Compare commits
18 Commits
7a2b275e66
...
extracontr
| Author | SHA1 | Date | |
|---|---|---|---|
| adbe9ad023 | |||
| 37c74fc85f | |||
| 0c9e8c3287 | |||
| 506e45ac19 | |||
| 8b07ed5579 | |||
| c368552724 | |||
| 934cabafc5 | |||
| 05107ab828 | |||
| 7ef9d3a556 | |||
| a84891bc06 | |||
| 21b4b0b4f5 | |||
| 5faa373cad | |||
| 32d481c031 | |||
| 3e8e2c2b4b | |||
| 458b6f53a2 | |||
| aea3f0b2d4 | |||
| bcf59ff458 | |||
| 065bcfa40b |
@@ -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"?>
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||||
xmlns:tools="http://schemas.android.com/tools"
|
xmlns:tools="http://schemas.android.com/tools"
|
||||||
android:versionCode="61"
|
android:versionCode="60"
|
||||||
android:versionName="11.1">
|
android:versionName="11.0">
|
||||||
|
|
||||||
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
|
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
|
||||||
|
|
||||||
|
|||||||
@@ -92,6 +92,7 @@ public class ConceptAprilTag extends LinearOpMode {
|
|||||||
telemetry.update();
|
telemetry.update();
|
||||||
waitForStart();
|
waitForStart();
|
||||||
|
|
||||||
|
if (opModeIsActive()) {
|
||||||
while (opModeIsActive()) {
|
while (opModeIsActive()) {
|
||||||
|
|
||||||
telemetryAprilTag();
|
telemetryAprilTag();
|
||||||
@@ -109,6 +110,7 @@ public class ConceptAprilTag extends LinearOpMode {
|
|||||||
// Share the CPU.
|
// Share the CPU.
|
||||||
sleep(20);
|
sleep(20);
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// Save more CPU resources when camera is no longer needed.
|
// Save more CPU resources when camera is no longer needed.
|
||||||
visionPortal.close();
|
visionPortal.close();
|
||||||
|
|||||||
@@ -88,6 +88,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
|
|||||||
telemetry.update();
|
telemetry.update();
|
||||||
waitForStart();
|
waitForStart();
|
||||||
|
|
||||||
|
if (opModeIsActive()) {
|
||||||
while (opModeIsActive()) {
|
while (opModeIsActive()) {
|
||||||
|
|
||||||
telemetryAprilTag();
|
telemetryAprilTag();
|
||||||
@@ -105,6 +106,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
|
|||||||
// Share the CPU.
|
// Share the CPU.
|
||||||
sleep(20);
|
sleep(20);
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// Save more CPU resources when camera is no longer needed.
|
// Save more CPU resources when camera is no longer needed.
|
||||||
visionPortal.close();
|
visionPortal.close();
|
||||||
|
|||||||
@@ -81,6 +81,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
|||||||
telemetry.update();
|
telemetry.update();
|
||||||
waitForStart();
|
waitForStart();
|
||||||
|
|
||||||
|
if (opModeIsActive()) {
|
||||||
while (opModeIsActive()) {
|
while (opModeIsActive()) {
|
||||||
|
|
||||||
telemetryCameraSwitching();
|
telemetryCameraSwitching();
|
||||||
@@ -101,6 +102,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
|||||||
// Share the CPU.
|
// Share the CPU.
|
||||||
sleep(20);
|
sleep(20);
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// Save more CPU resources when camera is no longer needed.
|
// Save more CPU resources when camera is no longer needed.
|
||||||
visionPortal.close();
|
visionPortal.close();
|
||||||
|
|||||||
@@ -83,22 +83,6 @@ public class ConceptGamepadEdgeDetection extends LinearOpMode {
|
|||||||
telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
|
telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
|
||||||
telemetry.addData("Gamepad 1 Right Bumper Status", gamepad1.right_bumper);
|
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
|
// Add a note that the telemetry is only updated every 2 seconds
|
||||||
telemetry.addLine("\nTelemetry is 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.
|
* 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.Disabled;
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||||
|
|||||||
@@ -27,7 +27,7 @@
|
|||||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
* 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.eventloop.opmode.LinearOpMode;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
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
|
# 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)
|
## Version 11.0 (20250827-105138)
|
||||||
|
|
||||||
### Enhancements
|
### Enhancements
|
||||||
|
|||||||
@@ -12,25 +12,8 @@
|
|||||||
// Custom definitions may go here
|
// Custom definitions may go here
|
||||||
|
|
||||||
// Include common definitions from above.
|
// 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.common.gradle'
|
||||||
apply from: '../build.dependencies.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 {
|
android {
|
||||||
namespace = 'org.firstinspires.ftc.teamcode'
|
namespace = 'org.firstinspires.ftc.teamcode'
|
||||||
@@ -40,37 +23,6 @@ android {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
repositories {
|
|
||||||
maven {
|
|
||||||
url = 'https://maven.brott.dev/'
|
|
||||||
}
|
|
||||||
// Dairy releases repository
|
|
||||||
maven {
|
|
||||||
url = "https://repo.dairy.foundation/releases"
|
|
||||||
}
|
|
||||||
// Dairy snapshots repository
|
|
||||||
maven {
|
|
||||||
url = "https://repo.dairy.foundation/snapshots"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
dependencies {
|
dependencies {
|
||||||
implementation project(':FtcRobotController')
|
implementation project(':FtcRobotController')
|
||||||
implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
|
|
||||||
implementation 'org.ftclib.ftclib:core:2.1.1' // core
|
|
||||||
implementation("com.acmerobotics.roadrunner:ftc:0.1.25") {
|
|
||||||
exclude group: "com.acmerobotics.dashboard"
|
|
||||||
}
|
|
||||||
implementation("com.acmerobotics.roadrunner:actions:1.0.1") {
|
|
||||||
exclude group: "com.acmerobotics.dashboard"
|
|
||||||
}
|
|
||||||
implementation("com.acmerobotics.roadrunner:core:1.0.1") {
|
|
||||||
exclude group: "com.acmerobotics.dashboard"
|
|
||||||
}
|
|
||||||
|
|
||||||
implementation("com.acmerobotics.slothboard:dashboard:0.2.4+0.5.1") //Slothdashboard
|
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -1,765 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.autonomous;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
|
|
||||||
|
|
||||||
import 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.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.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 = 0.016;
|
|
||||||
|
|
||||||
public static double shootAllTime = 4;
|
|
||||||
public static double intake1Time = 3.3;
|
|
||||||
public static double intake2Time = 3.8;
|
|
||||||
|
|
||||||
public static double intake3Time = 4.2;
|
|
||||||
|
|
||||||
public static double flywheel0Time = 1.5;
|
|
||||||
public static double pickup1Speed = 12;
|
|
||||||
// ---- POSITION TOLERANCES ----
|
|
||||||
public static double posXTolerance = 5.0;
|
|
||||||
public static double posYTolerance = 5.0;
|
|
||||||
// ---- OBELISK DETECTION ----
|
|
||||||
public static double shoot1Time = 2.5;
|
|
||||||
public static double shoot2Time = 2.5;
|
|
||||||
public static double shoot3Time = 2.5;
|
|
||||||
public static double colorSenseTime = 1.2;
|
|
||||||
public static double waitToShoot0 = 0.5;
|
|
||||||
public static double waitToPickupGate2 = 0.3;
|
|
||||||
public static double pickupStackGateSpeed = 30;
|
|
||||||
public static double intake2TimeGate = 3;
|
|
||||||
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 = 8;
|
|
||||||
public static double shootGateTime = 1.7;
|
|
||||||
public static double shoot1GateTime = 1.7;
|
|
||||||
public static double intake1GateTime = 3.3;
|
|
||||||
public static double lastShootTime = 27;
|
|
||||||
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
MecanumDrive drive;
|
|
||||||
Servos servos;
|
|
||||||
Spindexer spindexer;
|
|
||||||
Flywheel flywheel;
|
|
||||||
Turret turret;
|
|
||||||
Targeting targeting;
|
|
||||||
Targeting.Settings targetingSettings;
|
|
||||||
AutoActions autoActions;
|
|
||||||
Light light;
|
|
||||||
|
|
||||||
int motif = 0;
|
|
||||||
double x1, y1, h1;
|
|
||||||
double x2a, y2a, h2a, t2a;
|
|
||||||
|
|
||||||
double x2b, y2b, h2b, t2b;
|
|
||||||
double x2c, y2c, h2c, t2c;
|
|
||||||
|
|
||||||
double x3a, y3a, h3a;
|
|
||||||
double x3b, y3b, h3b;
|
|
||||||
double x4a, y4a, h4a;
|
|
||||||
double x4b, y4b, h4b;
|
|
||||||
|
|
||||||
double xShoot, yShoot, hShoot;
|
|
||||||
double xShoot0, yShoot0, hShoot0;
|
|
||||||
double pickupGateAX, pickupGateAY, pickupGateAH;
|
|
||||||
double pickupGateBX, pickupGateBY, pickupGateBH;
|
|
||||||
double xShootGate, yShootGate, hShootGate;
|
|
||||||
double xLeave, yLeave, hLeave;
|
|
||||||
double xLeaveGate, yLeaveGate, hLeaveGate;
|
|
||||||
|
|
||||||
int ballCycles = 3;
|
|
||||||
int prevMotif = 0;
|
|
||||||
boolean gateCycle = true;
|
|
||||||
boolean withPartner = true;
|
|
||||||
double obeliskTurrPos1 = 0.0;
|
|
||||||
double obeliskTurrPos2 = 0.0;
|
|
||||||
double obeliskTurrPos3 = 0.0;
|
|
||||||
double waitToPickupGate = 0;
|
|
||||||
|
|
||||||
// initialize path variables here
|
|
||||||
TrajectoryActionBuilder shoot0 = null;
|
|
||||||
TrajectoryActionBuilder pickup1 = null;
|
|
||||||
TrajectoryActionBuilder shoot1 = null;
|
|
||||||
TrajectoryActionBuilder pickup2 = null;
|
|
||||||
TrajectoryActionBuilder shoot2 = null;
|
|
||||||
TrajectoryActionBuilder pickup3 = null;
|
|
||||||
TrajectoryActionBuilder shoot3 = null;
|
|
||||||
TrajectoryActionBuilder shoot0ToPickup2 = null;
|
|
||||||
TrajectoryActionBuilder gateCyclePickup = null;
|
|
||||||
TrajectoryActionBuilder gateCycleShoot = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
|
|
||||||
TELE = new MultipleTelemetry(
|
|
||||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
|
||||||
);
|
|
||||||
|
|
||||||
flywheel = new Flywheel(hardwareMap);
|
|
||||||
|
|
||||||
targeting = new Targeting();
|
|
||||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
|
||||||
|
|
||||||
spindexer = new Spindexer(hardwareMap);
|
|
||||||
|
|
||||||
servos = new Servos(hardwareMap);
|
|
||||||
|
|
||||||
turret = new Turret(robot, TELE, robot.limelight);
|
|
||||||
|
|
||||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
|
||||||
|
|
||||||
light = Light.getInstance();
|
|
||||||
|
|
||||||
light.init(robot.light, spindexer, turret);
|
|
||||||
|
|
||||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
|
||||||
|
|
||||||
servos.setSpinPos(spinStartPos);
|
|
||||||
|
|
||||||
servos.setTransferPos(transferServo_out);
|
|
||||||
|
|
||||||
limelightUsed = true;
|
|
||||||
|
|
||||||
robot.light.setPosition(1);
|
|
||||||
|
|
||||||
while (opModeInInit()) {
|
|
||||||
|
|
||||||
if (gateCycle){
|
|
||||||
servos.setHoodPos(hoodGate0Start);
|
|
||||||
} else {
|
|
||||||
servos.setHoodPos(shoot0Hood);
|
|
||||||
}
|
|
||||||
|
|
||||||
turret.setTurret(turrDefault);
|
|
||||||
|
|
||||||
if (gamepad2.crossWasPressed()) {
|
|
||||||
redAlliance = !redAlliance;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.dpadLeftWasPressed()) {
|
|
||||||
turrDefault -= 0.01;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.dpadRightWasPressed()) {
|
|
||||||
turrDefault += 0.01;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.rightBumperWasPressed()){
|
|
||||||
ballCycles++;
|
|
||||||
}
|
|
||||||
if (gamepad2.leftBumperWasPressed()){
|
|
||||||
ballCycles--;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.squareWasPressed()){
|
|
||||||
if (!gateCycle){
|
|
||||||
turret.pipelineSwitch(1);
|
|
||||||
} else if (redAlliance){
|
|
||||||
turret.pipelineSwitch(4);
|
|
||||||
} else {
|
|
||||||
turret.pipelineSwitch(2);
|
|
||||||
}
|
|
||||||
robot.limelight.start();
|
|
||||||
gamepad2.rumble(500);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (redAlliance) {
|
|
||||||
robot.light.setPosition(0.28);
|
|
||||||
|
|
||||||
// ---- FIRST SHOT ----
|
|
||||||
x1 = rx1;
|
|
||||||
y1 = ry1;
|
|
||||||
h1 = rh1;
|
|
||||||
|
|
||||||
// ---- PICKUP PATH ----
|
|
||||||
x2a = rx2a;
|
|
||||||
y2a = ry2a;
|
|
||||||
h2a = rh2a;
|
|
||||||
x2b = rx2b;
|
|
||||||
y2b = ry2b;
|
|
||||||
h2b = rh2b;
|
|
||||||
x3a = rx3a;
|
|
||||||
y3a = ry3a;
|
|
||||||
h3a = rh3a;
|
|
||||||
x3b = rx3b;
|
|
||||||
y3b = ry3b;
|
|
||||||
h3b = rh3b;
|
|
||||||
x4a = rx4a;
|
|
||||||
y4a = ry4a;
|
|
||||||
h4a = rh4a;
|
|
||||||
x4b = rx4b;
|
|
||||||
y4b = ry4b;
|
|
||||||
h4b = rh4b;
|
|
||||||
|
|
||||||
xShoot = rShootX;
|
|
||||||
yShoot = rShootY;
|
|
||||||
hShoot = rShootH;
|
|
||||||
xLeave = rLeaveX;
|
|
||||||
yLeave = rLeaveY;
|
|
||||||
hLeave = rLeaveH;
|
|
||||||
|
|
||||||
xShoot0 = rShoot0X;
|
|
||||||
yShoot0 = rShoot0Y;
|
|
||||||
hShoot0 = rShoot0H;
|
|
||||||
xShootGate = rShootGateX;
|
|
||||||
yShootGate = rShootGateY;
|
|
||||||
hShootGate = rShootGateH;
|
|
||||||
xLeaveGate = rLeaveGateX;
|
|
||||||
yLeaveGate = rLeaveGateY;
|
|
||||||
hLeaveGate = rLeaveGateH;
|
|
||||||
|
|
||||||
pickupGateAX = rPickupGateAX;
|
|
||||||
pickupGateAY = rPickupGateAY;
|
|
||||||
pickupGateAH = rPickupGateAH;
|
|
||||||
pickupGateBX = rPickupGateBX;
|
|
||||||
pickupGateBY = rPickupGateBY;
|
|
||||||
pickupGateBH = rPickupGateBH;
|
|
||||||
|
|
||||||
obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
|
|
||||||
obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
|
|
||||||
obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
|
|
||||||
} else {
|
|
||||||
robot.light.setPosition(0.6);
|
|
||||||
|
|
||||||
// ---- FIRST SHOT ----
|
|
||||||
x1 = bx1;
|
|
||||||
y1 = by1;
|
|
||||||
h1 = bh1;
|
|
||||||
|
|
||||||
// ---- PICKUP PATH ----
|
|
||||||
x2a = bx2a;
|
|
||||||
y2a = by2a;
|
|
||||||
h2a = bh2a;
|
|
||||||
x2b = bx2b;
|
|
||||||
y2b = by2b;
|
|
||||||
h2b = bh2b;
|
|
||||||
x3a = bx3a;
|
|
||||||
y3a = by3a;
|
|
||||||
h3a = bh3a;
|
|
||||||
x3b = bx3b;
|
|
||||||
y3b = by3b;
|
|
||||||
h3b = bh3b;
|
|
||||||
x4a = bx4a;
|
|
||||||
y4a = by4a;
|
|
||||||
h4a = bh4a;
|
|
||||||
x4b = bx4b;
|
|
||||||
y4b = by4b;
|
|
||||||
h4b = bh4b;
|
|
||||||
|
|
||||||
xShoot = bShootX;
|
|
||||||
yShoot = bShootY;
|
|
||||||
hShoot = bShootH;
|
|
||||||
xLeave = bLeaveX;
|
|
||||||
yLeave = bLeaveY;
|
|
||||||
hLeave = bLeaveH;
|
|
||||||
|
|
||||||
xShoot0 = bShoot0X;
|
|
||||||
yShoot0 = bShoot0Y;
|
|
||||||
hShoot0 = bShoot0H;
|
|
||||||
xShootGate = bShootGateX;
|
|
||||||
yShootGate = bShootGateY;
|
|
||||||
hShootGate = bShootGateH;
|
|
||||||
xLeaveGate = bLeaveGateX;
|
|
||||||
yLeaveGate = bLeaveGateY;
|
|
||||||
hLeaveGate = bLeaveGateH;
|
|
||||||
|
|
||||||
pickupGateAX = bPickupGateAX;
|
|
||||||
pickupGateAY = bPickupGateAY;
|
|
||||||
pickupGateAH = bPickupGateAH;
|
|
||||||
pickupGateBX = bPickupGateBX;
|
|
||||||
pickupGateBY = bPickupGateBY;
|
|
||||||
pickupGateBH = bPickupGateBH;
|
|
||||||
|
|
||||||
obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
|
|
||||||
obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
|
|
||||||
obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
