||
|
||||
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);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.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 turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose);
|
||||
|
||||
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);
|
||||
|
||||
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);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose);
|
||||
|
||||
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);
|
||||
|
||||
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);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
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 ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(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(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
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() {
|
||||
limelightManager.update();
|
||||
bearing = limelightManager.getBearing();
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
|
||||
// Define sequences based on obelisk configuration
|
||||
double[][] sequences = {
|
||||
{1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
|
||||
};
|
||||
|
||||
double[] sequence = null;
|
||||
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 == b3) sequence = sequences[0]; // 1,2,3
|
||||
else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
|
||||
else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
|
||||
else sequence = sequences[0];
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) sequence = sequences[0];
|
||||
else if (b2 == 2) sequence = sequences[2];
|
||||
else if (b3 == 2) sequence = sequences[4];
|
||||
} else sequence = sequences[0];
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 == b3) sequence = sequences[2]; // 2,1,3
|
||||
else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
|
||||
else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
|
||||
else sequence = sequences[0];
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) sequence = sequences[2];
|
||||
else if (b2 == 2) sequence = sequences[0];
|
||||
else if (b3 == 2) sequence = sequences[3];
|
||||
} else sequence = sequences[2];
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 == b3) sequence = sequences[4]; // 3,1,2
|
||||
else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
|
||||
else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
|
||||
else sequence = sequences[0];
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) sequence = sequences[4];
|
||||
else if (b2 == 2) sequence = sequences[5];
|
||||
else if (b3 == 2) sequence = sequences[0];
|
||||
} else sequence = sequences[4];
|
||||
} else sequence = sequences[0];
|
||||
|
||||
executeShootingSequence(sequence);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
private void executeShootingSequence(double[] sequence) {
|
||||
double[] ballPositions = {
|
||||
spindexer_outtakeBall1,
|
||||
spindexer_outtakeBall2,
|
||||
spindexer_outtakeBall3
|
||||
};
|
||||
|
||||
for (double ball : sequence) {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,619 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
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 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.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.LimelightManager;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoFar_V1 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
LimelightManager limelightManager;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
public static double holdTurrPow = 0.1;
|
||||
|
||||
// Ball color detection: 0 = no ball, 1 = green, 2 = purple
|
||||
int b1 = 0, b2 = 0, b3 = 0;
|
||||
boolean gpp = false, pgp = false, ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
limelightManager.update();
|
||||
int id = limelightManager.detectFiducial();
|
||||
|
||||
if (id == 21) gpp = true;
|
||||
else if (id == 22) pgp = true;
|
||||
else if (id == 23) ppg = true;
|
||||
|
||||
TELE.addData("Fiducial ID", id);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
LimelightManager.LimelightMode mode = redAlliance ?
|
||||
LimelightManager.LimelightMode.RED_GOAL :
|
||||
LimelightManager.LimelightMode.BLUE_GOAL;
|
||||
limelightManager.switchMode(mode);
|
||||
|
||||
double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
|
||||
double turretPID = servo.setTurrPos(turretTarget);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turretTarget);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position)){
|
||||
double spinPID = servo.setSpinPos(position);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
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++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
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 FlywheelV2();
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
servo = new Servos(hardwareMap);
|
||||
limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
|
||||
limelightManager.init();
|
||||
limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
|
||||
|
||||
//TODO: add positions to develop auto
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
|
||||
.strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose);
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAutoFar);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
initShooter(AUTO_FAR_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(park.build());
|
||||
|
||||
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() {
|
||||
limelightManager.update();
|
||||
bearing = limelightManager.getBearing();
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,809 +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.redObeliskTurrPos0;
|
||||
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.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_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 = 10.0;
|
||||
public static double intake1Time = 3.3;
|
||||
public static double intake2Time = 3.8;
|
||||
|
||||
public static double intake3Time = 4.2;
|
||||
|
||||
public static double flywheel0Time = 2.2;
|
||||
public static double pickup1Speed = 22;
|
||||
// ---- POSITION TOLERANCES ----
|
||||
public static double posXTolerance = 5.0;
|
||||
public static double posYTolerance = 5.0;
|
||||
// ---- OBELISK DETECTION ----
|
||||
public static double shoot1Time = 3.0;
|
||||
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;
|
||||
double obeliskTurrPosAutoStart = 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(spindexer_intakePos1);
|
||||
|
||||
servos.setTransferPos(transferServo_out);
|
||||
limelightUsed = false;
|
||||
|
||||
robot.light.setPosition(1);
|
||||
|
||||
hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
|
||||
|
||||
while (opModeInInit()) {
|
||||
if (limelightUsed && !gateCycle){
|
||||
Actions.runBlocking(
|
||||
autoActions.detectObelisk(
|
||||
0.1,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
obeliskTurrPosAutoStart
|
||||
)
|
||||
