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KeshavAnandCode:master KeshavAnandCode:LimelightPID KeshavAnandCode:SpindexerUpgrades KeshavAnandCode:Targeting KeshavAnandCode:SpindexerPosUpdate KeshavAnandCode:SpindexerRefactor KeshavAnandCode:danielv2 KeshavAnandCode:organize/expand KeshavAnandCode:extracontrolhub KeshavAnandCode:daniel
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compare: KeshavAnandCode:master
Branches Tags
KeshavAnandCode:master KeshavAnandCode:LimelightPID KeshavAnandCode:SpindexerUpgrades KeshavAnandCode:Targeting KeshavAnandCode:SpindexerPosUpdate KeshavAnandCode:SpindexerRefactor KeshavAnandCode:danielv2 KeshavAnandCode:organize/expand KeshavAnandCode:extracontrolhub KeshavAnandCode:daniel

7 Commits
75cfc6e220 ... master

Author SHA1 Message Date
KeshavAnandCode
b235f9787b for daniel 2026-01-31 17:38:27 -06:00
KeshavAnandCode
b670d9f026 best match of our season by far 2026-01-31 16:35:40 -06:00
KeshavAnandCode
3bc0f21a63 hoopefully fixed auton 2026-01-31 15:16:37 -06:00
KeshavAnandCode
8af121a12a Pre panic commit 2026-01-31 15:06:31 -06:00
KeshavAnandCode
53944cccc6 Fixed poses and code for blue auton compatibility on gateOpen Auton...untested 2026-01-31 10:34:57 -06:00
KeshavAnandCode
b5b4b4af50 Practice onced before judging....ig auton is a little bit better...fixed some vars and split a static --> 3 2026-01-31 10:27:28 -06:00
KeshavAnandCode
6e6df07153 Its the most wonderful time of the year 2026-01-31 00:05:54 -06:00
14 changed files with 1374 additions and 1939 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java
View File

@@ -208,7 +208,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
drive.updatePoseEstimate();
Poses_V2.teleStart = drive.localizer.getPose();
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);
@@ -272,7 +272,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
drive.updatePoseEstimate();
Poses_V2.teleStart = drive.localizer.getPose();
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);