|
|
||||||
}
|
|
||||||
|
|
||||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
|
||||||
.strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
|
|
||||||
|
|
||||||
if (gateCycle){
|
|
||||||
pickup1 = drive.actionBuilder(new Pose2d(xShootGate, yShootGate, Math.toRadians(hShootGate)))
|
|
||||||
.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 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
|
|
||||||
.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));
|
|
||||||
}
|
|
||||||
|
|
||||||
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){
|
|
||||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
|
|
||||||
.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));
|
|
||||||
}
|
|
||||||
|
|
||||||
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));
|
|
||||||
|
|
||||||
shoot0ToPickup2 = drive.actionBuilder(new Pose2d(0,0,0))
|
|
||||||
.strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0))
|
|
||||||
.waitSeconds(waitToPickupGate2)
|
|
||||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
|
||||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
|
||||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
|
||||||
|
|
||||||
if (withPartner){
|
|
||||||
waitToPickupGate = waitToPickupGateWithPartner;
|
|
||||||
} else {
|
|
||||||
waitToPickupGate = waitToPickupGateSolo;
|
|
||||||
}
|
|
||||||
|
|
||||||
gateCyclePickup = drive.actionBuilder(new Pose2d(xShootGate, yShootGate, Math.toRadians(hShootGate)))
|
|
||||||
.strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
|
|
||||||
.waitSeconds(waitToPickupGate)
|
|
||||||
.strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH));
|
|
||||||
|
|
||||||
gateCycleShoot = drive.actionBuilder(new Pose2d(pickupGateBX, pickupGateBY, Math.toRadians(pickupGateBH)))
|
|
||||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
|
|
||||||
|
|
||||||
TELE.addData("Red?", redAlliance);
|
|
||||||
TELE.addData("Turret Default", turrDefault);
|
|
||||||
TELE.addData("Ball Cycles", ballCycles);
|
|
||||||
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
if (opModeIsActive()) {
|
|
||||||
|
|
||||||
double stamp = getRuntime();
|
|
||||||
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
if (gateCycle){
|
|
||||||
shoot0Gate();
|
|
||||||
cycleStackMiddleGate();
|
|
||||||
|
|
||||||
while (getRuntime() - stamp < endGateTime){
|
|
||||||
cycleGateIntake();
|
|
||||||
if (getRuntime() - stamp < lastShootTime){
|
|
||||||
cycleGateShoot();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
cycleStackCloseIntakeGate();
|
|
||||||
|
|
||||||
if (getRuntime() - stamp < lastShootTime){
|
|
||||||
cycleStackCloseShootGate();
|
|
||||||
}
|
|
||||||
|
|
||||||
} 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(
|
|
||||||
new ParallelAction(
|
|
||||||
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void startAuto() {
|
|
||||||
assert shoot0 != null;
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot0.build(),
|
|
||||||
autoActions.manageShooterAuto(
|
|
||||||
flywheel0Time,
|
|
||||||
x1,
|
|
||||||
y1,
|
|
||||||
h1,
|
|
||||||
false
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleStackClose(){
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup1.build(),
|
|
||||||
autoActions.intake(
|
|
||||||
intake1Time,
|
|
||||||
x2b,
|
|
||||||
y2b,
|
|
||||||
h2b
|
|
||||||
),
|
|
||||||
autoActions.detectObelisk(
|
|
||||||
intake1Time,
|
|
||||||
x2b,
|
|
||||||
y2b,
|
|
||||||
posXTolerance,
|
|
||||||
posYTolerance,
|
|
||||||
obeliskTurrPos1
|
|
||||||
)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
motif = turret.getObeliskID();
|
|
||||||
|
|
||||||
if (motif == 0) motif = 22;
|
|
||||||
prevMotif = motif;
|
|
||||||
|
|
||||||
double posX;
|
|
||||||
double posY;
|
|
||||||
double posH;
|
|
||||||
if (ballCycles > 1){
|
|
||||||
posX = xShoot;
|
|
||||||
posY = yShoot;
|
|
||||||
posH = hShoot;
|
|
||||||
} else {
|
|
||||||
posX = xLeave;
|
|
||||||
posY = yLeave;
|
|
||||||
posH = hLeave;
|
|
||||||
}
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot1.build(),
|
|
||||||
autoActions.prepareShootAll(
|
|
||||||
colorSenseTime,
|
|
||||||
shoot1Time,
|
|
||||||
motif,
|
|
||||||
posX,
|
|
||||||
posY,
|
|
||||||
posH
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleStackMiddle(){
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup2.build(),
|
|
||||||
autoActions.intake(
|
|
||||||
intake2Time,
|
|
||||||
x3b,
|
|
||||||
y3b,
|
|
||||||
h3b
|
|
||||||
),
|
|
||||||
autoActions.detectObelisk(
|
|
||||||
intake2Time,
|
|
||||||
x3b,
|
|
||||||
y3b,
|
|
||||||
posXTolerance,
|
|
||||||
posYTolerance,
|
|
||||||
obeliskTurrPos2
|
|
||||||
)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
motif = turret.getObeliskID();
|
|
||||||
|
|
||||||
if (motif == 0) motif = prevMotif;
|
|
||||||
prevMotif = motif;
|
|
||||||
|
|
||||||
double posX;
|
|
||||||
double posY;
|
|
||||||
double posH;
|
|
||||||
if (ballCycles > 2){
|
|
||||||
posX = xShoot;
|
|
||||||
posY = yShoot;
|
|
||||||
posH = hShoot;
|
|
||||||
} else {
|
|
||||||
posX = xLeave;
|
|
||||||
posY = yLeave;
|
|
||||||
posH = hLeave;
|
|
||||||
}
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot2.build(),
|
|
||||||
autoActions.prepareShootAll(
|
|
||||||
colorSenseTime,
|
|
||||||
shoot2Time,
|
|
||||||
motif,
|
|
||||||
posX,
|
|
||||||
posY,
|
|
||||||
posH)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleStackFar(){
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup3.build(),
|
|
||||||
autoActions.intake(
|
|
||||||
intake3Time,
|
|
||||||
x4b,
|
|
||||||
y4b,
|
|
||||||
h4b
|
|
||||||
),
|
|
||||||
autoActions.detectObelisk(
|
|
||||||
intake3Time,
|
|
||||||
x4b,
|
|
||||||
y4b,
|
|
||||||
posXTolerance,
|
|
||||||
posYTolerance,
|
|
||||||
obeliskTurrPos3
|
|
||||||
)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
motif = turret.getObeliskID();
|
|
||||||
|
|
||||||
if (motif == 0) motif = prevMotif;
|
|
||||||
prevMotif = motif;
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot3.build(),
|
|
||||||
autoActions.prepareShootAll(
|
|
||||||
colorSenseTime,
|
|
||||||
shoot3Time,
|
|
||||||
motif,
|
|
||||||
xLeave,
|
|
||||||
yLeave,
|
|
||||||
hLeave
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void shoot0Gate(){
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot0ToPickup2.build(),
|
|
||||||
new SequentialAction(
|
|
||||||
new ParallelAction(
|
|
||||||
autoActions.manageShooterManual(
|
|
||||||
waitToShoot0,
|
|
||||||
0.501,
|
|
||||||
velGate0Start,
|
|
||||||
hoodGate0Start,
|
|
||||||
velGate0Start,
|
|
||||||
hoodGate0Start,
|
|
||||||
0.501
|
|
||||||
)
|
|
||||||
),
|
|
||||||
autoActions.shootAllManual(
|
|
||||||
shootAllTime,
|
|
||||||
hood0MoveTime,
|
|
||||||
spindexerSpeedIncrease,
|
|
||||||
velGate0Start,
|
|
||||||
hoodGate0Start,
|
|
||||||
velGate0End,
|
|
||||||
hoodGate0End,
|
|
||||||
0.501),
|
|
||||||
autoActions.intake(
|
|
||||||
intake2TimeGate,
|
|
||||||
xShootGate,
|
|
||||||
yShootGate,
|
|
||||||
hShootGate
|
|
||||||
)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleStackMiddleGate(){
|
|
||||||
servos.setSpinPos(spinStartPos);
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot2.build(),
|
|
||||||
new SequentialAction(
|
|
||||||
new ParallelAction(
|
|
||||||
autoActions.manageShooterAuto(
|
|
||||||
shoot2GateTime,
|
|
||||||
xShootGate,
|
|
||||||
yShootGate,
|
|
||||||
hShootGate,
|
|
||||||
false
|
|
||||||
)
|
|
||||||
),
|
|
||||||
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleGateIntake(){
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
gateCyclePickup.build(),
|
|
||||||
autoActions.intake(
|
|
||||||
intakeGateTime,
|
|
||||||
xShootGate,
|
|
||||||
yShootGate,
|
|
||||||
hShootGate
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleGateShoot(){
|
|
||||||
servos.setSpinPos(spinStartPos);
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
gateCycleShoot.build(),
|
|
||||||
new SequentialAction(
|
|
||||||
new ParallelAction(
|
|
||||||
autoActions.manageShooterAuto(
|
|
||||||
shootGateTime,
|
|
||||||
xShootGate,
|
|
||||||
yShootGate,
|
|
||||||
hShootGate,
|
|
||||||
false
|
|
||||||
)
|
|
||||||
),
|
|
||||||
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleStackCloseIntakeGate(){
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup1.build(),
|
|
||||||
autoActions.intake(
|
|
||||||
intake1GateTime,
|
|
||||||
xShootGate,
|
|
||||||
yShootGate,
|
|
||||||
hShootGate
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void cycleStackCloseShootGate(){
|
|
||||||
servos.setSpinPos(spinStartPos);
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot1.build(),
|
|
||||||
new SequentialAction(
|
|
||||||
new ParallelAction(
|
|
||||||
autoActions.manageShooterAuto(
|
|
||||||
shoot1GateTime,
|
|
||||||
xLeaveGate,
|
|
||||||
yLeaveGate,
|
|
||||||
hLeaveGate,
|
|
||||||
false
|
|
||||||
)
|
|
||||||
),
|
|
||||||
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,431 +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 = 12;
|
|
||||||
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 = 2.5;
|
|
||||||
public static double intakeGateTime = 2;
|
|
||||||
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();
|
|
||||||
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();
|
|
||||||
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),
|
|
||||||
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
|
|
||||||
)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,612 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.autonomous.actions;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
|
||||||
|
|
||||||
import androidx.annotation.NonNull;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
|
||||||
import com.acmerobotics.roadrunner.Action;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
|
||||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
|
||||||
|
|
||||||
import java.util.Objects;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
public class AutoActions {
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
Servos servos;
|
|
||||||
Flywheel flywheel;
|
|
||||||
MecanumDrive drive;
|
|
||||||
Spindexer spindexer;
|
|
||||||
Targeting targeting;
|
|
||||||
Targeting.Settings targetingSettings;
|
|
||||||
Light light;
|
|
||||||
Turret turret;
|
|
||||||
private int driverSlotGreen = 0;
|
|
||||||
private int passengerSlotGreen = 0;
|
|
||||||
private int rearSlotGreen = 0;
|
|
||||||
private int mostGreenSlot = 0;
|
|
||||||
private double firstSpindexShootPos = spinStartPos;
|
|
||||||
private boolean shootForward = true;
|
|
||||||
public int motif = 0;
|
|
||||||
double spinEndPos = ServoPositions.spinEndPos;
|
|
||||||
|
|
||||||
public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
|
|
||||||
this.robot = rob;
|
|
||||||
this.drive = dri;
|
|
||||||
this.TELE = tel;
|
|
||||||
this.servos = ser;
|
|
||||||
this.flywheel = fly;
|
|
||||||
this.spindexer = spi;
|
|
||||||
this.targeting = tar;
|
|
||||||
this.targetingSettings = tS;
|
|
||||||
this.turret = tur;
|
|
||||||
this.light = lig;
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action prepareShootAll(
|
|
||||||
double colorSenseTime,
|
|
||||||
double time,
|
|
||||||
int motif_id,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posH
|
|
||||||
) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
double spindexerWiggle = 0.01;
|
|
||||||
|
|
||||||
boolean decideGreenSlot = false;
|
|
||||||
|
|
||||||
void spin1PosFirst() {
|
|
||||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
|
||||||
shootForward = true;
|
|
||||||
spinEndPos = spindexer_outtakeBall3 + 0.1;
|
|
||||||
}
|
|
||||||
|
|
||||||
void spin2PosFirst() {
|
|
||||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
|
||||||
shootForward = false;
|
|
||||||
spinEndPos = spindexer_outtakeBall3b - 0.1;
|
|
||||||
}
|
|
||||||
|
|
||||||
void reverseSpin2PosFirst() {
|
|
||||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
|
||||||
shootForward = true;
|
|
||||||
spinEndPos = 0.95;
|
|
||||||
}
|
|
||||||
|
|
||||||
void spin3PosFirst() {
|
|
||||||
firstSpindexShootPos = spindexer_outtakeBall3;
|
|
||||||
shootForward = false;
|
|
||||||
spinEndPos = spindexer_outtakeBall1 - 0.1;
|
|
||||||
}
|
|
||||||
|
|
||||||
void oddSpin3PosFirst() {
|
|
||||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
|
||||||
shootForward = true;
|
|
||||||
spinEndPos = spindexer_outtakeBall2 + 0.1;
|
|
||||||
}
|
|
||||||
|
|
||||||
Action manageShooter = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
servos.setTransferPos(transferServo_out);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
light.setState(StateEnums.LightState.GOAL_LOCK);
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
manageShooter.run(telemetryPacket);
|
|
||||||
|
|
||||||
if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
|
|
||||||
|
|
||||||
spindexerWiggle *= -1.0;
|
|
||||||
|
|
||||||
servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
|
|
||||||
|
|
||||||
spindexer.detectBalls(true, true);
|
|
||||||
|
|
||||||
if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
|
|
||||||
driverSlotGreen++;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
|
|
||||||
passengerSlotGreen++;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
|
|
||||||
rearSlotGreen++;
|
|
||||||
}
|
|
||||||
|
|
||||||
spindexer.setIntakePower(1);
|
|
||||||
|
|
||||||
decideGreenSlot = true;
|
|
||||||
|
|
||||||
return true;
|
|
||||||
} else if (decideGreenSlot) {
|
|
||||||
|
|
||||||
if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
|
|
||||||
mostGreenSlot = 3;
|
|
||||||
} else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
|
|
||||||
mostGreenSlot = 2;
|
|
||||||
} else {
|
|
||||||
mostGreenSlot = 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
decideGreenSlot = false;
|
|
||||||
|
|
||||||
if (motif_id == 21) {
|
|
||||||
if (mostGreenSlot == 1) {
|
|
||||||
spin1PosFirst();
|
|
||||||
} else if (mostGreenSlot == 2) {
|
|
||||||
spin2PosFirst();
|
|
||||||
} else {
|
|
||||||
spin3PosFirst();
|
|
||||||
}
|
|
||||||
} else if (motif_id == 22) {
|
|
||||||
if (mostGreenSlot == 1) {
|
|
||||||
spin2PosFirst();
|
|
||||||
} else if (mostGreenSlot == 2) {
|
|
||||||
spin3PosFirst();
|
|
||||||
} else {
|
|
||||||
reverseSpin2PosFirst();
|
|
||||||
}
|
|
||||||
|
|
||||||
} else {
|
|
||||||
if (mostGreenSlot == 1) {
|
|
||||||
spin3PosFirst();
|
|
||||||
} else if (mostGreenSlot == 2) {
|
|
||||||
oddSpin3PosFirst();
|
|
||||||
} else {
|
|
||||||
spin1PosFirst();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
} else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
|
|
||||||
spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
|
|
||||||
|
|
||||||
servos.setSpinPos(firstSpindexShootPos);
|
|
||||||
|
|
||||||
return true;
|
|
||||||
} else {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