);
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 21){
|
||||
AutoActions.firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
} else if (motif == 22){
|
||||
AutoActions.firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
} else {
|
||||
AutoActions.firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
}
|
||||
}
|
||||
|
||||
if (!gateCycle) {
|
||||
turret.pipelineSwitch(1);
|
||||
} else if (redAlliance) {
|
||||
turret.pipelineSwitch(4);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
if (gateCycle) {
|
||||
servos.setHoodPos(hoodGate0Start);
|
||||
} else {
|
||||
servos.setHoodPos(shoot0Hood);
|
||||
}
|
||||
|
||||
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.triangleWasPressed()){
|
||||
gateCycle = !gateCycle;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
|
||||
robot.limelight.start();
|
||||
limelightUsed = true;
|
||||
|
||||
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;
|
||||
|
||||
obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
|
||||
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;
|
||||
|
||||
obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
|
||||
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("Gate Cycle?", gateCycle);
|
||||
TELE.addData("Ball Cycles", ballCycles);
|
||||
TELE.addData("Limelight Started?", limelightUsed);
|
||||
TELE.addData("Motif", motif);
|
||||
|
||||
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.prepareShootAll(
|
||||
colorSenseTime,
|
||||
flywheel0Time,
|
||||
motif,
|
||||
x1,
|
||||
y1,
|
||||
h1
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void startAutoGate() {
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
flywheel0Time,
|
||||
motif,
|
||||
xShoot0,
|
||||
yShoot0,
|
||||
hShoot0
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void cycleStackClose() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
autoActions.intake(
|
||||
intake1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
h2b
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
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
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
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
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
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 +1,839 @@
|
||||
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.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
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.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
double velo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 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
|
||||
|
||||
boolean spindexPosEqual(double spindexer) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex equal");
|
||||
TELE.update();
|
||||
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
|
||||
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
|
||||
}
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
double currentPos = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
targetVelocity = (double) vel;
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
robot.turr1.setPower(turret_blueClose);
|
||||
robot.turr2.setPower(1 - turret_blueClose);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, double vel){
|
||||
return new Action() {
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
ticker++;
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
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));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !spindexPosEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(double vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
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));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
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 < 40) {
|
||||
|
||||
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 < 40) {
|
||||
|
||||
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 < 30) {
|
||||
|
||||
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();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
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);
|
||||
|
||||
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);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPower(turret_detectBlueClose);
|
||||
robot.turr2.setPower(1 - turret_detectBlueClose);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
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(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
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 +1,771 @@
|
||||
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 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.SequentialAction;
|
||||
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.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.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
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() {
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
detectTag();
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
double turretPID = servo.setTurrPos(turret_redClose);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose);
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, int vel){
|
||||
return new Action() {
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !servo.spinEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
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 < 40) {
|
||||
|
||||
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 < 40) {
|
||||
|
||||
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 < 30) {
|
||||
|
||||
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();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
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(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void detectTag(){
|
||||
AprilTagDetection d20 = aprilTag.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTag.getTagById(24);
|
||||
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,661 +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 com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
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;
|
||||
public static 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 = 0.95;
|
||||
}
|
||||
|
||||
void spin2PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
}
|
||||
|
||||
void reverseSpin2PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
|
||||
void spin3PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
}
|
||||
|
||||
void oddSpin3PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
||||
driverSlotGreen = 0;
|
||||
passengerSlotGreen = 0;
|
||||
rearSlotGreen = 0;
|
||||
}
|
||||
ticker++;
|
||||
servos.setTransferPos(transferServo_out);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
light.setState(StateEnums.LightState.GOAL_LOCK);
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
TELE.addData("Most Green Slot", mostGreenSlot);
|
||||