88
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
View File

@@ -56,6 +56,7 @@ import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
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;
@@ -63,6 +64,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
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 static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
import androidx.annotation.NonNull;
@@ -94,41 +96,45 @@ import java.util.Objects;
@Config
@Autonomous(preselectTeleOp = "TeleopV3")
public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
public static double shoot0Vel = 2300, shoot0Hood = 0.93 + hoodOffset;
public static double autoSpinStartPos = 0.2;
public static double shoot0SpinSpeedIncrease = 0.015;
public static double spindexerSpeedIncrease = 0.03;
public static double finalSpindexerSpeedIncrease = 0.025;
public static double redObeliskTurrPos1 = 0.52;
public static double redObeliskTurrPos2 = 0.53;
public static double redObeliskTurrPos3 = 0.54;
public static double blueObeliskTurrPos1 = 0.28;
public static double blueObeliskTurrPos2 = 0.27;
public static double blueObeliskTurrPos3 = 0.26;
public static double redObeliskTurrPos1 = turrDefault + 0.12;
public static double redObeliskTurrPos2 = turrDefault + 0.13;
public static double redObeliskTurrPos3 = turrDefault + 0.14;
public static double blueObeliskTurrPos1 = turrDefault - 0.12;
public static double blueObeliskTurrPos2 = turrDefault - 0.13;
public static double blueObeliskTurrPos3 = turrDefault - 0.14;
double obeliskTurrPos1 = 0.0;
double obeliskTurrPos2 = 0.0;
double obeliskTurrPos3 = 0.0;
public static double normalIntakeTime = 3.0;
public static double normalIntakeTime = 3.3;
public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0;
public static double redTurretShootPos = 0.52;
public static double blueTurretShootPos = 0.26;
public static double redTurretShootPos = turrDefault + 0.12;
public static double blueTurretShootPos = turrDefault - 0.14;
double turretShootPos = 0.0;
public static double finalShootAllTime = 3.0;
public static double shootAllTime = 1.8;
public static double shoot0Time = 1.6;
public static double intake1Time = 3.0;
public static double intake1Time = 3.3;
public static double intake2Time = 3.8;
public static double intake3Time = 4.2;
public static double flywheel0Time = 3.5;
public static double pickup1Speed = 19;
public static double pickup1Speed = 23;
// ---- 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;
public static double shootAllHood = 0.78 + hoodOffset;
// ---- PICKUP POSITION TOLERANCES ----
public static double pickup1XTolerance = 2.0;
public static double pickup1YTolerance = 2.0;
@@ -326,7 +332,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
drive.updatePoseEstimate();
Poses_V2.teleStart = drive.localizer.getPose();
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);
@@ -390,7 +396,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
drive.updatePoseEstimate();
Poses_V2.teleStart = drive.localizer.getPose();
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);
@@ -747,7 +753,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
turret = new Turret(robot, TELE, robot.limelight);
turret.manualSetTurret(0.4);
turret.manualSetTurret(turrDefault);
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
@@ -770,11 +776,33 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
while (opModeInInit()) {
robot.hood.setPosition(shoot0Hood);
turret.manualSetTurret(turrDefault);
if (gamepad2.crossWasPressed()) {
redAlliance = !redAlliance;
}
if (gamepad2.dpadLeftWasPressed()) {
turrDefault -=0.01;
}
if (gamepad2.dpadRightWasPressed()) {
turrDefault +=0.01;
}
redObeliskTurrPos1 = turrDefault + 0.12;
redObeliskTurrPos2 = turrDefault + 0.13;
redObeliskTurrPos3 = turrDefault + 0.14;
blueObeliskTurrPos1 = turrDefault - 0.12;
blueObeliskTurrPos2 = turrDefault - 0.13;
blueObeliskTurrPos3 = turrDefault - 0.14;
redTurretShootPos = turrDefault + 0.12;
blueTurretShootPos = turrDefault - 0.14;
if (redAlliance) {
robot.light.setPosition(0.28);
@@ -883,6 +911,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
TELE.addData("Red?", redAlliance);
TELE.addData("Turret Default", turrDefault);
TELE.update();
}
@@ -922,7 +954,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
manageFlywheel(
shootAllVelocity,
shootAllHood,
pickup1Time,
intake1Time,
x2b,
y2b,
pickup1XTolerance,
@@ -982,15 +1014,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
new ParallelAction(
pickup2.build(),
manageShooterAuto(
normalIntakeTime,
intake2Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(normalIntakeTime),
intake(intake2Time),
detectObelisk(
normalIntakeTime,
intake2Time,
0.501,
0.501,
obelisk1XTolerance,
@@ -1033,15 +1065,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
new ParallelAction(
pickup3.build(),
manageShooterAuto(
normalIntakeTime,
intake3Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(normalIntakeTime),
intake(intake3Time),
detectObelisk(
normalIntakeTime,
intake3Time,
0.501,
0.501,
obelisk1XTolerance,
@@ -1069,13 +1101,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
finalShootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
)
);

804
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_GateCycle.java
View File