|
||||||
return new Action() {
|
|
||||||
int ticker = 1;
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
|
|
||||||
int shooterTicker = 0;
|
|
||||||
Action manageShooter = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
spindexer.setIntakePower(-0.1);
|
|
||||||
|
|
||||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
|
||||||
light.update();
|
|
||||||
|
|
||||||
if (ticker == 1) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
manageShooter = manageShooterAuto(shootTime, 0.501, 0.501, 0.501, false);
|
|
||||||
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
manageShooter.run(telemetryPacket);
|
|
||||||
|
|
||||||
double prevSpinPos = servos.getSpinCmdPos();
|
|
||||||
|
|
||||||
boolean end;
|
|
||||||
if (shootForward) {
|
|
||||||
end = prevSpinPos > spinEndPos;
|
|
||||||
} else {
|
|
||||||
end = prevSpinPos < spinEndPos;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
|
|
||||||
|
|
||||||
if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
|
|
||||||
servos.setSpinPos(firstSpindexShootPos);
|
|
||||||
} else {
|
|
||||||
servos.setTransferPos(transferServo_in);
|
|
||||||
shooterTicker++;
|
|
||||||
Spindexer.whileShooting = true;
|
|
||||||
if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
|
|
||||||
servos.setSpinPos(prevSpinPos + spindexSpeed);
|
|
||||||
} else if (shooterTicker > Spindexer.waitFirstBallTicks) {
|
|
||||||
servos.setSpinPos(prevSpinPos - spindexSpeed);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
servos.setTransferPos(transferServo_out);
|
|
||||||
Spindexer.whileShooting = false;
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
spindexer.processIntake();
|
|
||||||
|
|
||||||
return false;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action shootAllManual(
|
|
||||||
double shootTime,
|
|
||||||
double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
|
|
||||||
double spindexSpeed,
|
|
||||||
double velStart,
|
|
||||||
double hoodStart,
|
|
||||||
double velEnd,
|
|
||||||
double hoodEnd,
|
|
||||||
double turr) {
|
|
||||||
return new Action() {
|
|
||||||
int ticker = 1;
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
|
|
||||||
int shooterTicker = 0;
|
|
||||||
Action manageShooter = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
spindexer.setIntakePower(-0.1);
|
|
||||||
|
|
||||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
|
||||||
light.update();
|
|
||||||
|
|
||||||
if (ticker == 1) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
|
|
||||||
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
manageShooter.run(telemetryPacket);
|
|
||||||
|
|
||||||
double prevSpinPos = servos.getSpinCmdPos();
|
|
||||||
|
|
||||||
boolean end;
|
|
||||||
if (shootForward) {
|
|
||||||
end = prevSpinPos > spinEndPos;
|
|
||||||
} else {
|
|
||||||
end = prevSpinPos < spinEndPos;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
|
|
||||||
servos.setTransferPos(transferServo_in);
|
|
||||||
shooterTicker++;
|
|
||||||
Spindexer.whileShooting = true;
|
|
||||||
if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
|
|
||||||
servos.setSpinPos(prevSpinPos + spindexSpeed);
|
|
||||||
} else if (shooterTicker > Spindexer.waitFirstBallTicks) {
|
|
||||||
servos.setSpinPos(prevSpinPos - spindexSpeed);
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
servos.setTransferPos(transferServo_out);
|
|
||||||
Spindexer.whileShooting = false;
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
spindexer.processIntake();
|
|
||||||
|
|
||||||
return false;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action intake(
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posH
|
|
||||||
) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
Action manageShooter = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
spindexer.processIntake();
|
|
||||||
spindexer.setIntakePower(1);
|
|
||||||
light.setState(StateEnums.LightState.BALL_COUNT);
|
|
||||||
light.update();
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
manageShooter.run(telemetryPacket);
|
|
||||||
|
|
||||||
if ((System.currentTimeMillis() - stamp) > (time * 1000) || spindexer.isFull()) {
|
|
||||||
spindexer.setIntakePower(-0.1);
|
|
||||||
return false;
|
|
||||||
} else {
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
private boolean detectingObelisk = false;
|
|
||||||
|
|
||||||
public Action detectObelisk(
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posXTolerance,
|
|
||||||
double posYTolerance,
|
|
||||||
double turrPos
|
|
||||||
) {
|
|
||||||
|
|
||||||
boolean timeFallback = (time != 0.501);
|
|
||||||
boolean posXFallback = (posX != 0.501);
|
|
||||||
boolean posYFallback = (posY != 0.501);
|
|
||||||
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
detectingObelisk = true;
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
turret.pipelineSwitch(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
motif = turret.detectObelisk();
|
|
||||||
|
|
||||||
turret.setTurret(turrPos);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
|
||||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
|
||||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
|
||||||
|
|
||||||
boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull();
|
|
||||||
|
|
||||||
teleStart = currentPose;
|
|
||||||
|
|
||||||
if (shouldFinish) {
|
|
||||||
if (redAlliance) {
|
|
||||||
turret.pipelineSwitch(4);
|
|
||||||
} else {
|
|
||||||
turret.pipelineSwitch(2);
|
|
||||||
}
|
|
||||||
detectingObelisk = false;
|
|
||||||
return false;
|
|
||||||
} else {
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action manageShooterAuto(
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posH,
|
|
||||||
boolean flywheelSensor
|
|
||||||
) {
|
|
||||||
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
final boolean timeFallback = (time != 0.501);
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
double robotX = currentPose.position.x;
|
|
||||||
double robotY = currentPose.position.y;
|
|
||||||
|
|
||||||
double robotHeading = currentPose.heading.toDouble();
|
|
||||||
|
|
||||||
double goalX = -15;
|
|
||||||
double goalY = 0;
|
|
||||||
|
|
||||||
double dx = robotX - goalX; // delta x from robot to goal
|
|
||||||
double dy = robotY - goalY; // delta y from robot to goal
|
|
||||||
Pose2d deltaPose;
|
|
||||||
if (posX != 0.501) {
|
|
||||||
deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
|
|
||||||
Turret.limelightUsed = false;
|
|
||||||
} else {
|
|
||||||
deltaPose = new Pose2d(dx, dy, robotHeading);
|
|
||||||
Turret.limelightUsed = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
// double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
|
||||||
|
|
||||||
targetingSettings = targeting.calculateSettings
|
|
||||||
(robotX, robotY, robotHeading, 0.0, false);
|
|
||||||
|
|
||||||
if (!detectingObelisk) {
|
|
||||||
turret.trackGoal(deltaPose);
|
|
||||||
}
|
|
||||||
|
|
||||||
servos.setHoodPos(targetingSettings.hoodAngle);
|
|
||||||
|
|
||||||
double voltage = robot.voltage.getVoltage();
|
|
||||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
|
||||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
|
||||||
boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
|
|
||||||
|
|
||||||
teleStart = currentPose;
|
|
||||||
|
|
||||||
TELE.addData("Steady?", flywheel.getSteady());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !shouldFinish;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action Wait(double time) {
|
|
||||||
return new Action() {
|
|
||||||
boolean ticker = false;
|
|
||||||
double stamp = 0.0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (!ticker) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
ticker = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
return (System.currentTimeMillis() - stamp < time * 1000);
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action manageShooterManual(
|
|
||||||
double maxTime,
|
|
||||||
double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
|
|
||||||
double velStart,
|
|
||||||
double hoodStart,
|
|
||||||
double velEnd,
|
|
||||||
double hoodEnd,
|
|
||||||
double turr
|
|
||||||
) {
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
final boolean timeFallback = (maxTime != 0.501);
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
double robotX = currentPose.position.x;
|
|
||||||
double robotY = currentPose.position.y;
|
|
||||||
|
|
||||||
double robotHeading = currentPose.heading.toDouble();
|
|
||||||
|
|
||||||
double goalX = -15;
|
|
||||||
double goalY = 0;
|
|
||||||
|
|
||||||
double dx = robotX - goalX; // delta x from robot to goal
|
|
||||||
double dy = robotY - goalY; // delta y from robot to goal
|
|
||||||
Pose2d deltaPose;
|
|
||||||
if (turr == 0.501) {
|
|
||||||
deltaPose = new Pose2d(dx, dy, robotHeading);
|
|
||||||
if (!detectingObelisk) {
|
|
||||||
turret.trackGoal(deltaPose);
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
turret.setTurret(turr);
|
|
||||||
}
|
|
||||||
|
|
||||||
servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
|
|
||||||
double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
|
|
||||||
|
|
||||||
double voltage = robot.voltage.getVoltage();
|
|
||||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
|
|
||||||
|
|
||||||
teleStart = currentPose;
|
|
||||||
|
|
||||||
TELE.addData("Steady?", flywheel.getSteady());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !timeDone;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
@@ -0,0 +1,4 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.autonomous;
|
||||||
|
|
||||||
|
public class blank {
|
||||||
|
}
|
||||||
@@ -1,919 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
|
||||||
|
|
||||||
import androidx.annotation.NonNull;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
|
||||||
import com.acmerobotics.roadrunner.Action;
|
|
||||||
import com.acmerobotics.roadrunner.ParallelAction;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
|
||||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
|
||||||
import com.acmerobotics.roadrunner.Vector2d;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
|
||||||
|
|
||||||
@Disabled
|
|
||||||
@Config
|
|
||||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
|
||||||
public class Auto_LT_Close_12Ball extends LinearOpMode {
|
|
||||||
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
|
|
||||||
public static double autoSpinStartPos = 0.2;
|
|
||||||
public static double shoot0SpinSpeedIncrease = 0.014;
|
|
||||||
|
|
||||||
public static double spindexerSpeedIncrease = 0.02;
|
|
||||||
|
|
||||||
public static double obeliskTurrPos = 0.53;
|
|
||||||
public static double normalIntakeTime = 3.0;
|
|
||||||
public static double shoot1Turr = 0.57;
|
|
||||||
public static double shoot0XTolerance = 1.0;
|
|
||||||
public static double turretShootPos = 0.53;
|
|
||||||
public static double shootAllTime = 1.8;
|
|
||||||
public static double shoot0Time = 1.6;
|
|
||||||
public static double intake1Time = 3.0;
|
|
||||||
public static double flywheel0Time = 3.5;
|
|
||||||
public static double pickup1Speed = 17;
|
|
||||||
// ---- SECOND SHOT / PICKUP ----
|
|
||||||
public static double shoot1Vel = 2300;
|
|
||||||
public static double shoot1Hood = 0.93;
|
|
||||||
|
|
||||||
public static double shootAllVelocity = 2500;
|
|
||||||
public static double shootAllHood = 0.78;
|
|
||||||
// ---- PICKUP TIMING ----
|
|
||||||
public static double pickup1Time = 3.0;
|
|
||||||
// ---- PICKUP POSITION TOLERANCES ----
|
|
||||||
public static double pickup1XTolerance = 2.0;
|
|
||||||
public static double pickup1YTolerance = 2.0;
|
|
||||||
// ---- OBELISK DETECTION ----
|
|
||||||
public static double obelisk1Time = 1.5;
|
|
||||||
public static double obelisk1XTolerance = 2.0;
|
|
||||||
public static double obelisk1YTolerance = 2.0;
|
|
||||||
public static double shoot1ToleranceX = 2.0;
|
|
||||||
public static double shoot1ToleranceY = 2.0;
|
|
||||||
public static double shoot1Time = 2.0;
|
|
||||||
public static double shootCycleTime = 2.5;
|
|
||||||
public int motif = 0;
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
MecanumDrive drive;
|
|
||||||
Servos servos;
|
|
||||||
Spindexer spindexer;
|
|
||||||
Flywheel flywheel;
|
|
||||||
Turret turret;
|
|
||||||
Targeting targeting;
|
|
||||||
Targeting.Settings targetingSettings;
|
|
||||||
private double x1, y1, h1;
|
|
||||||
|
|
||||||
private double x2a, y2a, h2a, t2a;
|
|
||||||
|
|
||||||
private double x2b, y2b, h2b, t2b;
|
|
||||||
private double x2c, y2c, h2c, t2c;
|
|
||||||
|
|
||||||
private double x3a, y3a, h3a;
|
|
||||||
private double x3b, y3b, h3b;
|
|
||||||
private double x4a, y4a, h4a;
|
|
||||||
private double x4b, y4b, h4b;
|
|
||||||
|
|
||||||
private double xShoot, yShoot, hShoot;
|
|
||||||
private double xGate, yGate, hGate;
|
|
||||||
private double xPrep, yPrep, hPrep;
|
|
||||||
|
|
||||||
private double shoot1Tangent;
|
|
||||||
|
|
||||||
|
|
||||||
public Action prepareShootAll(double time) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
robot.spin1.setPosition(autoSpinStartPos);
|
|
||||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
|
||||||
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
|
|
||||||
turret.setTurret(turretShootPos);
|
|
||||||
|
|
||||||
robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return (System.currentTimeMillis() - stamp) < (time * 1000);
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
|
|
||||||
return new Action() {
|
|
||||||
int ticker = 1;
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
|
|
||||||
double velo = vel;
|
|
||||||
|
|
||||||
int shooterTicker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
velo = flywheel.getVelo();
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
robot.intake.setPower(-0.3);
|
|
||||||
|
|
||||||
if (ticker == 1) {
|
|
||||||
stamp = getRuntime();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
robot.intake.setPower(0);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (getRuntime() - stamp < shootTime) {
|
|
||||||
|
|
||||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
|
||||||
robot.spin1.setPosition(autoSpinStartPos);
|
|
||||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_in);
|
|
||||||
shooterTicker++;
|
|
||||||
double prevSpinPos = robot.spin1.getPosition();
|
|
||||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
|
||||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
//spindexPos = spindexer_intakePos1;
|
|
||||||
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
spindexer.processIntake();
|
|
||||||
|
|
||||||
return false;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
|
||||||
return new Action() {
|
|
||||||
int ticker = 1;
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
|
|
||||||
double velo = 0.0;
|
|
||||||
|
|
||||||
int shooterTicker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