TELE.addData("Driver Slot Greeness", driverSlotGreen);
|
||||
TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
|
||||
TELE.addData("Rear Greeness", rearSlotGreen);
|
||||
TELE.update();
|
||||
|
||||
if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
|
||||
|
||||
spindexerWiggle *= -1.0;
|
||||
|
||||
servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
|
||||
|
||||
|
||||
// Rear Center (Position 1)
|
||||
double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
|
||||
if (distanceRearCenter < 52) {
|
||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
||||
double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
||||
if (gP1 >= 0.38) {
|
||||
rearSlotGreen++;
|
||||
}
|
||||
}
|
||||
|
||||
// Front Driver (Position 2)
|
||||
double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
|
||||
if (distanceFrontDriver < 50) {
|
||||
NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
|
||||
double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
|
||||
if (gP2 >= 0.4) {
|
||||
driverSlotGreen++;
|
||||
}
|
||||
}
|
||||
|
||||
// Front Passenger (Position 3)
|
||||
double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
|
||||
if (distanceFrontPassenger < 29) {
|
||||
NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
|
||||
double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
|
||||
if (gP3 >= 0.4) {
|
||||
passengerSlotGreen++;
|
||||
}
|
||||
}
|
||||
|
||||
spindexer.setIntakePower(-0.1);
|
||||
|
||||
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) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else if (mostGreenSlot == 2) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
} else {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95; }
|
||||
} else if (motif_id == 22) {
|
||||
if (mostGreenSlot == 1) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else if (mostGreenSlot == 2) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.03;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (mostGreenSlot == 1) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
} else if (mostGreenSlot == 2) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95; }
|
||||
}
|
||||
|
||||
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 = servos.getSpinPos() > spinEndPos;
|
||||
} else {
|
||||
end = servos.getSpinPos() < 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()) {
|
||||
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;
|
||||
int prevMotif = 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();
|
||||
|
||||
if (prevMotif == motif){
|
||||
ticker++;
|
||||
}
|
||||
prevMotif = motif;
|
||||
|
||||
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() || ticker > 10;
|
||||
|
||||
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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -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 +1,5 @@
|
||||
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 = 140;
|
||||
public static double bx2a = 41, by2a = -18, bh2a = -140;
|
||||
|
||||
public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
|
||||
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 +1,33 @@
|
||||
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 Pose2d goalPose = new Pose2d(-15, 0, 0);
|
||||
|
||||
public static double rx1 = 45, ry1 = -7, rh1 = 0;
|
||||
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
|
||||
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
|
||||
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 45, by1 = 6, bh1 = 0;
|
||||
public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
|
||||
public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
|
||||
|
||||
}
|
||||
@@ -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);
|
||||
|
||||
}
|
||||
@@ -5,43 +5,41 @@ import com.acmerobotics.dashboard.config.Config;
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos1 = 0.22; //0.13;
|
||||
public static double spindexer_intakePos1 = 0.34;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.41; //0.33;//0.5;
|
||||
public static double spindexer_intakePos2 = 0.5;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.60; //0.53;//0.66;
|
||||
public static double spindexer_intakePos3 = 0.66;
|
||||
|
||||
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 = 0.42;
|
||||
|
||||
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 = 0.74;
|
||||
public static double spindexer_outtakeBall1 = 0.58;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
public static double transferServo_in = 0.38;
|
||||
|
||||
public static double hoodAuto = 0.27;
|
||||
public static double turret_range = 0.9;
|
||||
|
||||
public static double hoodOffset = -0.04; // offset from 0.93
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double turret_redClose = 0;
|
||||
public static double turret_blueClose = 0;
|
||||
public static double hoodAuto = 0.55;
|
||||
|
||||
// These values are ADDED to turrDefault
|
||||
public static double redObeliskTurrPos0 = -0.35;
|
||||
public static double redObeliskTurrPos1 = 0.15;
|
||||
public static double redObeliskTurrPos2 = 0.16;
|
||||
public static double redObeliskTurrPos3 = 0.17;
|
||||
public static double blueObeliskTurrPos0 = 0.35;
|
||||
public static double blueObeliskTurrPos1 = -0.15;
|
||||
public static double blueObeliskTurrPos2 = -0.16;
|
||||
public static double blueObeliskTurrPos3 = -0.17;
|
||||
public static double redTurretShootPos = 0.05;
|
||||
public static double blueTurretShootPos = -0.05;
|
||||
public static double hoodAutoFar = 0.5; //TODO: change this;
|
||||
|
||||
public static double hoodHigh = 0.21; //TODO: change this;
|
||||
|
||||
public static double hoodLow = 1.0; //TODO: change this;
|
||||
|
||||
public static double turret_redClose = 0.42;
|
||||
public static double turret_blueClose = 0.38;
|
||||
public static double turret_redFar = 0.5; //TODO: change this
|
||||
public static double turret_blueFar = 0.5; // TODO: change this
|
||||
|
||||
public static double turret_detectRedClose = 0.2;
|
||||
|
||||
public static double turret_detectBlueClose = 0.6;
|
||||
public static double turrDefault = 0.40;
|
||||
|
||||
}
|
||||
|
||||
@@ -1,13 +1,24 @@
|
||||
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;
|
||||
|
||||
public static double turret_Range = 355;
|
||||
|
||||
public static int velTolerance = 300;
|
||||
|
||||
public static int initTolerance = 1000;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
public static double waitTransferOut = 0.3;
|
||||
public static double waitTransfer = 0.4;
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3175; //3300;
|
||||
|
||||
public static int AUTO_CLOSE_VEL = 3025; //3300;
|
||||
public static int AUTO_FAR_VEL = 4000; //TODO: test this
|
||||
}
|
||||
@@ -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;
|
||||
@@ -56,15 +46,56 @@ 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 class Params {
|
||||
// IMU orientation
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4* Math.PI; // shared with path
|