@@ -1,804 +0,0 @@
package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bHGate;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShoot1Tangent;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootH;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootX;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootY;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bXGate;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bYGate;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh1;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx1;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by1;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rHGate;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShoot1Tangent;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootH;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootX;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootY;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rXGate;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rYGate;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh1;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx1;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry1;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2a;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2b;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2c;
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.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.LinearOpMode;
import com.qualcomm.robotcore.hardware.Servo;
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;
@Autonomous(preselectTeleOp = "TeleopV3")
@Config
public class Auto_LT_Close_GateCycle 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 gatePickupTime = 3.0;
public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0;
public static double turretShootPos = 0.72;
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 = 80.0;
// ---- 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 xShoot, yShoot, hShoot;
private double xGate, yGate, hGate;
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.manualSetTurret(turretShootPos);
robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
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", 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 < 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", velo);
TELE.addLine("shooting");
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);
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();
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;
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;
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;
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;
return !shouldFinish;
}
};
}
@Override
public void runOpMode() throws InterruptedException {
hardwareMap.get(Servo.class, "light").setPosition(0);
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.manualSetTurret(0.4);
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
TrajectoryActionBuilder shoot0 = null;
TrajectoryActionBuilder pickup1 = null;
TrajectoryActionBuilder shoot1 = null;
TrajectoryActionBuilder gatePickup = null;
TrajectoryActionBuilder shootCycle = null;
robot.spin1.setPosition(autoSpinStartPos);
robot.spin2.setPosition(1 - autoSpinStartPos);
robot.transferServo.setPosition(transferServo_out);
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;
t2a = rt2a;
x2b = rx2b;
y2b = ry2b;
h2b = rh2b;
t2b = rt2b;
x2c = rx2c;
y2c = ry2c;
h2c = rh2c;
t2c = rt2c;
xShoot = rShootX;
yShoot = rShootY;
hShoot = rShootH;
shoot1Tangent = rShoot1Tangent;
xGate = rXGate;
yGate = rYGate;
hGate = rHGate;
} else {
robot.light.setPosition(0.6);
// ---- FIRST SHOT ----
x1 = bx1;
y1 = by1;
h1 = bh1;
// ---- PICKUP PATH ----
x2a = bx2a;
y2a = by2a;
h2a = bh2a;
t2a = bt2a;
x2b = bx2b;
y2b = by2b;
h2b = bh2b;
t2b = bt2b;
x2c = bx2c;
y2c = by2c;
h2c = bh2c;
t2c = bt2c;
xShoot = bShootX;
yShoot = bShootY;
hShoot = bShootH;
shoot1Tangent = bShoot1Tangent;
xGate = bXGate;
yGate = bYGate;
hGate = bHGate;
}
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))
.setReversed(true)
.splineTo(new Vector2d(x2a, y2a), shoot1Tangent)
.splineToSplineHeading(new Pose2d(xShoot, yShoot, hShoot), shoot1Tangent);
gatePickup = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
.strafeToLinearHeading(new Vector2d(xGate, yGate), hGate);
shootCycle = drive.actionBuilder(new Pose2d(xGate, yGate, hGate))
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
}
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),
detectObelisk(
obelisk1Time,
x2b,
y2c,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos
)
)
);
motif = turret.detectObelisk();
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)
)
);
while (opModeIsActive()) {
Actions.runBlocking(
new ParallelAction(
gatePickup.build(),
manageShooterAuto(
gatePickupTime,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(gatePickupTime)
)
);
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
shootCycleTime,
0.501,
0.501,
0.501,
0.501
),
shootCycle.build(),
prepareShootAll(shootCycleTime)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
}
}
}
}