velo = flywheel.getVelo();
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
robot.intake.setPower(-0.3);
|
|
||||||
|
|
||||||
if (ticker == 1) {
|
|
||||||
stamp = getRuntime();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
robot.intake.setPower(0);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (getRuntime() - stamp < shootTime) {
|
|
||||||
|
|
||||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
|
||||||
robot.spin1.setPosition(autoSpinStartPos);
|
|
||||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_in);
|
|
||||||
shooterTicker++;
|
|
||||||
double prevSpinPos = robot.spin1.getPosition();
|
|
||||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
|
||||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
//spindexPos = spindexer_intakePos1;
|
|
||||||
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
spindexer.processIntake();
|
|
||||||
|
|
||||||
return false;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action intake(double intakeTime) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
spindexer.processIntake();
|
|
||||||
robot.intake.setPower(1);
|
|
||||||
|
|
||||||
motif = turret.detectObelisk();
|
|
||||||
|
|
||||||
spindexer.ballCounterLight();
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action detectObelisk(
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posXTolerance,
|
|
||||||
double posYTolerance,
|
|
||||||
double turrPos
|
|
||||||
) {
|
|
||||||
|
|
||||||
boolean timeFallback = (time != 0.501);
|
|
||||||
boolean posXFallback = (posX != 0.501);
|
|
||||||
boolean posYFallback = (posY != 0.501);
|
|
||||||
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
motif = turret.detectObelisk();
|
|
||||||
|
|
||||||
robot.turr1.setPosition(turrPos);
|
|
||||||
robot.turr2.setPosition(1 - turrPos);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
|
||||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
|
||||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
|
||||||
|
|
||||||
boolean shouldFinish = timeDone || xDone || yDone;
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !shouldFinish;
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action manageFlywheel(
|
|
||||||
double vel,
|
|
||||||
double hoodPos,
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posXTolerance,
|
|
||||||
double posYTolerance
|
|
||||||
) {
|
|
||||||
|
|
||||||
boolean timeFallback = (time != 0.501);
|
|
||||||
boolean posXFallback = (posX != 0.501);
|
|
||||||
boolean posYFallback = (posY != 0.501);
|
|
||||||
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
robot.hood.setPosition(hoodPos);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
|
||||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
|
||||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
|
||||||
|
|
||||||
boolean shouldFinish = timeDone || xDone || yDone;
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !shouldFinish;
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action manageShooterAuto(
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posXTolerance,
|
|
||||||
double posYTolerance
|
|
||||||
) {
|
|
||||||
|
|
||||||
boolean timeFallback = (time != 0.501);
|
|
||||||
boolean posXFallback = (posX != 0.501);
|
|
||||||
boolean posYFallback = (posY != 0.501);
|
|
||||||
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
double robotX = drive.localizer.getPose().position.x;
|
|
||||||
double robotY = drive.localizer.getPose().position.y;
|
|
||||||
|
|
||||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
|
||||||
|
|
||||||
double goalX = -15;
|
|
||||||
double goalY = 0;
|
|
||||||
|
|
||||||
double dx = robotX - goalX; // delta x from robot to goal
|
|
||||||
double dy = robotY - goalY; // delta y from robot to goal
|
|
||||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
|
||||||
|
|
||||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
|
||||||
|
|
||||||
targetingSettings = targeting.calculateSettings
|
|
||||||
(robotX, robotY, robotHeading, 0.0, false);
|
|
||||||
|
|
||||||
turret.trackGoal(deltaPose);
|
|
||||||
|
|
||||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
|
||||||
|
|
||||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
|
||||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
|
||||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
|
||||||
|
|
||||||
boolean shouldFinish = timeDone || xDone || yDone;
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !shouldFinish;
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action manageFlywheelAuto(
|
|
||||||
double time,
|
|
||||||
double posX,
|
|
||||||
double posY,
|
|
||||||
double posXTolerance,
|
|
||||||
double posYTolerance
|
|
||||||
) {
|
|
||||||
|
|
||||||
boolean timeFallback = (time != 0.501);
|
|
||||||
boolean posXFallback = (posX != 0.501);
|
|
||||||
boolean posYFallback = (posY != 0.501);
|
|
||||||
|
|
||||||
return new Action() {
|
|
||||||
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
Pose2d currentPose = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = System.currentTimeMillis();
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
double robotX = drive.localizer.getPose().position.x;
|
|
||||||
double robotY = drive.localizer.getPose().position.y;
|
|
||||||
|
|
||||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
|
||||||
|
|
||||||
double goalX = -15;
|
|
||||||
double goalY = 0;
|
|
||||||
|
|
||||||
double dx = robotX - goalX; // delta x from robot to goal
|
|
||||||
double dy = robotY - goalY; // delta y from robot to goal
|
|
||||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
|
||||||
|
|
||||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
|
||||||
|
|
||||||
targetingSettings = targeting.calculateSettings
|
|
||||||
(robotX, robotY, robotHeading, 0.0, false);
|
|
||||||
|
|
||||||
|
|
||||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
|
||||||
|
|
||||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
|
||||||
|
|
||||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
|
||||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
|
||||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
|
||||||
|
|
||||||
boolean shouldFinish = timeDone || xDone || yDone;
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Hood", robot.hood.getPosition());
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !shouldFinish;
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
|
|
||||||
TELE = new MultipleTelemetry(
|
|
||||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
|
||||||
);
|
|
||||||
|
|
||||||
flywheel = new Flywheel(hardwareMap);
|
|
||||||
|
|
||||||
targeting = new Targeting();
|
|
||||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
|
||||||
|
|
||||||
spindexer = new Spindexer(hardwareMap);
|
|
||||||
|
|
||||||
servos = new Servos(hardwareMap);
|
|
||||||
|
|
||||||
robot.limelight.pipelineSwitch(1);
|
|
||||||
|
|
||||||
turret = new Turret(robot, TELE, robot.limelight);
|
|
||||||
|
|
||||||
turret.setTurret(0.4);
|
|
||||||
|
|
||||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
|
||||||
|
|
||||||
robot.spin1.setPosition(autoSpinStartPos);
|
|
||||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
|
||||||
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
|
|
||||||
TrajectoryActionBuilder shoot0 = null;
|
|
||||||
TrajectoryActionBuilder pickup1 = null;
|
|
||||||
TrajectoryActionBuilder shoot1 = null;
|
|
||||||
TrajectoryActionBuilder pickup2 = null;
|
|
||||||
TrajectoryActionBuilder shoot2 = null;
|
|
||||||
TrajectoryActionBuilder pickup3 = null;
|
|
||||||
TrajectoryActionBuilder shoot3 = null;
|
|
||||||
|
|
||||||
robot.limelight.start();
|
|
||||||
|
|
||||||
robot.light.setPosition(1);
|
|
||||||
|
|
||||||
while (opModeInInit()) {
|
|
||||||
|
|
||||||
robot.hood.setPosition(shoot0Hood);
|
|
||||||
|
|
||||||
if (gamepad2.crossWasPressed()) {
|
|
||||||
redAlliance = !redAlliance;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (redAlliance) {
|
|
||||||
robot.light.setPosition(0.28);
|
|
||||||
|
|
||||||
// ---- FIRST SHOT ----
|
|
||||||
x1 = rx1;
|
|
||||||
y1 = ry1;
|
|
||||||
h1 = rh1;
|
|
||||||
|
|
||||||
// ---- PICKUP PATH ----
|
|
||||||
x2a = rx2a;
|
|
||||||
y2a = ry2a;
|
|
||||||
h2a = rh2a;
|
|
||||||
x2b = rx2b;
|
|
||||||
y2b = ry2b;
|
|
||||||
h2b = rh2b;
|
|
||||||
x3a = rx3a;
|
|
||||||
y3a = ry3a;
|
|
||||||
h3a = rh3a;
|
|
||||||
x3b = rx3b;
|
|
||||||
y3b = ry3b;
|
|
||||||
h3b = rh3b;
|
|
||||||
x4a = rx4a;
|
|
||||||
y4a = ry4a;
|
|
||||||
h4a = rh4a;
|
|
||||||
x4b = rx4b;
|
|
||||||
y4b = ry4b;
|
|
||||||
h4b = rh4b;
|
|
||||||
xPrep = rxPrep;
|
|
||||||
yPrep = ryPrep;
|
|
||||||
hPrep = rhPrep;
|
|
||||||
xShoot = rShootX;
|
|
||||||
yShoot = rShootY;
|
|
||||||
hShoot = rShootH;
|
|
||||||
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.light.setPosition(0.6);
|
|
||||||
|
|
||||||
// ---- FIRST SHOT ----
|
|
||||||
x1 = bx1;
|
|
||||||
y1 = by1;
|
|
||||||
h1 = bh1;
|
|
||||||
|
|
||||||
// ---- PICKUP PATH ----
|
|
||||||
x2a = bx2a;
|
|
||||||
y2a = by2a;
|
|
||||||
h2a = bh2a;
|
|
||||||
x2b = bx2b;
|
|
||||||
y2b = by2b;
|
|
||||||
h2b = bh2b;
|
|
||||||
x3a = bx3a;
|
|
||||||
y3a = by3a;
|
|
||||||
h3a = bh3a;
|
|
||||||
x3b = bx3b;
|
|
||||||
y3b = by3b;
|
|
||||||
h3b = bh3b;
|
|
||||||
x4a = bx4a;
|
|
||||||
y4a = by4a;
|
|
||||||
h4a = bh4a;
|
|
||||||
x4b = bx4b;
|
|
||||||
y4b = by4b;
|
|
||||||
h4b = bh4b;
|
|
||||||
|
|
||||||
xPrep = bxPrep;
|
|
||||||
yPrep = byPrep;
|
|
||||||
hPrep = bhPrep;
|
|
||||||
xShoot = bShootX;
|
|
||||||
yShoot = bShootY;
|
|
||||||
hShoot = bShootH;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
|
||||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
|
||||||
|
|
||||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
|
|
||||||
new TranslationalVelConstraint(pickup1Speed));
|
|
||||||
|
|
||||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
|
||||||
|
|
||||||
pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
|
|
||||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
|
|
||||||
new TranslationalVelConstraint(pickup1Speed));
|
|
||||||
|
|
||||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
|
||||||
|
|
||||||
pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
|
|
||||||
new TranslationalVelConstraint(pickup1Speed));
|
|
||||||
shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
TELE.addData("Red?", redAlliance);
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
if (opModeIsActive()) {
|
|
||||||
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
assert shoot0 != null;
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot0.build(),
|
|
||||||
manageFlywheel(
|
|
||||||
shoot0Vel,
|
|
||||||
shoot0Hood,
|
|
||||||
flywheel0Time,
|
|
||||||
x1,
|
|
||||||
0.501,
|
|
||||||
shoot0XTolerance,
|
|
||||||
0.501
|
|
||||||
)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup1.build(),
|
|
||||||
manageFlywheel(
|
|
||||||
shootAllVelocity,
|
|
||||||
shootAllHood,
|
|
||||||
pickup1Time,
|
|
||||||
x2b,
|
|
||||||
y2b,
|
|
||||||
pickup1XTolerance,
|
|
||||||
pickup1YTolerance
|
|
||||||
),
|
|
||||||
intake(intake1Time)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
manageFlywheel(
|
|
||||||
shootAllVelocity,
|
|
||||||
shootAllHood,
|
|
||||||
shoot1Time,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501
|
|
||||||
),
|
|
||||||
shoot1.build(),
|
|
||||||
prepareShootAll(shoot1Time)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
manageShooterAuto(
|
|
||||||
shootAllTime,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501
|
|
||||||
),
|
|
||||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup2.build(),
|
|
||||||
manageShooterAuto(
|
|
||||||
normalIntakeTime,
|
|
||||||
x2b,
|
|
||||||
y2b,
|
|
||||||
pickup1XTolerance,
|
|
||||||
pickup1YTolerance
|
|
||||||
),
|
|
||||||
intake(normalIntakeTime)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
manageFlywheelAuto(
|
|
||||||
shootCycleTime,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501
|
|
||||||
),
|
|
||||||
shoot2.build(),
|
|
||||||
prepareShootAll(shootCycleTime)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
manageShooterAuto(
|
|
||||||
shootAllTime,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501
|
|
||||||
),
|
|
||||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup3.build(),
|
|
||||||
manageShooterAuto(
|
|
||||||
normalIntakeTime,
|
|
||||||
x2b,
|
|
||||||
y2b,
|
|
||||||
pickup1XTolerance,
|
|
||||||
pickup1YTolerance
|
|
||||||
),
|
|
||||||
intake(normalIntakeTime)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
manageFlywheelAuto(
|
|
||||||
shootCycleTime,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501
|
|
||||||
),
|
|
||||||
shoot3.build(),
|
|
||||||
prepareShootAll(shootCycleTime)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
manageShooterAuto(
|
|
||||||
shootAllTime,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501,
|
|
||||||
0.501
|
|
||||||
),
|
|
||||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
|
||||||
)
|
|
||||||
|
|
||||||
);
|
|
||||||
|
|
||||||
|
|
||||||
TELE.addLine("finished");
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
sleep(2000);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -1,804 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
|
|
||||||
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
|
|
||||||
|
|
||||||
import androidx.annotation.NonNull;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
|
||||||
import com.acmerobotics.roadrunner.Action;
|
|
||||||
import com.acmerobotics.roadrunner.ParallelAction;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.acmerobotics.roadrunner.SequentialAction;
|
|
||||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
|
||||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
|
||||||
import com.acmerobotics.roadrunner.Vector2d;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
|
||||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
|
||||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
|
||||||
|
|
||||||
import java.util.List;
|
|
||||||
@Disabled
|
|
||||||
@Config
|
|
||||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
|
||||||
public class ProtoAutoClose_V3 extends LinearOpMode {
|
|
||||||
public static double intake1Time = 2.7;
|
|
||||||
public static double intake2Time = 3.0;
|
|
||||||
public static double colorDetect = 3.0;
|
|
||||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
|
||||||
public static double slowSpeed = 30.0;
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
MecanumDrive drive;
|
|
||||||
Flywheel flywheel;
|
|
||||||
Servos servo;
|
|
||||||
double velo = 0.0;
|
|
||||||
boolean gpp = false;
|
|
||||||
boolean pgp = false;
|
|
||||||
boolean ppg = false;
|
|
||||||
public static double spinUnjamTime = 0.6;
|
|
||||||
double powPID = 0.0;
|
|
||||||
double bearing = 0.0;
|
|