||||
public double maxAngAccel = 4* Math.PI;
|
||||
|
||||
// path controller gains
|
||||
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 =
|
||||
@@ -74,15 +105,117 @@ public final class MecanumDrive {
|
||||
));
|
||||
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;
|
||||
|
||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
||||
private Rotation2d lastHeading;
|
||||
private boolean initialized;
|
||||
private Pose2d pose;
|
||||
|
||||
public DriveLocalizer(Pose2d pose) {
|
||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
||||
|
||||
imu = lazyImu.get();
|
||||
|
||||
// TODO: reverse encoders if needed
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PoseVelocity2d update() {
|
||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
||||
|
||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
||||
|
||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
||||
|
||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
||||
|
||||
if (!initialized) {
|
||||
initialized = true;
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
|
||||
}
|
||||
|
||||
double headingDelta = heading.minus(lastHeading);
|
||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
pose = pose.plus(new Twist2d(
|
||||
twist.line.value(),
|
||||
headingDelta
|
||||
));
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
|
||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
||||
|
||||
@@ -135,191 +268,12 @@ public final class MecanumDrive {
|
||||
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
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.001367789463080072;
|
||||
public double trackWidthTicks = 6913.070212622687;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.23;
|
||||
public double kV = 0.00035;
|
||||
public double kA = 0.00008;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 70;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 70;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
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 axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
public double headingVelGain = 0.0; // shared with turn
|
||||
}
|
||||
|
||||
public class DriveLocalizer implements Localizer {
|
||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||
public final IMU imu;
|
||||
|
||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
||||
private Rotation2d lastHeading;
|
||||
private boolean initialized;
|
||||
private Pose2d pose;
|
||||
|
||||
public DriveLocalizer(Pose2d pose) {
|
||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
||||
|
||||
imu = lazyImu.get();
|
||||
|
||||
// TODO: reverse encoders if needed
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PoseVelocity2d update() {
|
||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
||||
|
||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
||||
|
||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
||||
|
||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
||||
|
||||
if (!initialized) {
|
||||
initialized = true;
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
|
||||
}
|
||||
|
||||
double headingDelta = heading.minus(lastHeading);
|
||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
pose = pose.plus(new Twist2d(
|
||||
twist.line.value(),
|
||||
headingDelta
|
||||
));
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
|
||||
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());
|
||||
|
||||
@@ -0,0 +1,903 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
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.tests.PIDServoTest.*;
|
||||
|
||||
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.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.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TeleopV2 extends LinearOpMode {
|
||||
Servos servo;
|
||||
Flywheel flywheel;
|
||||
public static double manualVel = 3000;
|
||||
public static double hood = 0.5;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
public static double desiredTurretAngle = 180;
|
||||
public static double velMultiplier = 20;
|
||||
public static double shootStamp2 = 0.0;
|
||||
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
public boolean autoHood = true;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
public double shootStamp = 0.0;
|
||||
public boolean circle = false;
|
||||
public boolean square = false;
|
||||
public boolean triangle = false;
|
||||
double autoHoodOffset = 0.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
int camTicker = 0;
|
||||
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<>();
|
||||
boolean oddBallColor = false;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
MecanumDrive drive;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shoot1 = false;
|
||||
// Make these class-level flags
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
|
||||
boolean outtake1 = false;
|
||||
boolean outtake2 = false;
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean emergency = false;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
private double lastTimeStamp = 0.0;
|
||||
private double velo1, velo;
|
||||
private double stamp1, stamp, initPos;
|
||||
private boolean shootAll = false;
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double spindexPID = 0.0;
|
||||
double spindexPos = spindexer_intakePos1;
|
||||
double error = 0.0;
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
// linear interpolation between 40->2650 and 120->3600
|
||||
double slope = (3700.0 - 2750.0) / (100.0 - 30);
|
||||
return (int) Math.round(2750 + slope * (distance - 30));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@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);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
servo = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel();
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
Pose2d shootPos = teleStart;
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()) {
|
||||
|
||||
//DRIVETRAIN:
|
||||
|
||||
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);
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
//TODO: make sure changing position works throughout opmode
|
||||
if (!servo.spinEqual(spindexPos)){
|
||||
spindexPID = servo.setSpinPos(spindexPos);
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
} else{
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
}
|
||||
|
||||
//INTAKE:
|
||||
|
||||
if (gamepad1.rightBumperWasPressed()) {
|
||||
intake = !intake;
|
||||
reject = false;
|
||||
shootAll = false;
|
||||
emergency = false;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()) {
|
||||
intake = false;
|
||||
emergency = !emergency;
|
||||
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
spindexPos = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
spindexPos = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
|
||||
} else if (reject) {
|
||||
robot.intake.setPower(-1);
|
||||
spindexPos = spindexer_intakePos1;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
//COLOR:
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s3G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s3.add(true);
|
||||
} else {
|
||||
s3.add(false);
|
||||
}
|
||||
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (!s1.isEmpty()) {
|
||||
green1 = checkGreen(s1, s1T);
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
|
||||
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
//TURRET:
|
||||
|
||||
double offset;
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotX = robX - xOffset;
|
||||
double robotY = robY - yOffset;
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -10;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = goalX - robotX; // delta x from robot to goal
|
||||
double dy = goalY - robotY; // delta y from robot to goal
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
|
||||
|
||||
desiredTurretAngle += manualOffset;
|
||||
|
||||
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
|
||||
|
||||
if (offset > 135) {
|
||||
offset -= 360;
|
||||
}
|
||||
|
||||
//TODO: test the camera teleop code
|
||||
double pos = turrDefault + (error/8); // adds the overall error to the default
|
||||
|
||||
TELE.addData("offset", offset);
|
||||
|
||||
pos -= offset * (0.9 / 360);
|
||||
|
||||
if (pos < 0.02) {
|
||||
pos = 0.02;
|
||||
} else if (pos > 0.97) {
|
||||
pos = 0.97;
|
||||
}
|
||||
|
||||
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
|
||||
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
|
||||
|
||||
double bearing = 0.0;
|
||||
if (d20 != null || d24 != null){
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
}
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
}
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos() - (bearing/1300);
|
||||
TELE.addData("Bear", bearing);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
|
||||
|
||||
// deadband: ignore tiny noise
|
||||
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
|
||||
// only accumulate if bearing direction is consistent
|
||||
if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
|
||||
error += bearingCorrection;
|
||||
}
|
||||
}
|
||||
|
||||
camTicker++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
|
||||
if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4100;
|
||||
} 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;
|
||||
}
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualOffset = 0;
|
||||
manualTurret = false;
|
||||
if (gamepad2.left_bumper) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
|
||||
sleep(1200);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y < -0.5) {
|
||||
autoHood = true;
|
||||
} else if (gamepad2.left_stick_y > 0.5) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
//SHOOT ALL:]
|
||||
|
||||
if (emergency) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
|
||||
if (getRuntime() % 3 > 1.5) {
|
||||
spindexPos = 1;
|
||||
} else {
|
||||
spindexPos = 0;
|
||||
}
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
} else if (shootAll) {
|
||||
|
||||
TELE.addData("100% works", shootOrder);
|
||||
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
case 1:
|
||||
shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
|
||||
TELE.addData("shootA", shootA);
|
||||
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootA;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
|
||||
TELE.addData("shootB", shootB);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootB;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
|
||||
TELE.addData("shootC", shootC);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootC;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// Remove from the list only if shooting is complete
|
||||
if (shootingDone) {
|
||||
shootOrder.remove(0);
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
// Finished shooting all balls
|
||||
spindexPos = spindexer_intakePos1;
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
|
||||
shootOrder.clear();
|
||||
|
||||
// Determine shooting order based on button pressed
|
||||
// square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
// // Right bumper shoots all balls fastest, ignoring colors
|
||||
// if (gamepad2.leftBumperWasPressed()) {
|
||||
// shootOrder.clear();
|
||||
// shootStamp = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// // Fastest order (example: slot 3 → 2 → 1)
|
||||
//
|
||||
// if (ballIn(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
// if (ballIn(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
// shootAll = true;
|
||||
// shootPos = drive.localizer.getPose();
|
||||
//
|
||||
// }
|
||||
//
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = true;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
emergency = false;
|
||||
}
|
||||
|
||||
//MISC:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
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("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
aprilTagWebcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// Returns color of ball in slot i (1-based)
|
||||
boolean getBallColor(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
return green1;
|
||||
case 2:
|
||||
return green2;
|
||||
case 3:
|
||||
return green3;
|
||||
}
|
||||
return false; // default
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
|
||||
if (!s1T.isEmpty()) {
|
||||
|
||||
return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 2:
|
||||
|
||||
if (!s2T.isEmpty()) {
|
||||
|
||||
return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 3:
|
||||
|
||||
if (!s3T.isEmpty()) {
|
||||
|
||||
return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
|
||||
|
||||
}
|
||||
}
|
||||
return true; // default
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -0,0 +1,793 @@
|
||||
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.Disabled;
|
||||
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
|
||||
@Disabled
|
||||
public class old 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();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
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.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@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());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
// ----- COLOR 1 -----
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
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;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
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;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -1,13 +1,10 @@
|
||||
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;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
@@ -21,49 +18,36 @@ public class ColorTest extends LinearOpMode {
|
||||
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()){
|
||||
|
||||
|
||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
||||
|
||||
double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
||||
|
||||
double dist1 = robot.color1.getDistance(DistanceUnit.MM);