58
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_GateOpen.java
View File

@@ -98,22 +98,31 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
public static double autoSpinStartPos = 0.2;
public static double shoot0SpinSpeedIncrease = 0.015;
public static double gateIntakeTime = 5.0;
public static double gateIntakeTime = 5.9; //TODO: Increase ig
public static double spindexerSpeedIncrease = 0.03;
public static double obeliskTurrPos1 = 0.52;
public static double obeliskTurrPos2 = 0.53;
public static double obeliskTurrPos3 = 0.54;
public static double redObeliskTurrPos1 = 0.52;
public static double redObeliskTurrPos2 = 0.53;
public static double blueObeliskTurrPos1 = 0.28;
public static double blueObeliskTurrPos2 = 0.27;
double obeliskTurrPos1 = 0.52;
double obeliskTurrPos2 = 0.53;
public static double normalIntakeTime = 3.0;
public static double shoot1Turr = 0.57;
public static double shoot0XTolerance = 1.0;
public static double turretShootPos = 0.52;
public static double shootAllTime = 1.8;
public static double redTurretShootPos = 0.52;
public static double blueTurretShootPos = 0.26;
double turretShootPos = 0.52;
public static double shootAllTime = 1.9;
public static double shoot0Time = 1.6;
public static double intake1Time = 3.0;
public static double intake1Time = 3.3;
public static double intake2Time = 3.6;
public static double flywheel0Time = 3.5;
public static double pickup1Speed = 19;
public static double pickup1Speed = 25;
// ---- SECOND SHOT / PICKUP ----
public static double shoot1Vel = 2300;
public static double shoot1Hood = 0.93;
@@ -137,7 +146,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
public static double firstShootTime = 0.3;
public static double shootGateTime = 3.0;
public static double gaitWait = 0.8;
public static double gaitWait = 0.45;
public int motif = 0;
Robot robot;
@@ -321,7 +330,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
drive.updatePoseEstimate();
Poses_V2.teleStart = drive.localizer.getPose();
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);
@@ -385,7 +394,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
drive.updatePoseEstimate();
Poses_V2.teleStart = drive.localizer.getPose();
teleStart = drive.localizer.getPose();
robot.intake.setPower(-0.3);
@@ -761,6 +770,8 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
TrajectoryActionBuilder pickup3 = null;
TrajectoryActionBuilder shoot3 = null;
Turret.limelightUsed = false;
robot.light.setPosition(1);
while (opModeInInit()) {
@@ -817,6 +828,11 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
yGate = Poses_V2.rYGate;
hGate = Poses_V2.rHGate;
obeliskTurrPos1 = redObeliskTurrPos1;
obeliskTurrPos2 = redObeliskTurrPos2;
turretShootPos = redTurretShootPos;
} else {
robot.light.setPosition(0.6);
@@ -864,6 +880,10 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
yGate = Poses_V2.bYGate;
hGate = Poses_V2.bHGate;
obeliskTurrPos1 = blueObeliskTurrPos1;
obeliskTurrPos2 = blueObeliskTurrPos2;
turretShootPos = blueTurretShootPos;
}
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
@@ -936,7 +956,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
manageFlywheel(
shootAllVelocity,
shootAllHood,
normalIntakeTime,
intake2Time,
0.501,
0.501,
0.501,
@@ -944,7 +964,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
),
intake(intake1Time),
detectObelisk(
intake1Time,
intake2Time,
0.501,
0.501,
obelisk1XTolerance,
@@ -994,8 +1014,8 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
gatePickup.build(),
manageShooterAuto(
gateIntakeTime,
x2b,
y2b,
0.501,
0.501,
pickup1XTolerance,
pickup1YTolerance
),
@@ -1044,20 +1064,20 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
new ParallelAction(
pickup1.build(),
manageShooterAuto(
normalIntakeTime,
intake1Time,
0.501,
0.501,
pickup1XTolerance,
pickup1YTolerance
),
intake(normalIntakeTime),
intake(intake1Time),
detectObelisk(
normalIntakeTime,
intake1Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos3
obeliskTurrPos1
)
)

1126
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far_Indexed.java Normal file
View File

File diff suppressed because it is too large Load Diff

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -24,23 +24,23 @@ public class Poses {
public static double rx3aG = 60, ry3aG = 34, rh3aG = Math.toRadians(140);
public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
public static double rx3b = 36, ry3b = 58, rh3b = Math.toRadians(140.1);
public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
public static double bx2b = 23, by2b = -36, bh2b = Math.toRadians(-140.1);
public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
public static double bx3b = 38, by3b = -56, bh3b = Math.toRadians(-140.1);
public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
public static double bx4b = 45, by4b = -83, bh4b = Math.toRadians(-140.1);
public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);