||||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
|
||||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
|
||||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
|
||||||
|
|
||||||
public Action initShooter(int vel) {
|
|
||||||
return new Action() {
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
velo = flywheel.getVelo();
|
|
||||||
|
|
||||||
TELE.addData("Velocity", velo);
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return !flywheel.getSteady();
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action Obelisk() {
|
|
||||||
return new Action() {
|
|
||||||
int id = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
LLResult result = robot.limelight.getLatestResult();
|
|
||||||
if (result != null && result.isValid()) {
|
|
||||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
|
||||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
|
||||||
id = fiducial.getFiducialId();
|
|
||||||
TELE.addData("ID", id);
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
if (id == 21) {
|
|
||||||
gpp = true;
|
|
||||||
} else if (id == 22) {
|
|
||||||
pgp = true;
|
|
||||||
} else if (id == 23) {
|
|
||||||
ppg = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
TELE.addData("Velocity", velo);
|
|
||||||
TELE.addData("21", gpp);
|
|
||||||
TELE.addData("22", pgp);
|
|
||||||
TELE.addData("23", ppg);
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
if (gpp || pgp || ppg) {
|
|
||||||
if (redAlliance) {
|
|
||||||
robot.limelight.pipelineSwitch(3);
|
|
||||||
robot.turr1.setPosition(turret_redClose);
|
|
||||||
robot.turr2.setPosition(1 - turret_redClose);
|
|
||||||
return false;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.limelight.pipelineSwitch(2);
|
|
||||||
double turretPID = turret_blueClose;
|
|
||||||
robot.turr1.setPosition(turretPID);
|
|
||||||
robot.turr2.setPosition(1 - turretPID);
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action spindex(double spindexer, int vel) {
|
|
||||||
return new Action() {
|
|
||||||
double spinPID = 0.0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
velo = flywheel.getVelo();
|
|
||||||
|
|
||||||
spinPID = servo.setSpinPos(spindexer);
|
|
||||||
robot.spin1.setPosition(spinPID);
|
|
||||||
robot.spin2.setPosition(-spinPID);
|
|
||||||
TELE.addData("Velocity", velo);
|
|
||||||
TELE.addLine("spindex");
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (servo.spinEqual(spindexer)) {
|
|
||||||
robot.spin1.setPosition(0);
|
|
||||||
robot.spin2.setPosition(0);
|
|
||||||
|
|
||||||
return false;
|
|
||||||
} else {
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public Action Shoot(int vel) {
|
|
||||||
return new Action() {
|
|
||||||
int ticker = 1;
|
|
||||||
double initPos = 0.0;
|
|
||||||
double finalPos = 0.0;
|
|
||||||
boolean zeroNeeded = false;
|
|
||||||
boolean zeroPassed = false;
|
|
||||||
double currentPos = 0.0;
|
|
||||||
double prevPos = 0.0;
|
|
||||||
double stamp = 0.0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
TELE.addData("Velocity", velo);
|
|
||||||
TELE.addLine("shooting");
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
velo = flywheel.getVelo();
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
robot.intake.setPower(-0.3);
|
|
||||||
|
|
||||||
if (ticker == 1) {
|
|
||||||
stamp = getRuntime();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
robot.intake.setPower(0);
|
|
||||||
|
|
||||||
if (getRuntime() - stamp < 2.7) {
|
|
||||||
|
|
||||||
robot.transferServo.setPosition(transferServo_in);
|
|
||||||
|
|
||||||
robot.spin1.setPosition(-spinPow);
|
|
||||||
robot.spin2.setPosition(spinPow);
|
|
||||||
return true;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action spindexUnjam(double jamTime) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
if (ticker == 1) {
|
|
||||||
stamp = getRuntime();
|
|
||||||
}
|
|
||||||
|
|
||||||
if (ticker % 12 < 6) {
|
|
||||||
|
|
||||||
robot.spin1.setPosition(-1);
|
|
||||||
robot.spin2.setPosition(1);
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.spin1.setPosition(1);
|
|
||||||
robot.spin2.setPosition(-1);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (getRuntime() - stamp > jamTime+0.4) {
|
|
||||||
|
|
||||||
robot.intake.setPower(0.5);
|
|
||||||
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
else if (getRuntime() - stamp > jamTime) {
|
|
||||||
|
|
||||||
robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
|
|
||||||
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
else {
|
|
||||||
robot.intake.setPower(1);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action intake(double intakeTime) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
double spinCurrentPos = 0.0;
|
|
||||||
double spinInitPos = 0.0;
|
|
||||||
boolean reverse = false;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = getRuntime();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
if (ticker % 60 < 12) {
|
|
||||||
|
|
||||||
robot.spin1.setPosition(-1);
|
|
||||||
robot.spin2.setPosition(1);
|
|
||||||
|
|
||||||
} else if (ticker % 60 < 30) {
|
|
||||||
robot.spin1.setPosition(-0.5);
|
|
||||||
robot.spin2.setPosition(0.5);
|
|
||||||
}
|
|
||||||
else if (ticker % 60 < 42) {
|
|
||||||
robot.spin1.setPosition(1);
|
|
||||||
robot.spin2.setPosition(-1);
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
robot.spin1.setPosition(0.5);
|
|
||||||
robot.spin2.setPosition(-0.5);
|
|
||||||
}
|
|
||||||
robot.intake.setPower(1);
|
|
||||||
TELE.addData("Reverse?", reverse);
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
if (getRuntime() - stamp > intakeTime) {
|
|
||||||
if (reverse) {
|
|
||||||
robot.spin1.setPosition(-1);
|
|
||||||
robot.spin2.setPosition(1);
|
|
||||||
} else {
|
|
||||||
robot.spin1.setPosition(1);
|
|
||||||
robot.spin2.setPosition(-1);
|
|
||||||
}
|
|
||||||
return false;
|
|
||||||
} else {
|
|
||||||
if (ticker % 4 == 0) {
|
|
||||||
spinCurrentPos = servo.getSpinPos();
|
|
||||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
|
|
||||||
spinInitPos = spinCurrentPos;
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
public Action ColorDetect(int vel) {
|
|
||||||
return new Action() {
|
|
||||||
double stamp = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
|
||||||
if (ticker == 0) {
|
|
||||||
stamp = getRuntime();
|
|
||||||
}
|
|
||||||
ticker++;
|
|
||||||
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
velo = flywheel.getVelo();
|
|
||||||
|
|
||||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
|
||||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
|
||||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
if (s1D < 43) {
|
|
||||||
|
|
||||||
double green = robot.color1.getNormalizedColors().green;
|
|
||||||
double red = robot.color1.getNormalizedColors().red;
|
|
||||||
double blue = robot.color1.getNormalizedColors().blue;
|
|
||||||
|
|
||||||
double gP = green / (green + red + blue);
|
|
||||||
|
|
||||||
if (gP >= 0.4) {
|
|
||||||
b1 = 2;
|
|
||||||
} else {
|
|
||||||
b1 = 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (s2D < 60) {
|
|
||||||
|
|
||||||
double green = robot.color2.getNormalizedColors().green;
|
|
||||||
double red = robot.color2.getNormalizedColors().red;
|
|
||||||
double blue = robot.color2.getNormalizedColors().blue;
|
|
||||||
|
|
||||||
double gP = green / (green + red + blue);
|
|
||||||
|
|
||||||
if (gP >= 0.4) {
|
|
||||||
b2 = 2;
|
|
||||||
} else {
|
|
||||||
b2 = 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (s3D < 33) {
|
|
||||||
|
|
||||||
double green = robot.color3.getNormalizedColors().green;
|
|
||||||
double red = robot.color3.getNormalizedColors().red;
|
|
||||||
double blue = robot.color3.getNormalizedColors().blue;
|
|
||||||
|
|
||||||
double gP = green / (green + red + blue);
|
|
||||||
|
|
||||||
if (gP >= 0.4) {
|
|
||||||
b3 = 2;
|
|
||||||
} else {
|
|
||||||
b3 = 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
TELE.addData("Velocity", velo);
|
|
||||||
TELE.addLine("Detecting");
|
|
||||||
TELE.addData("Distance 1", s1D);
|
|
||||||
TELE.addData("Distance 2", s2D);
|
|
||||||
TELE.addData("Distance 3", s3D);
|
|
||||||
TELE.addData("B1", b1);
|
|
||||||
TELE.addData("B2", b2);
|
|
||||||
TELE.addData("B3", b3);
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
|
|
||||||
flywheel = new Flywheel(hardwareMap);
|
|
||||||
|
|
||||||
TELE = new MultipleTelemetry(
|
|
||||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
|
||||||
);
|
|
||||||
|
|
||||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
|
||||||
0, 0, 0
|
|
||||||
));
|
|
||||||
|
|
||||||
servo = new Servos(hardwareMap);
|
|
||||||
|
|
||||||
robot.limelight.pipelineSwitch(1);
|
|
||||||
robot.limelight.start();
|
|
||||||
|
|
||||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
//
|
|
||||||
// TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
|
||||||
// .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
|
|
||||||
|
|
||||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
|
|
||||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
while (opModeInInit()) {
|
|
||||||
|
|
||||||
if (gamepad2.dpadUpWasPressed()) {
|
|
||||||
hoodAuto -= 0.01;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.dpadDownWasPressed()) {
|
|
||||||
hoodAuto += 0.01;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.crossWasPressed()) {
|
|
||||||
redAlliance = !redAlliance;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
double turretPID;
|
|
||||||
if (redAlliance) {
|
|
||||||
turretPID = turret_redClose;
|
|
||||||
|
|
||||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
|
||||||
|
|
||||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
|
|
||||||
// lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
|
||||||
// .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
|
|
||||||
|
|
||||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
|
||||||
|
|
||||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
|
|
||||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
|
||||||
|
|
||||||
pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
|
||||||
|
|
||||||
} else {
|
|
||||||
turretPID = turret_blueClose;
|
|
||||||
|
|
||||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
|
|
||||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
|
|
||||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
|
|
||||||
pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
|
||||||
new TranslationalVelConstraint(slowSpeed));
|
|
||||||
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
|
||||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
|
||||||
}
|
|
||||||
|
|
||||||
robot.turr1.setPosition(turretPID);
|
|
||||||
robot.turr2.setPosition(1 - turretPID);
|
|
||||||
|
|
||||||
robot.hood.setPosition(hoodAuto);
|
|
||||||
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
|
|
||||||
TELE.addData("Red?", redAlliance);
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
if (opModeIsActive()) {
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot0.build(),
|
|
||||||
initShooter(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
shootingSequence();
|
|
||||||
|
|
||||||
robot.transfer.setPower(0);
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup1.build(),
|
|
||||||
intake(intake1Time)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
shoot1.build(),
|
|
||||||
spindexUnjam(spinUnjamTime)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
shootingSequence();
|
|
||||||
|
|
||||||
robot.transfer.setPower(0);
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup2.build(),
|
|
||||||
intake(intake2Time)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot2.build(),
|
|
||||||
spindexUnjam(spinUnjamTime)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
shootingSequence();
|
|
||||||
|
|
||||||
robot.transfer.setPower(0);
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
pickup3.build(),
|
|
||||||
intake(intake2Time)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
Actions.runBlocking(
|
|
||||||
new ParallelAction(
|
|
||||||
shoot3.build(),
|
|
||||||
spindexUnjam(spinUnjamTime)
|
|
||||||
|
|
||||||
)
|
|
||||||
);
|
|
||||||
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
shootingSequence();
|
|
||||||
|
|
||||||
robot.transfer.setPower(0);
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
teleStart = drive.localizer.getPose();
|
|
||||||
|
|
||||||
TELE.addData("Velocity", velo);
|
|
||||||
TELE.addLine("finished");
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
sleep(2000);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
//TODO: adjust this according to Teleop numbers
|
|
||||||
public void detectTag() {
|
|
||||||
LLResult result = robot.limelight.getLatestResult();
|
|
||||||
if (result != null) {
|
|
||||||
if (result.isValid()) {
|
|
||||||
bearing = result.getTx();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
double turretPos = (bearing / 1300);
|
|
||||||
robot.turr1.setPosition(turretPos);
|
|
||||||
robot.turr2.setPosition(1 - turretPos);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void shootingSequence() {
|
|
||||||
TELE.addLine("Shooting");
|
|
||||||
TELE.update();
|
|
||||||
Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sequence1() {
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sequence2() {
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sequence3() {
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
|
||||||
|
|
||||||
Shoot(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sequence4() {
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sequence5() {
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void sequence6() {
|
|
||||||
Actions.runBlocking(
|
|
||||||
new SequentialAction(
|
|
||||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL),
|
|
||||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
|
||||||
Shoot(AUTO_CLOSE_VEL)
|
|
||||||
)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,25 +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 = 75, rStackPickupAY = 53, rStackPickupAH = 140;
|
|
||||||
public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
|
|
||||||
|
|
||||||
public static double rStackPickupBX = 55, rStackPickupBY = 73, rStackPickupBH = 140.1;
|
|
||||||
public static double bStackPickupBX = 50, bStackPickupBY = -78, bStackPickupBH = -140.1;
|
|
||||||
|
|
||||||
public static double rPickupGateX = 70, rPickupGateY = 90, rPickupGateH = 140;
|
|
||||||
public static double bPickupGateX = 60, bPickupGateY = -88, bPickupGateH = -140;
|
|
||||||
|
|
||||||
public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 50;
|
|
||||||
public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -50;
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,16 +0,0 @@
|
|||||||
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;
|
|
||||||
}
|
|
||||||
@@ -1,61 +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 = 23, ry2b = 36, rh2b = 140.1;
|
|