|
||||
color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", gP1);
|
||||
TELE.addData("Color1 distance (mm)", color1Distance);
|
||||
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
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();
|
||||
}
|
||||
|
||||
@@ -16,7 +16,8 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class IntakeTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@@ -71,19 +72,19 @@ public class IntakeTest extends LinearOpMode {
|
||||
initPos = currentPos;
|
||||
}
|
||||
if (reverse){
|
||||
robot.spin1.setPosition(manualPow);
|
||||
robot.spin2.setPosition(-manualPow);
|
||||
robot.spin1.setPower(manualPow);
|
||||
robot.spin2.setPower(-manualPow);
|
||||
} else {
|
||||
robot.spin1.setPosition(-manualPow);
|
||||
robot.spin2.setPosition(manualPow);
|
||||
robot.spin1.setPower(-manualPow);
|
||||
robot.spin2.setPower(manualPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
stamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
@@ -190,15 +191,15 @@ public class IntakeTest extends LinearOpMode {
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos);
|
||||
robot.spin1.setPosition(powPID);
|
||||
robot.spin2.setPosition(-powPID);
|
||||
robot.spin1.setPower(powPID);
|
||||
robot.spin2.setPower(-powPID);
|
||||
|
||||
steadySpin = false;
|
||||
wasMoving = true; // remember we were moving
|
||||
stamp = getRuntime();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
steadySpin = true;
|
||||
wasMoving = false;
|
||||
}
|
||||
|
||||
@@ -4,35 +4,32 @@ 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.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
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;
|
||||
import java.util.List;
|
||||
|
||||
@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 pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
|
||||
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 {
|
||||
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
robot = new Robot(hardwareMap);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
limelight.start();
|
||||
while (opModeIsActive()){
|
||||
if (mode == 0){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
@@ -41,29 +38,40 @@ public class LimelightTest extends LinearOpMode {
|
||||
}
|
||||
}
|
||||
} 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);
|
||||
}
|
||||
limelight.pipelineSwitch(1);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
int id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
if (turretMode){
|
||||
if (turretPos != 0.501){
|
||||
turret.setTurret(turretPos);
|
||||
}
|
||||
} else if (mode == 2){
|
||||
limelight.pipelineSwitch(4);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else if (mode == 3){
|
||||
limelight.pipelineSwitch(5);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else {
|
||||
limelight.pipelineSwitch(0);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -6,9 +6,13 @@ 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 com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
public static double p = 2, i = 0, d = 0, f = 0;
|
||||
@@ -29,7 +33,7 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0.001);
|
||||
controller.setTolerance(0);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
@@ -40,16 +44,25 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
if (mode == 1) {
|
||||
|
||||
if (mode == 0) {
|
||||
pos = scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.turr1.setPower(pid);
|
||||
robot.turr2.setPower(-pid);
|
||||
} else 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);
|
||||
robot.spin1.setPower(pid);
|
||||
robot.spin2.setPower(-pid);
|
||||
}
|
||||
|
||||
telemetry.addData("pos", pos);
|
||||
telemetry.addData("Turret Voltage", robot.turr1Pos.getVoltage());
|
||||
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
|
||||
telemetry.addData("target", target);
|
||||
telemetry.addData("Mode", mode);
|
||||
@@ -58,5 +71,4 @@ public class PIDServoTest extends LinearOpMode {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,67 +1,32 @@
|
||||
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 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;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
public static int mode = 1;
|
||||
|
||||
public static int mode = 0;
|
||||
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;
|
||||
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
|
||||
public static double transferPower = 1.0;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double turretPos = 0.501;
|
||||
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 double spinPow = 0.09;
|
||||
|
||||
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 ;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
@@ -69,136 +34,47 @@ public class ShooterTest extends LinearOpMode {
|
||||
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));
|
||||
flywheel = new Flywheel();
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
Turret.limelightUsed = true;
|
||||
|
||||
waitForStart();
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(4);
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
//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();
|
||||
|
||||
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);
|
||||
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
|
||||
rightShooter.setPower(powPID);
|
||||
leftShooter.setPower(powPID);
|
||||
TELE.addData("PIDPower", powPID);
|
||||
}
|
||||
|
||||
if (hoodPos != 0.501) {
|
||||
if (enableHoodAutoOpen) {
|
||||
robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodPos + hoodOffset);
|
||||
}
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
robot.intake.setPower(1);
|
||||
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
if (turretPos != 0.501) {
|
||||
robot.turr1.setPower(turretPos);
|
||||
robot.turr2.setPower(turretPos);
|
||||
}
|
||||
|
||||
|
||||
robot.transfer.setPower(transferPower);
|
||||
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();
|
||||
}
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
spindexer.processIntake();
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
@@ -1,107 +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.ftc.Actions;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
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
|
||||
@TeleOp
|
||||
public class SortingTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
AutoActions autoActions;
|
||||
Light light;
|
||||
@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);
|
||||
|
||||
int motif = 21;
|
||||
boolean intaking = true;
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
spindexer.setIntakePower(1);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
if (gamepad1.crossWasPressed()){
|
||||
motif = 21;
|
||||
} else if (gamepad1.squareWasPressed()){
|
||||
motif = 22;
|
||||
} else if (gamepad1.triangleWasPressed()){
|
||||
motif = 23;
|
||||
}
|
||||
flywheel.manageFlywheel(2500);
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()){