51
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java
View File

@@ -10,55 +10,16 @@ public class Poses_V2 {
public static double turretHeight = 12;
public static double relativeGoalHeight = goalHeight - turretHeight;
public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
public static Pose2d goalPose = new Pose2d(-10, 0, 0);
public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
public static double rx1 = 20, ry1 = 0, rh1 = 0;
public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a = Math.toRadians(Math.PI/2);
public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b = Math.toRadians(Math.PI/2);
public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c = Math.toRadians(Math.PI/2);
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 rXGateA = 27, rYGateA = 56, rHGateA = Math.toRadians(160);
public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
public static double rXGateB = 40, rYGateB = 43, rHGateB = Math.toRadians(159);
public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
public static double bx1 = 20, by1 = 0, bh1 = 0;
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a = Math.toRadians(140);
public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b = Math.toRadians(140);
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c = Math.toRadians(140);
public static double rShootX = 40, rShootY = 7, rShootH = Math.toRadians(140);
public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
public static double bXGateA = 33, bYGateA = 61, bHGateA = Math.toRadians(165);
public static double bXGateB = 33, bYGateB = 61, bHGateB = Math.toRadians(165);
public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165);
public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
public static double rShoot1Tangent = Math.toRadians(0);
public static double bShoot1Tangent = Math.toRadians(0);
public static Pose2d teleStart = new Pose2d(0, 0, 0);
}

21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
View File

@@ -5,11 +5,11 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class ServoPositions {
public static double spindexer_intakePos1 = 0.05; //0.13;
public static double spindexer_intakePos1 = 0.07; //0.13;
public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
@@ -33,24 +33,11 @@ public class ServoPositions {
public static double hoodAuto = 0.27;
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 hoodOffset = -0.05;
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 = 0.4;
public static double turrMin = 0.2;
public static double turrMax = 0.8;
}

898
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
View File

@@ -1,898 +0,0 @@
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.Disabled;
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;
@Disabled
@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(hardwareMap);
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);
//TODO: make sure changing position works throughout opmode
if (!servo.spinEqual(spindexPos)){
spindexPID = servo.setSpinPos(spindexPos);
robot.spin1.setPosition(spindexPID);
robot.spin2.setPosition(-spindexPID);
} else{
robot.spin1.setPosition(0);
robot.spin2.setPosition(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.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
}
}