||||||
public static double bx2b = 19, by2b = -40, 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 = 55, by3aG = -43, bh3aG = -140;
|
|
||||||
|
|
||||||
public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
|
|
||||||
public static double bx3b = 41, by3b = -59, 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 = 47, by4b = -85, 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 = 0, 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 = 40, rShoot0Y = 0.1, rShoot0H = 0.1;
|
|
||||||
public static double bShoot0X = 40, bShoot0Y = -0.1, bShoot0H = -0.1;
|
|
||||||
|
|
||||||
public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
|
|
||||||
public static double bShootGateX = 40, bShootGateY = 1, bShootGateH = -90;
|
|
||||||
|
|
||||||
public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
|
|
||||||
public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
|
|
||||||
|
|
||||||
public static double rPickupGateAX = 24, rPickupGateAY = 50, rPickupGateAH = 140;
|
|
||||||
public static double bPickupGateAX = 36, bPickupGateAY = -50, bPickupGateAH = -140;
|
|
||||||
|
|
||||||
public static double rPickupGateBX = 38, rPickupGateBY = 68, rPickupGateBH = 180;
|
|
||||||
public static double bPickupGateBX = 46, bPickupGateBY = -60, bPickupGateBH = -180;
|
|
||||||
|
|
||||||
public static Pose2d teleStart = new Pose2d(0, 0, 0);
|
|
||||||
}
|
|
||||||
@@ -1,21 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.constants;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
||||||
|
|
||||||
@Disabled
|
|
||||||
@Config
|
|
||||||
public class Poses_V2 {
|
|
||||||
|
|
||||||
public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
|
|
||||||
|
|
||||||
public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
|
|
||||||
|
|
||||||
public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
|
|
||||||
|
|
||||||
public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
|
|
||||||
public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
|
|
||||||
|
|
||||||
public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,45 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.constants;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
public class ServoPositions {
|
|
||||||
|
|
||||||
public static double spindexer_intakePos1 = 0.13; //0.13;
|
|
||||||
|
|
||||||
public static double spindexer_intakePos2 = 0.32; //0.33;//0.5;
|
|
||||||
|
|
||||||
public static double spindexer_intakePos3 = 0.5; //0.53;//0.66;
|
|
||||||
|
|
||||||
public static double spindexer_outtakeBall3 = 0.78; //0.65; //0.24;
|
|
||||||
public static double spindexer_outtakeBall3b = 0.22; //0.65; //0.24;
|
|
||||||
|
|
||||||
public static double spindexer_outtakeBall2 = 0.7; //0.46; //0.6;
|
|
||||||
public static double spindexer_outtakeBall1 = 0.42; //0.27; //0.4;
|
|
||||||
public static double spinStartPos = 0.05;
|
|
||||||
public static double spinEndPos = 0.95;
|
|
||||||
|
|
||||||
public static double shootAllSpindexerSpeedIncrease = 0.014;
|
|
||||||
|
|
||||||
public static double transferServo_out = 0.15;
|
|
||||||
|
|
||||||
public static double transferServo_in = 0.38;
|
|
||||||
|
|
||||||
public static double hoodAuto = 0.27;
|
|
||||||
|
|
||||||
public static double hoodOffset = -0.04; // offset from 0.93
|
|
||||||
|
|
||||||
public static double turret_redClose = 0;
|
|
||||||
public static double turret_blueClose = 0;
|
|
||||||
|
|
||||||
// These values are ADDED to turrDefault
|
|
||||||
public static double redObeliskTurrPos1 = 0.12;
|
|
||||||
public static double redObeliskTurrPos2 = 0.13;
|
|
||||||
public static double redObeliskTurrPos3 = 0.14;
|
|
||||||
public static double blueObeliskTurrPos1 = -0.12;
|
|
||||||
public static double blueObeliskTurrPos2 = -0.13;
|
|
||||||
public static double blueObeliskTurrPos3 = -0.14;
|
|
||||||
public static double redTurretShootPos = 0.05;
|
|
||||||
public static double blueTurretShootPos = -0.05;
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,13 +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 ShooterVars {
|
|
||||||
|
|
||||||
// VELOCITY CONSTANTS
|
|
||||||
public static int AUTO_CLOSE_VEL = 3175; //3300;
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -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.disabled;
|
||||||
|
|
||||||
|
public class blank {
|
||||||
|
}
|
||||||
@@ -1,13 +1,12 @@
|
|||||||
package org.firstinspires.ftc.teamcode.libs.RR;
|
package org.firstinspires.ftc.teamcode.libs.RR;
|
||||||
|
|
||||||
|
|
||||||
import androidx.annotation.NonNull;
|
import androidx.annotation.NonNull;
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
import com.acmerobotics.dashboard.canvas.Canvas;
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
import com.acmerobotics.dashboard.config.Config;
|
||||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||||
import com.acmerobotics.roadrunner.AccelConstraint;
|
import com.acmerobotics.roadrunner.*;
|
||||||
import com.acmerobotics.roadrunner.Action;
|
|
||||||
import com.acmerobotics.roadrunner.Actions;
|
|
||||||
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
||||||
import com.acmerobotics.roadrunner.DualNum;
|
import com.acmerobotics.roadrunner.DualNum;
|
||||||
import com.acmerobotics.roadrunner.HolonomicController;
|
import com.acmerobotics.roadrunner.HolonomicController;
|
||||||
@@ -16,20 +15,12 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
|
|||||||
import com.acmerobotics.roadrunner.MotorFeedforward;
|
import com.acmerobotics.roadrunner.MotorFeedforward;
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
import com.acmerobotics.roadrunner.Pose2d;
|
||||||
import com.acmerobotics.roadrunner.Pose2dDual;
|
import com.acmerobotics.roadrunner.Pose2dDual;
|
||||||
import com.acmerobotics.roadrunner.PoseVelocity2d;
|
|
||||||
import com.acmerobotics.roadrunner.PoseVelocity2dDual;
|
|
||||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||||
import com.acmerobotics.roadrunner.ProfileParams;
|
|
||||||
import com.acmerobotics.roadrunner.Rotation2d;
|
|
||||||
import com.acmerobotics.roadrunner.Time;
|
import com.acmerobotics.roadrunner.Time;
|
||||||
import com.acmerobotics.roadrunner.TimeTrajectory;
|
import com.acmerobotics.roadrunner.TimeTrajectory;
|
||||||
import com.acmerobotics.roadrunner.TimeTurn;
|
import com.acmerobotics.roadrunner.TimeTurn;
|
||||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||||
import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
|
|
||||||
import com.acmerobotics.roadrunner.TurnConstraints;
|
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.VelConstraint;
|
||||||
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
|
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
|
||||||
import com.acmerobotics.roadrunner.ftc.Encoder;
|
import com.acmerobotics.roadrunner.ftc.Encoder;
|
||||||
@@ -44,7 +35,6 @@ import com.qualcomm.hardware.lynx.LynxModule;
|
|||||||
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
|
||||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||||
import com.qualcomm.robotcore.hardware.IMU;
|
import com.qualcomm.robotcore.hardware.IMU;
|
||||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||||
@@ -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.MecanumLocalizerInputsMessage;
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
|
import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
|
||||||
|
|
||||||
|
import java.lang.Math;
|
||||||
import java.util.Arrays;
|
import java.util.Arrays;
|
||||||
import java.util.LinkedList;
|
import java.util.LinkedList;
|
||||||
import java.util.List;
|
import java.util.List;
|
||||||
|
|
||||||
@Config
|
@Config
|
||||||
public final class MecanumDrive {
|
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.UP;
|
||||||
|
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||||
|
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
|
||||||
|
|
||||||
|
// drive model parameters
|
||||||
|
public double inPerTick = 1;
|
||||||
|
public double lateralInPerTick = inPerTick;
|
||||||
|
public double trackWidthTicks = 0;
|
||||||
|
|
||||||
|
// feedforward parameters (in tick units)
|
||||||
|
public double kS = 0;
|
||||||
|
public double kV = 0;
|
||||||
|
public double kA = 0;
|
||||||
|
|
||||||
|
// path profile parameters (in inches)
|
||||||
|
public double maxWheelVel = 50;
|
||||||
|
public double minProfileAccel = -30;
|
||||||
|
public double maxProfileAccel = 50;
|
||||||
|
|
||||||
|
// turn profile parameters (in radians)
|
||||||
|
public double maxAngVel = Math.PI; // shared with path
|
||||||
|
public double maxAngAccel = Math.PI;
|
||||||
|
|
||||||
|
// path controller gains
|
||||||
|
public double axialGain = 0.0;
|
||||||
|
public double lateralGain = 0.0;
|
||||||
|
public double headingGain = 0.0; // 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 static Params PARAMS = new Params();
|
||||||
|
|
||||||
public final MecanumKinematics kinematics = new MecanumKinematics(
|
public final MecanumKinematics kinematics = new MecanumKinematics(
|
||||||
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
||||||
|
|
||||||
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
||||||
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
||||||
public final VelConstraint defaultVelConstraint =
|
public final VelConstraint defaultVelConstraint =
|
||||||
@@ -74,150 +105,20 @@ public final class MecanumDrive {
|
|||||||
));
|
));
|
||||||
public final AccelConstraint defaultAccelConstraint =
|
public final AccelConstraint defaultAccelConstraint =
|
||||||
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
||||||
|
|
||||||
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
||||||
|
|
||||||
public final VoltageSensor voltageSensor;
|
public final VoltageSensor voltageSensor;
|
||||||
|
|
||||||
public final LazyImu lazyImu;
|
public final LazyImu lazyImu;
|
||||||
|
|
||||||
public final Localizer localizer;
|
public final Localizer localizer;
|
||||||
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
||||||
|
|
||||||
private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
|
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 targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
|
||||||
private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 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);
|
private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
|
||||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
|
||||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
|
||||||
|
|
||||||
for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
|
|
||||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
|
||||||
}
|
|
||||||
|
|
||||||
// TODO: make sure your config has motors with these names (or change them)
|
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
|
||||||
leftFront = hardwareMap.get(DcMotorEx.class, "fl");
|
|
||||||
leftBack = hardwareMap.get(DcMotorEx.class, "bl");
|
|
||||||
rightBack = hardwareMap.get(DcMotorEx.class, "br");
|
|
||||||
rightFront = hardwareMap.get(DcMotorEx.class, "fr");
|
|
||||||
|
|
||||||
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
|
|
||||||
// TODO: reverse motor directions if needed
|
|
||||||
//
|
|
||||||
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
|
||||||
|
|
||||||
leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
|
|
||||||
|
|
||||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
|
||||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
|
||||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
|
||||||
|
|
||||||
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
|
||||||
|
|
||||||
localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
|
|
||||||
|
|
||||||
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void setDrivePowers(PoseVelocity2d powers) {
|
|
||||||
MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
|
|
||||||
PoseVelocity2dDual.constant(powers, 1));
|
|
||||||
|
|
||||||
double maxPowerMag = 1;
|
|
||||||
for (DualNum<Time> power : wheelVels.all()) {
|
|
||||||
maxPowerMag = Math.max(maxPowerMag, power.value());
|
|
||||||
}
|
|
||||||
|
|
||||||
leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
|
|
||||||
leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
|
|
||||||
rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
|
|
||||||
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
|
||||||
}
|
|
||||||
|
|
||||||
public PoseVelocity2d updatePoseEstimate() {
|
|
||||||
PoseVelocity2d vel = localizer.update();
|
|
||||||
poseHistory.add(localizer.getPose());
|
|
||||||
|
|
||||||
while (poseHistory.size() > 100) {
|
|
||||||
poseHistory.removeFirst();
|
|
||||||
}
|
|
||||||
|
|
||||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
|
||||||
|
|
||||||
return vel;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void drawPoseHistory(Canvas c) {
|
|
||||||
double[] xPoints = new double[poseHistory.size()];
|
|
||||||
double[] yPoints = new double[poseHistory.size()];
|
|
||||||
|
|
||||||
int i = 0;
|
|
||||||
for (Pose2d t : poseHistory) {
|
|
||||||
xPoints[i] = t.position.x;
|
|
||||||
yPoints[i] = t.position.y;
|
|
||||||
|
|
||||||
i++;
|
|
||||||
}
|
|
||||||
|
|
||||||
c.setStrokeWidth(1);
|
|
||||||
c.setStroke("#3F51B5");
|
|
||||||
c.strokePolyline(xPoints, yPoints);
|
|
||||||
}
|
|
||||||
|
|
||||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
|
||||||
return new TrajectoryActionBuilder(
|
|
||||||
TurnAction::new,
|
|
||||||
FollowTrajectoryAction::new,
|
|
||||||
new TrajectoryBuilderParams(
|
|
||||||
1e-6,
|
|
||||||
new ProfileParams(
|
|
||||||
0.25, 0.1, 1e-2
|
|
||||||
)
|
|
||||||
),
|
|
||||||
beginPose, 0.0,
|
|
||||||
defaultTurnConstraints,
|
|
||||||
defaultVelConstraint, defaultAccelConstraint
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static class Params {
|
|
||||||
// IMU orientation
|
|
||||||
// TODO: fill in these values based on
|
|
||||||
// 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;
|
|
||||||
public double lateralGain = 6;
|
|
||||||
public double headingGain = 6; // 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 class DriveLocalizer implements Localizer {
|
||||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||||
@@ -243,13 +144,13 @@ public final class MecanumDrive {
|
|||||||
}
|
}
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
public Pose2d getPose() {
|
public void setPose(Pose2d pose) {
|
||||||
return pose;
|
this.pose = pose;
|
||||||
}
|
}
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
public void setPose(Pose2d pose) {
|
public Pose2d getPose() {
|
||||||
this.pose = pose;
|
return pose;
|
||||||
}
|
}
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
@@ -311,15 +212,66 @@ public final class MecanumDrive {
|
|||||||
headingDelta
|
headingDelta
|
||||||
));
|
));
|
||||||
|
|
||||||
|
|
||||||
return twist.velocity().value();
|