|
||||
intaking = false;
|
||||
Actions.runBlocking(
|
||||
autoActions.prepareShootAll(
|
||||
3,
|
||||
5,
|
||||
motif,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
)
|
||||
);
|
||||
} else if (gamepad1.rightBumperWasPressed()){
|
||||
intaking = false;
|
||||
Actions.runBlocking(
|
||||
autoActions.shootAllAuto(
|
||||
3.5,
|
||||
0.014
|
||||
)
|
||||
);
|
||||
intaking = true;
|
||||
} else if (intaking){
|
||||
spindexer.processIntake();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
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 com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
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 int spindexPos = 1;
|
||||
|
||||
public static boolean intake = true;
|
||||
|
||||
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);
|
||||
|
||||
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();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
ticker++;
|
||||
|
||||
if (AutoTrack){
|
||||
hoodPos = hoodAnglePrediction(distance);
|
||||
vel = velPrediction(distance);
|
||||
}
|
||||
|
||||
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
shooter.setManualPower(pow);
|
||||
|
||||
robot.hood.setPosition(hoodPos);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
if (intake) {
|
||||
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) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,87 +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 +1,93 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
public PIDFCoefficients shooterPIDF1, shooterPIDF2;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos = 0.0;
|
||||
double velo = 0.0;
|
||||
public double velo1 = 0.0;
|
||||
public double velo2 = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 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 Flywheel () {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
private double getTimeSeconds ()
|
||||
{
|
||||
return (double) System.currentTimeMillis()/1000.0;
|
||||
}
|
||||
|
||||
// Convert from RPM to Ticks per Second
|
||||
private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
|
||||
|
||||
// Convert from Ticks per Second to RPM
|
||||
private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
|
||||
public void manageFlywheel(double commandedVelocity) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
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);
|
||||
currentPos = shooter1CurPos / 2048;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
|
||||
velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
|
||||
}
|
||||
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);
|
||||
// Flywheel control code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500){
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
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));
|
||||
}
|
||||
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class FlywheelV2 {
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
double initPos1 = 0.0;
|
||||
double initPos2 = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos1 = 0.0;
|
||||
double currentPos2 = 0.0;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo1a = 0.0;
|
||||
double velo1b = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public FlywheelV2() {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
currentPos1 = shooter1CurPos / 28;
|
||||
currentPos2 = shooter2CurPos / 28;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
|
||||
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
|
||||
initPos1 = currentPos1;
|
||||
initPos2 = currentPos2;
|
||||
stamp1 = stamp;
|
||||
|
||||
if (velo1a < 200){
|
||||
velo1 = velo1b;
|
||||
} else if (velo1b < 200){
|
||||
velo1 = velo1a;
|
||||
} else {
|
||||
velo1 = (velo1a + velo1b) / 2;
|
||||
}
|
||||
}
|
||||
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||
}
|
||||
|
||||
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds() {
|
||||
return (double) System.currentTimeMillis() / 1000.0;
|
||||
}
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
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));
|
||||
}
|
||||
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,103 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
public class LimelightManager {
|
||||
private Limelight3A limelight;
|
||||
private LLResult lastResult;
|
||||
private int lastFiducialId = -1;
|
||||
private double lastBearing = 0.0;
|
||||
|
||||
public static final int PIPELINE_DEFAULT = 1;
|
||||
public static final int PIPELINE_BLUE_DETECTION = 2;
|
||||
public static final int PIPELINE_RED_DETECTION = 3;
|
||||
|
||||
public enum LimelightMode {
|
||||
OBELISK_DETECTION(PIPELINE_DEFAULT),
|
||||
BLUE_GOAL(PIPELINE_BLUE_DETECTION),
|
||||
RED_GOAL(PIPELINE_RED_DETECTION);
|
||||
|
||||
public final int pipeline;
|
||||
|
||||
LimelightMode(int pipeline) {
|
||||
this.pipeline = pipeline;
|
||||
}
|
||||
}
|
||||
|
||||
public LimelightManager(HardwareMap hardwareMap, boolean enabled) {
|
||||
if (enabled) {
|
||||
this.limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
}
|
||||
}
|
||||
|
||||
public void init() {
|
||||
if (limelight != null) {
|
||||
limelight.start();
|
||||
}
|
||||
}
|
||||
|
||||
public void switchMode(LimelightMode mode) {
|
||||
if (limelight != null) {
|
||||
limelight.pipelineSwitch(mode.pipeline);
|
||||
}
|
||||
}
|
||||
|
||||
public void setPipeline(int pipeline) {
|
||||
if (limelight != null) {
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
}
|
||||
}
|
||||
|
||||
public void update() {
|
||||
if (limelight != null) {
|
||||
lastResult = limelight.getLatestResult();
|
||||
if (lastResult != null && lastResult.isValid()) {
|
||||
lastBearing = lastResult.getTx();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public double getBearing() {
|
||||
return lastBearing;
|
||||
}
|
||||
|
||||
public int detectFiducial() {
|
||||
if (lastResult != null && lastResult.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = lastResult.getFiducialResults();
|
||||
if (!fiducials.isEmpty()) {
|
||||
lastFiducialId = fiducials.get(0).getFiducialId();
|
||||
return lastFiducialId;
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
public int getLastFiducialId() {
|
||||
return lastFiducialId;
|
||||
}
|
||||
|
||||
public boolean isFiducialDetected(int id) {
|
||||
return lastFiducialId == id;
|
||||
}
|
||||
|
||||
public LLResult getLatestResult() {
|
||||
return lastResult;
|
||||
}
|
||||
|
||||
public boolean isConnected() {
|
||||
return limelight != null;
|
||||
}
|
||||
|
||||
public Limelight3A getLimelight() {
|
||||
return limelight;
|
||||
}
|
||||
}
|
||||
@@ -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);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -8,8 +8,6 @@ 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 {
|
||||
@@ -18,30 +16,44 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
Servos servo;
|
||||
|
||||
public static double spindexPos = 0.501;
|
||||