59
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -2,7 +2,6 @@ package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -37,16 +36,13 @@ public class TeleopV3 extends LinearOpMode {
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
public static double spinSpeedIncrease = 0.03;
public static int resetSpinTicks = 4;
public static double hoodSpeedOffset = 0.01;
public static double turretSpeedOffset = 0.01;
public double vel = 3000;
public boolean autoVel = true;
public boolean targetingHood = true;
public static double manualOffset = 0.0;
public boolean autoHood = true;
public double shootStamp = 0.0;
public static double hoodSpeedOffset = 0.01;
public static double turretSpeedOffset = 0.01;
boolean fixedTurret = false;
Robot robot;
MultipleTelemetry TELE;
@@ -66,7 +62,6 @@ public class TeleopV3 extends LinearOpMode {
double headingOffset = 0.0;
int ticker = 0;
double hoodOffset = 0.0;
boolean autoSpintake = false;
boolean enableSpindexerManager = true;
@@ -113,6 +108,9 @@ public class TeleopV3 extends LinearOpMode {
}
}
limelightUsed= true;
waitForStart();
if (isStopRequested()) return;
@@ -196,32 +194,30 @@ public class TeleopV3 extends LinearOpMode {
if (targetingHood) {
robot.hood.setPosition(targetingSettings.hoodAngle + autoHoodOffset);
} else {
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
robot.hood.setPosition(hoodDefaultPos);
}
if (gamepad2.dpadUpWasPressed()) {
hoodOffset -= hoodSpeedOffset;
autoHoodOffset -= hoodSpeedOffset;
gamepad2.rumble(80);
} else if (gamepad2.dpadDownWasPressed()) {
hoodOffset += hoodSpeedOffset;
autoHoodOffset += hoodSpeedOffset;
gamepad2.rumble(80);
}
if (gamepad2.dpadLeftWasPressed()){
manualOffset -= turretSpeedOffset;
if (gamepad2.dpadLeftWasPressed()) {
Turret.manualOffset -= turretSpeedOffset;
gamepad2.rumble(80);
} else if (gamepad2.dpadRightWasPressed()){
manualOffset += turretSpeedOffset;
} else if (gamepad2.dpadRightWasPressed()) {
Turret.manualOffset += turretSpeedOffset;
gamepad2.rumble(80);
}
if (gamepad2.rightBumperWasPressed()){
if (gamepad2.rightBumperWasPressed()) {
limelightUsed = true;
gamepad2.rumble(80);
} else if (gamepad2.leftBumperWasPressed()){
} else if (gamepad2.leftBumperWasPressed()) {
limelightUsed = false;
gamepad2.rumble(80);
}
@@ -230,6 +226,8 @@ public class TeleopV3 extends LinearOpMode {
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
}
if (enableSpindexerManager) {
//if (!shootAll) {
spindexer.processIntake();
@@ -238,6 +236,9 @@ public class TeleopV3 extends LinearOpMode {
// RIGHT_BUMPER
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
robot.intake.setPower(1);
} else if (gamepad1.cross) {
robot.intake.setPower(-1);
} else {
robot.intake.setPower(0);
@@ -317,18 +318,20 @@ public class TeleopV3 extends LinearOpMode {
// TELE.addData("spinTestCounter", spindexer.counter);
// TELE.addData("autoSpintake", autoSpintake);
//
// TELE.addData("shootall commanded", shootAll);
// // Targeting Debug
// TELE.addData("robotX", robotX);
// TELE.addData("robotY", robotY);
// TELE.addData("robotInchesX", targeting.robotInchesX);
// TELE.addData( "robotInchesY", targeting.robotInchesY);
// TELE.addData("Targeting Interpolate", turretInterpolate);
// TELE.addData("Targeting GridX", targeting.robotGridX);
// TELE.addData("Targeting GridY", targeting.robotGridY);
// TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
// TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
// TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
TELE.addData("shootall commanded", shootAll);
// Targeting Debug
TELE.addData("robotX", robotX);
TELE.addData("robotY", robotY);
TELE.addData("robotInchesX", targeting.robotInchesX);
TELE.addData( "robotInchesY", targeting.robotInchesY);
TELE.addData("Targeting Interpolate", turretInterpolate);
TELE.addData("Targeting GridX", targeting.robotGridX);
TELE.addData("Targeting GridY", targeting.robotGridY);
TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
TELE.update();
ticker++;
}

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/Test.java Normal file
View File

@@ -0,0 +1,15 @@
package org.firstinspires.ftc.teamcode.teleop;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@Config
@TeleOp
public class Test extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
View File

@@ -201,7 +201,7 @@ public class Spindexer {
// Position 2
// Find which ball position this is in the spindexer
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
if (distanceFrontDriver < 50) {
if (distanceFrontDriver < 56) {
// reset FoundEmpty because looking for 3 in a row before reset
ballPositions[spindexerBallPos].foundEmpty = 0;
if (detectFrontColor) {