return twist.velocity().value();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
||||||
|
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
||||||
|
|
||||||
|
for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
|
||||||
|
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||||
|
}
|
||||||
|
|
||||||
|
// TODO: make sure your HardwareConfig has motors with these names (or change them)
|
||||||
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
|
leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
|
||||||
|
leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
|
||||||
|
rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
|
||||||
|
rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
|
||||||
|
|
||||||
|
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||||
|
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||||
|
rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||||
|
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||||
|
|
||||||
|
// TODO: reverse motor directions if needed
|
||||||
|
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
|
||||||
|
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
|
||||||
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
|
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||||
|
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||||
|
|
||||||
|
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
||||||
|
|
||||||
|
localizer = new DriveLocalizer(pose);
|
||||||
|
|
||||||
|
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void setDrivePowers(PoseVelocity2d powers) {
|
||||||
|
MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
|
||||||
|
PoseVelocity2dDual.constant(powers, 1));
|
||||||
|
|
||||||
|
double maxPowerMag = 1;
|
||||||
|
for (DualNum<Time> power : wheelVels.all()) {
|
||||||
|
maxPowerMag = Math.max(maxPowerMag, power.value());
|
||||||
|
}
|
||||||
|
|
||||||
|
leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
|
||||||
|
leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
|
||||||
|
rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
|
||||||
|
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
||||||
|
}
|
||||||
|
|
||||||
public final class FollowTrajectoryAction implements Action {
|
public final class FollowTrajectoryAction implements Action {
|
||||||
public final TimeTrajectory timeTrajectory;
|
public final TimeTrajectory timeTrajectory;
|
||||||
private final double[] xPoints, yPoints;
|
|
||||||
private double beginTs = -1;
|
private double beginTs = -1;
|
||||||
|
|
||||||
|
private final double[] xPoints, yPoints;
|
||||||
|
|
||||||
public FollowTrajectoryAction(TimeTrajectory t) {
|
public FollowTrajectoryAction(TimeTrajectory t) {
|
||||||
timeTrajectory = t;
|
timeTrajectory = t;
|
||||||
|
|
||||||
@@ -345,16 +297,7 @@ public final class MecanumDrive {
|
|||||||
t = Actions.now() - beginTs;
|
t = Actions.now() - beginTs;
|
||||||
}
|
}
|
||||||
|
|
||||||
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
if (t >= timeTrajectory.duration) {
|
||||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
|
||||||
|
|
||||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
|
||||||
|
|
||||||
Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
|
|
||||||
|
|
||||||
if ((t >= timeTrajectory.duration && error.position.norm() < 2
|
|
||||||
&& robotVelRobot.linearVel.norm() < 0.5)
|
|
||||||
|| t >= timeTrajectory.duration + 0.5) {
|
|
||||||
leftFront.setPower(0);
|
leftFront.setPower(0);
|
||||||
leftBack.setPower(0);
|
leftBack.setPower(0);
|
||||||
rightBack.setPower(0);
|
rightBack.setPower(0);
|
||||||
@@ -363,6 +306,10 @@ public final class MecanumDrive {
|
|||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
||||||
|
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
||||||
|
|
||||||
|
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
||||||
|
|
||||||
PoseVelocity2dDual<Time> command = new HolonomicController(
|
PoseVelocity2dDual<Time> command = new HolonomicController(
|
||||||
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
||||||
@@ -393,6 +340,7 @@ public final class MecanumDrive {
|
|||||||
p.put("y", localizer.getPose().position.y);
|
p.put("y", localizer.getPose().position.y);
|
||||||
p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));
|
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("xError", error.position.x);
|
||||||
p.put("yError", error.position.y);
|
p.put("yError", error.position.y);
|
||||||
p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
|
p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
|
||||||
@@ -500,4 +448,51 @@ public final class MecanumDrive {
|
|||||||
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
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
|
||||||
|
);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -28,7 +28,7 @@ public class OTOSLocalizer implements Localizer {
|
|||||||
private Pose2d currentPose;
|
private Pose2d currentPose;
|
||||||
|
|
||||||
public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
|
public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
|
||||||
// TODO: make sure your config has an OTOS device with this name
|
// TODO: make sure your HardwareConfig has an OTOS device with this name
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
|
otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
|
||||||
currentPose = initialPose;
|
currentPose = initialPose;
|
||||||
|
|||||||
@@ -16,11 +16,10 @@ import java.util.Objects;
|
|||||||
@Config
|
@Config
|
||||||
public final class PinpointLocalizer implements Localizer {
|
public final class PinpointLocalizer implements Localizer {
|
||||||
public static class Params {
|
public static class Params {
|
||||||
public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
|
public double parYTicks = 0.0; // 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 perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
public static Params PARAMS = new Params();
|
public static Params PARAMS = new Params();
|
||||||
|
|
||||||
public final GoBildaPinpointDriver driver;
|
public final GoBildaPinpointDriver driver;
|
||||||
@@ -30,7 +29,7 @@ public final class PinpointLocalizer implements Localizer {
|
|||||||
private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
|
private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
|
||||||
|
|
||||||
public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
||||||
// TODO: make sure your config has a Pinpoint device with this name
|
// TODO: make sure your HardwareConfig has a Pinpoint device with this name
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
|
driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
|
||||||
|
|
||||||
@@ -39,7 +38,7 @@ public final class PinpointLocalizer implements Localizer {
|
|||||||
driver.setOffsets(mmPerTick * PARAMS.parYTicks, mmPerTick * PARAMS.perpXTicks, DistanceUnit.MM);
|
driver.setOffsets(mmPerTick * PARAMS.parYTicks, mmPerTick * PARAMS.perpXTicks, DistanceUnit.MM);
|
||||||
|
|
||||||
// TODO: reverse encoder directions if needed
|
// TODO: reverse encoder directions if needed
|
||||||
initialParDirection = GoBildaPinpointDriver.EncoderDirection.REVERSED;
|
initialParDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
||||||
initialPerpDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
initialPerpDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
||||||
|
|
||||||
driver.setEncoderDirections(initialParDirection, initialPerpDirection);
|
driver.setEncoderDirections(initialParDirection, initialPerpDirection);
|
||||||
|
|||||||
@@ -232,7 +232,7 @@ public final class TankDrive {
|
|||||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||||
}
|
}
|
||||||
|
|
||||||
// TODO: make sure your config has motors with these names (or change them)
|
// TODO: make sure your HardwareConfig has motors with these names (or change them)
|
||||||
// add additional motors on each side if you have them
|
// add additional motors on each side if you have them
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
|
leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
|
||||||
@@ -248,7 +248,7 @@ public final class TankDrive {
|
|||||||
// TODO: reverse motor directions if needed
|
// TODO: reverse motor directions if needed
|
||||||
// leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
|
// leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
|
||||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||||
|
|||||||
@@ -37,7 +37,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
|
|||||||
private Pose2d pose;
|
private Pose2d pose;
|
||||||
|
|
||||||
public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
||||||
// TODO: make sure your config has **motors** with these names (or change them)
|
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
|
||||||
// the encoders should be plugged into the slot matching the named motor
|
// the encoders should be plugged into the slot matching the named motor
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
|
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
|
||||||
|
|||||||
@@ -46,7 +46,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
|
|||||||
private Pose2d pose;
|
private Pose2d pose;
|
||||||
|
|
||||||
public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
|
public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
|
||||||
// TODO: make sure your config has **motors** with these names (or change them)
|
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
|
||||||
// the encoders should be plugged into the slot matching the named motor
|
// the encoders should be plugged into the slot matching the named motor
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||||
par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
|
par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
|
||||||
|
|||||||
@@ -1,130 +1,147 @@
|
|||||||
## TeamCode Module
|
# Team FTC Git Workflow Guide
|
||||||
|
|
||||||
Welcome!
|
|
||||||
|
|
||||||
This module, TeamCode, is the place where you will write/paste the code for your team's
|
## 1. Cloning the Repository
|
||||||
robot controller App. This module is currently empty (a clean slate) but the
|
|
||||||
process for adding OpModes is straightforward.
|
|
||||||
|
|
||||||
## Creating your own OpModes
|
1. Open a terminal (or the terminal inside Android Studio).
|
||||||
|
2. Navigate to the folder where you want to keep the project.
|
||||||
|
3. Run:
|
||||||
|
|
||||||
The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
|
```bash
|
||||||
|
git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
|
||||||
|
cd DecodeFTCMain
|
||||||
|
```
|
||||||
|
|
||||||
Sample opmodes exist in the FtcRobotController module.
|
4. Verify your remotes:
|
||||||
To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
|
|
||||||
|
|
||||||
Expand the following tree elements:
|
```bash
|
||||||
FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
|
git remote -v
|
||||||
|
```
|
||||||
|
|
||||||
### Naming of Samples
|
You should see:
|
||||||
|
```
|
||||||
|
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
|
||||||
|
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
|
||||||
|
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
|
||||||
|
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
|
||||||
|
```
|
||||||
|
|
||||||
To gain a better understanding of how the samples are organized, and how to interpret the
|
---
|
||||||
naming system, it will help to understand the conventions that were used during their creation.
|
|
||||||
|
|
||||||
These conventions are described (in detail) in the sample_conventions.md file in this folder.
|
## 2. Keeping `master` Clean
|
||||||
|
|
||||||
To summarize: A range of different samples classes will reside in the java/external/samples.
|
- `master` should only contain clean, tested code.
|
||||||
The class names will follow a naming convention which indicates the purpose of each class.
|
- Nobody should ever code directly on `master`.
|
||||||
The prefix of the name will be one of the following:
|
- To stay up to date:
|
||||||
|
|
||||||
Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure
|
```bash
|
||||||
of a particular style of OpMode. These are bare bones examples.
|
git checkout master
|
||||||
|
git fetch upstream
|
||||||
|
git merge upstream/master
|
||||||
|
git push origin master
|
||||||
|
```
|
||||||
|
|
||||||
Sensor: This is a Sample OpMode that shows how to use a specific sensor.
|
---
|
||||||
It is not intended to drive a functioning robot, it is simply showing the minimal code
|
|
||||||
required to read and display the sensor values.
|
|
||||||
|
|
||||||
Robot: This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
|
## 3. Creating a Feature Branch
|
||||||
It may be used to provide a common baseline driving OpMode, or
|
|
||||||
to demonstrate how a particular sensor or concept can be used to navigate.
|
|
||||||
|
|
||||||
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
|
Whenever you start a new task (feature, fix, experiment):
|
||||||
These may be complex, but their operation should be explained clearly in the comments,
|
|
||||||
or the comments should reference an external doc, guide or tutorial.
|
|
||||||
Each OpMode should try to only demonstrate a single concept so they are easy to
|
|
||||||
locate based on their name. These OpModes may not produce a drivable robot.
|
|
||||||
|
|
||||||
After the prefix, other conventions will apply:
|
1. Update `master` (see above).
|
||||||
|
2. Create a new branch from `master`:
|
||||||
|
|
||||||
* Sensor class names are constructed as: Sensor - Company - Type
|
```bash
|
||||||
* Robot class names are constructed as: Robot - Mode - Action - OpModetype
|
git checkout master
|
||||||
* Concept class names are constructed as: Concept - Topic - OpModetype
|
git pull origin master
|
||||||
|
git checkout -b feature/short-description
|
||||||
|
```
|
||||||
|
|
||||||
Once you are familiar with the range of samples available, you can choose one to be the
|
### Branch Naming Standard
|
||||||
basis for your own robot. In all cases, the desired sample(s) needs to be copied into
|
|
||||||
your TeamCode module to be used.
|
|
||||||
|
|
||||||
This is done inside Android Studio directly, using the following steps:
|
Branches **must** follow the format:
|
||||||
|
|
||||||
1) Locate the desired sample class in the Project/Android tree.
|
|
||||||
|
|
||||||
2) Right click on the sample class and select "Copy"
|
|
||||||
|
|
||||||
3) Expand the TeamCode/java folder
|
|
||||||
|
|
||||||
4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
|
|
||||||
|
|
||||||
5) You will be prompted for a class name for the copy.
|
|
||||||
Choose something meaningful based on the purpose of this class.
|
|
||||||
Start with a capital letter, and remember that there may be more similar classes later.