public static double spindexPow = 0.0;
|
||||
public static double spinHoldPow = 0.0;
|
||||
public static double turretPos = 0.501;
|
||||
public static double turretPow = 0.0;
|
||||
public static double turrHoldPow = 0.0;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double light = 0.501;
|
||||
|
||||
Turret turret;
|
||||
public static int mode = 0; //0 for positional, 1 for power
|
||||
|
||||
@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()){
|
||||
if (spindexPos != 0.501){
|
||||
robot.spin1.setPosition(spindexPos);
|
||||
robot.spin2.setPosition(1-spindexPos);
|
||||
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
|
||||
double pos = servo.setSpinPos(spindexPos);
|
||||
robot.spin1.setPower(pos);
|
||||
robot.spin2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.spin1.setPower(spinHoldPow);
|
||||
robot.spin2.setPower(spinHoldPow);
|
||||
} else {
|
||||
robot.spin1.setPower(spindexPow);
|
||||
robot.spin2.setPower(-spindexPow);
|
||||
}
|
||||
if (turretPos != 0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1-turretPos);
|
||||
if (turretPos != 0.501 && !servo.turretEqual(turretPos)){
|
||||
double pos = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(pos);
|
||||
robot.turr2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.turr1.setPower(turrHoldPow);
|
||||
robot.turr2.setPower(turrHoldPow);
|
||||
} else {
|
||||
robot.turr1.setPower(turretPow);
|
||||
robot.turr2.setPower(-turretPow);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
@@ -49,17 +61,13 @@ 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("spindexer", servo.getSpinPos());
|
||||
TELE.addData("turret", servo.getTurrPos());
|
||||
TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("hood voltage", robot.hoodPos.getVoltage());
|
||||
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("tpos ", turret.getTurrPos() );
|
||||
TELE.addData("turret voltage", robot.turr1Pos.getVoltage());
|
||||
TELE.addData("Spin Equal", servo.spinEqual(spindexPos));
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,65 +1,66 @@
|
||||
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.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
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.Servo;
|
||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
@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 turr1;
|
||||
public Servo turr2;
|
||||
|
||||
public Servo spin1;
|
||||
|
||||
public Servo spin2;
|
||||
public Servo rejecter;
|
||||
public CRServo turr1;
|
||||
public CRServo turr2;
|
||||
public CRServo spin1;
|
||||
public CRServo 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 static boolean usingLimelight = true;
|
||||
|
||||
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 +74,57 @@ 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);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooterEncoder = shooter1;
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
|
||||
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
turr1 = hardwareMap.get(CRServo.class, "t1");
|
||||
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
|
||||
|
||||
spin1 = hardwareMap.get(Servo.class, "spin2");
|
||||
turr2 = hardwareMap.get(CRServo.class, "t2");
|
||||
|
||||
turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
|
||||
|
||||
spin1 = hardwareMap.get(CRServo.class, "spin1");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(Servo.class, "spin1");
|
||||
spin2 = hardwareMap.get(CRServo.class, "spin2");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
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");
|
||||
@@ -110,7 +132,10 @@ 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");
|
||||
|
||||
@@ -118,14 +143,8 @@ public class Robot {
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight) {
|
||||
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 +1,60 @@
|
||||
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;
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
|
||||
public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
|
||||
|
||||
private double prevTransferPos = 0.0;
|
||||
private boolean firstTransferPos = true;
|
||||
|
||||
private double prevHoodPos = 0.0;
|
||||
private boolean firstHoodPos = true;
|
||||
public static double spin_scalar = 1.0086;
|
||||
public static double spin_restPos = 0.0;
|
||||
public static double turret_scalar = 1.009;
|
||||
public static double turret_restPos = 0.0;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
//TODO: PID warp so 0 and 1 are usable positions
|
||||
public double setSpinPos(double pos) {
|
||||
if (firstSpinPos || !servoPosEqual(pos, prevSpinPos)) {
|
||||
robot.spin1.setPosition(pos);
|
||||
robot.spin2.setPosition(1-pos);
|
||||
firstSpinPos = false;
|
||||
}
|
||||
spinPID.setPIDF(spinP, spinI, spinD, spinF);
|
||||
|
||||
prevSpinPos = pos;
|
||||
return pos;
|
||||
}
|
||||
|
||||
public void setHoodPos(double pos){
|
||||
if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
|
||||
robot.hood.setPosition(pos + hoodOffset);
|
||||
firstHoodPos = false;
|
||||
}
|
||||
|
||||
prevHoodPos = pos;
|
||||
return spinPID.calculate(this.getSpinPos(), pos);
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos) {
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.03;
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.02;
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return turret_scalar * ((robot.turr1Pos.getVoltage() - turret_restPos) / 3.3);
|
||||
}
|
||||
|
||||
public double setTurrPos(double pos) {
|
||||
turretPID.setPIDF(turrP, turrI, turrD, turrF);
|
||||
|
||||
return spinPID.calculate(this.getTurrPos(), pos);
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos) {
|
||||
return Math.abs(pos - this.getTurrPos()) < 0.01;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,682 +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 < 52) {
|
||||
|
||||
// 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[0].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[0].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[2].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[2].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 >= 0.4) {
|
||||
ballPositions[1].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[1].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;
|
||||
private boolean firstIntakePow = true;
|
||||
public void setIntakePower(double pow){
|
||||
if (firstIntakePow || prevPow != pow){
|
||||
firstIntakePow = false;
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,354 +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.ArrayList;
|
||||
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();
|
||||
double prevTx = -1000;
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
double currentTx = fiducial.getTargetXDegrees();
|
||||
if (currentTx > prevTx){
|
||||
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' }
|
||||
}
|
||||
mavenCentral()
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user