150
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
View File

@@ -1,60 +1,36 @@
package org.firstinspires.ftc.teamcode.utils;
import android.provider.Settings;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
public class Targeting {
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 final int TILE_UPPER_QUARTILE = 18;
public final int TILE_LOWER_QUARTILE = 6;
public double robotInchesX, robotInchesY = 0.0;
public int robotGridX, robotGridY = 0;
public static class Settings {
public double flywheelRPM = 0.0;
public double hoodAngle = 0.0;
public Settings (double flywheelRPM, double hoodAngle) {
this.flywheelRPM = flywheelRPM;
this.hoodAngle = hoodAngle;
}
}
// Known settings discovered using shooter test.
// Keep the fidelity at 1 floor tile for now but we could also half it if more
// accuracy is needed.
public static final Settings[][] KNOWNTARGETING;
static {
KNOWNTARGETING = new Settings[6][6];
// ROW 0 - Closet to the goals
KNOWNTARGETING[0][0] = new Settings (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);
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][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);
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);
@@ -62,37 +38,47 @@ public class Targeting {
// 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);
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);
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);
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);
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 Targeting()
{
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 Targeting() {
}
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
@@ -111,8 +97,8 @@ public class Targeting {
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)robotInchesX, tileSize);
int remX = Math.floorMod((int) robotInchesX, tileSize);
int remY = Math.floorMod((int) robotInchesX, tileSize);
// Determine if we need to interpolate based on tile position.
// if near upper or lower quarter or tile interpolate with next tile.
@@ -122,7 +108,7 @@ public class Targeting {
int y1 = 0;
interpolate = false;
if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
(robotGridX < 5) && (robotGridY <5)) {
(robotGridX < 5) && (robotGridY < 5)) {
// +X, +Y
interpolate = true;
x0 = robotGridX;
@@ -186,14 +172,20 @@ public class Targeting {
}
//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 {
robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
}
// basic search
if(true) { //!interpolate) {
if ((robotGridY < 6) && (robotGridX <6)) {
if (true) { //!interpolate) {
if ((robotGridY < 6) && (robotGridX < 6)) {
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
}
return recommendedSettings;
} else {
@@ -220,9 +212,19 @@ public class Targeting {
// 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;
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;
}
}
}

25
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
View File

@@ -1,8 +1,5 @@
package org.firstinspires.ftc.teamcode.utils;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.manualOffset;
import static java.lang.Math.abs;
import com.acmerobotics.dashboard.config.Config;
@@ -24,11 +21,13 @@ public class Turret {
public static double turretTolerance = 0.02;
public static double turrPosScalar = 0.00011264432;
public static double turret180Range = 0.4;
public static double turrDefault = 0.4;
public static double turrDefault = 0.39;
public static double turrMin = 0.15;
public static double turrMax = 0.85;
public static boolean limelightUsed = true;
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
@@ -36,28 +35,23 @@ public class Turret {
// TODO: tune these values for limelight
public static double clampTolerance = 0.03;
public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
Robot robot;
MultipleTelemetry TELE;
Limelight3A webcam;
double tx = 0.0;
double ty = 0.0;
double limelightPosX = 0.0;
double limelightPosY = 0.0;
LLResult result;
boolean bearingAligned = false;
private boolean lockOffset = false;
private int obeliskID = 0;
private double offset = 0.0;
private double currentTrackOffset = 0.0;
private int currentTrackCount = 0;
private double permanentOffset = 0.0;
LLResult result;
private PIDController bearingPID;
public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
boolean bearingAligned = false;
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
this.TELE = tele;
@@ -149,8 +143,7 @@ public class Turret {
Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
*/
private double bearingAlign (LLResult llResult) {
private double bearingAlign(LLResult llResult) {
double bearingOffset = 0.0;
double targetTx = llResult.getTx(); // How far left or right the target is (degrees)
final double MIN_OFFSET_POWER = 0.15;
@@ -166,8 +159,7 @@ public class Turret {
}
// Only with valid data and if too far off target
if (llResult.isValid() && !bearingAligned)
{
if (llResult.isValid() && !bearingAligned) {
// Adjust Robot Speed based on how far the target is located
// Only drive at half speed max
@@ -189,7 +181,6 @@ public class Turret {
return bearingOffset;
}
public void trackGoal(Pose2d deltaPos) {
/* ---------------- FIELD → TURRET GEOMETRY ---------------- */