|
|
||||||
|
|
||||||
Once your copy has been created, you should prepare it for use on your robot.
|
|
||||||
This is done by adjusting the OpMode's name, and enabling it to be displayed on the
|
|
||||||
Driver Station's OpMode list.
|
|
||||||
|
|
||||||
Each OpMode sample class begins with several lines of code like the ones shown below:
|
|
||||||
|
|
||||||
```
|
```
|
||||||
@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
|
<type>/<short-description>
|
||||||
@Disabled
|
|
||||||
```
|
```
|
||||||
|
|
||||||
The name that will appear on the driver station's "opmode list" is defined by the code:
|
Where `<type>` is one of:
|
||||||
``name="Template: Linear OpMode"``
|
- `feature/` → new functionality
|
||||||
You can change what appears between the quotes to better describe your opmode.
|
- `fix/` → bug fixes
|
||||||
The "group=" portion of the code can be used to help organize your list of OpModes.
|
- `experiment/` → prototypes or tests
|
||||||
|
- `docs/` → documentation updates
|
||||||
|
- `chore/` → maintenance or cleanup
|
||||||
|
|
||||||
As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
|
Examples:
|
||||||
``@Disabled`` annotation which has been included.
|
- `feature/autonomous-path`
|
||||||
This line can simply be deleted , or commented out, to make the OpMode visible.
|
- `fix/motor-init`
|
||||||
|
- `experiment/vision-test`
|
||||||
|
- `docs/setup-instructions`
|
||||||
|
- `chore/gradle-update`
|
||||||
|
|
||||||
## ADVANCED Multi-Team App management: Cloning the TeamCode Module
|
**Rules for names:**
|
||||||
|
- Use lowercase letters and hyphens (`-`) only.
|
||||||
|
- Keep it short but clear (3–5 words).
|
||||||
|
- One branch = one task. Never mix unrelated work.
|
||||||
|
|
||||||
In some situations, you have multiple teams in your club and you want them to all share
|
---
|
||||||
a common code organization, with each being able to *see* the others code but each having
|
|
||||||
their own team module with their own code that they maintain themselves.
|
|
||||||
|
|
||||||
In this situation, you might wish to clone the TeamCode module, once for each of these teams.
|
## 4. Working on Your Branch
|
||||||
Each of the clones would then appear along side each other in the Android Studio module list,
|
|
||||||
together with the FtcRobotController module (and the original TeamCode module).
|
|
||||||
|
|
||||||
Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
|
- Make changes in Android Studio.
|
||||||
prior to clicking to the green Run arrow.
|
- Stage and commit your changes:
|
||||||
|
|
||||||
Warning: This is not for the inexperienced Software developer.
|
```bash
|
||||||
You will need to be comfortable with File manipulations and managing Android Studio Modules.
|
git add .
|
||||||
These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
|
git commit -m "short message about what changed"
|
||||||
|
```
|
||||||
|
|
||||||
Also.. Make a full project backup before you start this :)
|
- Push your branch to GitHub:
|
||||||
|
|
||||||
To clone TeamCode, do the following:
|
```bash
|
||||||
|
git push origin feature/short-description
|
||||||
|
```
|
||||||
|
|
||||||
Note: Some names start with "Team" and others start with "team". This is intentional.
|
---
|
||||||
|
|
||||||
1) Using your operating system file management tools, copy the whole "TeamCode"
|
## 5. Sharing Your Work
|
||||||
folder to a sibling folder with a corresponding new name, eg: "Team0417".
|
|
||||||
|
|
||||||
2) In the new Team0417 folder, delete the TeamCode.iml file.
|
- Once your branch is ready:
|
||||||
|
1. Open a Pull Request (PR) on GitHub to merge into `master`.
|
||||||
|
2. At least one teammate should review before merging.
|
||||||
|
|
||||||
3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
|
---
|
||||||
to a matching name with a lowercase 'team' eg: "team0417".
|
|
||||||
|
|
||||||
4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
|
## 6. Branching Rules
|
||||||
contains
|
|
||||||
package="org.firstinspires.ftc.teamcode"
|
|
||||||
to be
|
|
||||||
package="org.firstinspires.ftc.team0417"
|
|
||||||
|
|
||||||
5) Add: include ':Team0417' to the "/settings.gradle" file.
|
**Do:**
|
||||||
|
- Always branch from `master`.
|
||||||
|
- Follow the naming standard exactly.
|
||||||
|
- Keep branches small and focused.
|
||||||
|
- Delete branches after they’re merged.
|
||||||
|
|
||||||
6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
|
**Don’t:**
|
||||||
|
- Don’t push commits directly to `master`.
|
||||||
|
- Don’t leave unfinished work on `master`.
|
||||||
|
- Don’t mix unrelated changes in one branch.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 7. Example Workflow
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# Get latest code
|
||||||
|
git checkout master
|
||||||
|
git fetch upstream
|
||||||
|
git merge upstream/master
|
||||||
|
git push origin master
|
||||||
|
|
||||||
|
# Start a new feature
|
||||||
|
git checkout -b feature/teleop-improvements
|
||||||
|
|
||||||
|
# Work on code, then commit
|
||||||
|
git add .
|
||||||
|
git commit -m "improved joystick scaling in TeleOp"
|
||||||
|
|
||||||
|
# Push branch
|
||||||
|
git push origin feature/teleop-improvements
|
||||||
|
```
|
||||||
|
|||||||
@@ -1,384 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.teleop;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
|
||||||
import com.qualcomm.hardware.lynx.LynxModule;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
|
||||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Drivetrain;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
|
||||||
|
|
||||||
import java.util.List;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
@TeleOp
|
|
||||||
public class TeleopV3 extends LinearOpMode {
|
|
||||||
public static double manualVel = 3000;
|
|
||||||
public static double hoodDefaultPos = 0.5;
|
|
||||||
|
|
||||||
public static double spinPow = 0.09;
|
|
||||||
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
|
|
||||||
public static double spinSpeedIncrease = 0.03;
|
|
||||||
public static int resetSpinTicks = 4;
|
|
||||||
public static double hoodSpeedOffset = 0.01;
|
|
||||||
public static double turretSpeedOffset = 0.01;
|
|
||||||
public double vel = 3000;
|
|
||||||
public boolean autoVel = true;
|
|
||||||
public boolean targetingHood = true;
|
|
||||||
// public boolean autoHood = true;
|
|
||||||
public double shootStamp = 0.0;
|
|
||||||
// boolean fixedTurret = false;
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
Light light;
|
|
||||||
Servos servo;
|
|
||||||
Flywheel flywheel;
|
|
||||||
MecanumDrive drive;
|
|
||||||
Spindexer spindexer;
|
|
||||||
Targeting targeting;
|
|
||||||
Targeting.Settings targetingSettings;
|
|
||||||
Drivetrain drivetrain;
|
|
||||||
MeasuringLoopTimes loopTimes;
|
|
||||||
double autoHoodOffset = 0.0;
|
|
||||||
int shooterTicker = 0;
|
|
||||||
boolean intake = false;
|
|
||||||
boolean reject = false;
|
|
||||||
double xOffset = 0.0;
|
|
||||||
double yOffset = 0.0;
|
|
||||||
double hOffset = 0.0;
|
|
||||||
// double headingOffset = 0.0;
|
|
||||||
int ticker = 0;
|
|
||||||
|
|
||||||
// boolean autoSpintake = false;
|
|
||||||
boolean enableSpindexerManager = true;
|
|
||||||
|
|
||||||
// boolean overrideTurr = false;
|
|
||||||
|
|
||||||
int intakeTicker = 0;
|
|
||||||
private boolean shootAll = false;
|
|
||||||
boolean relocalize = false;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
robot.light.setPosition(0);
|
|
||||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
|
||||||
|
|
||||||
for (LynxModule hub : allHubs) {
|
|
||||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
|
||||||
}
|
|
||||||
|
|
||||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
|
||||||
servo = new Servos(hardwareMap);
|
|
||||||
flywheel = new Flywheel(hardwareMap);
|
|
||||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
|
||||||
spindexer = new Spindexer(hardwareMap);
|
|
||||||
targeting = new Targeting();
|
|
||||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
|
||||||
|
|
||||||
drivetrain = new Drivetrain(robot, drive);
|
|
||||||
|
|
||||||
loopTimes = new MeasuringLoopTimes();
|
|
||||||
loopTimes.init();
|
|
||||||
|
|
||||||
PIDFController tController = new PIDFController(tp, ti, td, tf);
|
|
||||||
|
|
||||||
tController.setTolerance(0.001);
|
|
||||||
|
|
||||||
Turret turret = new Turret(robot, TELE, robot.limelight);
|
|
||||||
|
|
||||||
light = Light.getInstance();
|
|
||||||
light.init(robot.light, spindexer, turret);
|
|
||||||
|
|
||||||
light.setState(StateEnums.LightState.MANUAL);
|
|
||||||
limelightUsed = true;
|
|
||||||
|
|
||||||
while (opModeInInit()) {
|
|
||||||
robot.limelight.start();
|
|
||||||
if (redAlliance) {
|
|
||||||
turret.pipelineSwitch(4);
|
|
||||||
light.setManualLightColor(Color.LightRed);
|
|
||||||
} else {
|
|
||||||
turret.pipelineSwitch(2);
|
|
||||||
light.setManualLightColor(Color.LightBlue);
|
|
||||||
|
|
||||||
}
|
|
||||||
robot.light.setPosition(1);
|
|
||||||
|
|
||||||
light.update();
|
|
||||||
}
|
|
||||||
|
|
||||||
limelightUsed = true;
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
servo.setTransferPos(transferServo_out);
|
|
||||||
robot.transfer.setPower(1);
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
//TELE.addData("Is limelight on?", robot.limelight.getStatus());
|
|
||||||
|
|
||||||
//DRIVETRAIN:
|
|
||||||
|
|
||||||
drivetrain.drive(
|
|
||||||
-gamepad1.right_stick_y,
|
|
||||||
gamepad1.right_stick_x,
|
|
||||||
gamepad1.left_stick_x,
|
|
||||||
gamepad1.left_trigger
|
|
||||||
);
|
|
||||||
|
|
||||||
if (gamepad1.right_bumper) {
|
|
||||||
|
|
||||||
shootAll = false;
|
|
||||||
servo.setTransferPos(transferServo_out);
|
|
||||||
|
|
||||||
light.setState(StateEnums.LightState.BALL_COUNT);
|
|
||||||
|
|
||||||
} else if (gamepad2.triangle){
|
|
||||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
|
||||||
|
|
||||||
} else {
|
|
||||||
light.setState(StateEnums.LightState.GOAL_LOCK);
|
|
||||||
}
|
|
||||||
|
|
||||||
//TURRET TRACKING
|
|
||||||
|
|
||||||
double robX = drive.localizer.getPose().position.x;
|
|
||||||
double robY = drive.localizer.getPose().position.y;
|
|
||||||
double robH = drive.localizer.getPose().heading.toDouble();
|
|
||||||
|
|
||||||
double robotX = robX + xOffset;
|
|
||||||
double robotY = robY + yOffset;
|
|
||||||
double robotHeading = robH + hOffset;
|
|
||||||
|
|
||||||
double goalX = -15;
|
|
||||||
double goalY = 0;
|
|
||||||
|
|
||||||
double dx = robotX - goalX; // delta x from robot to goal
|
|
||||||
double dy = robotY - goalY; // delta y from robot to goal
|
|
||||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
|
||||||
|
|
||||||
// double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
|
||||||
|
|
||||||
targetingSettings = targeting.calculateSettings
|
|
||||||
(robotX, robotY, robotHeading, 0.0, turretInterpolate);
|
|
||||||
|
|
||||||
//RELOCALIZATION
|
|
||||||
|
|
||||||
if (gamepad2.squareWasPressed()){
|
|
||||||
relocalize = !relocalize;
|
|
||||||
gamepad2.rumble(500);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (relocalize){
|
|
||||||
turret.relocalize();
|
|
||||||
xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
|
|
||||||
yOffset = (turret.getLimelightX() * 39.3701) - robY;
|
|
||||||
hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
|
|
||||||
} else {
|
|
||||||
turret.trackGoal(deltaPose);
|
|
||||||
}
|
|
||||||
|
|
||||||
//VELOCITY AUTOMATIC
|
|
||||||
if (autoVel) {
|
|
||||||
vel = targetingSettings.flywheelRPM;
|
|
||||||
} else {
|
|
||||||
vel = manualVel;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.right_stick_button) {
|
|
||||||
autoVel = true;
|
|
||||||
} else if (gamepad2.right_stick_y < -0.5) {
|
|
||||||
autoVel = false;
|
|
||||||
manualVel = 4600;
|
|
||||||
} else if (gamepad2.right_stick_y > 0.5) {
|
|
||||||
autoVel = false;
|
|
||||||
manualVel = 2700;
|
|
||||||
} else if (gamepad2.right_stick_x > 0.5) {
|
|
||||||
autoVel = false;
|
|
||||||
manualVel = 3600;
|
|
||||||
} else if (gamepad2.right_stick_x < -0.5) {
|
|
||||||
autoVel = false;
|
|
||||||
manualVel = 3100;
|
|
||||||
}
|
|
||||||
|
|
||||||
//SHOOTER:
|
|
||||||
double voltage = robot.voltage.getVoltage();
|
|
||||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
|
||||||
flywheel.manageFlywheel(vel);
|
|
||||||
|
|
||||||
//HOOD:
|
|
||||||
|
|
||||||
if (targetingHood) {
|
|
||||||
servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
|
|
||||||
} else {
|
|
||||||
servo.setHoodPos(hoodDefaultPos);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.dpadUpWasPressed()) {
|
|
||||||
autoHoodOffset -= hoodSpeedOffset;
|
|
||||||
gamepad2.rumble(80);
|
|
||||||
|
|
||||||
} else if (gamepad2.dpadDownWasPressed()) {
|
|
||||||
autoHoodOffset += hoodSpeedOffset;
|
|
||||||
gamepad2.rumble(80);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.dpadLeftWasPressed()) {
|
|
||||||
Turret.manualOffset -= turretSpeedOffset;
|
|
||||||
gamepad2.rumble(80);
|
|
||||||
} else if (gamepad2.dpadRightWasPressed()) {
|
|
||||||
Turret.manualOffset += turretSpeedOffset;
|
|
||||||
gamepad2.rumble(80);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.rightBumperWasPressed()) {
|
|
||||||
limelightUsed = true;
|
|
||||||
gamepad2.rumble(80);
|
|
||||||
} else if (gamepad2.leftBumperWasPressed()) {
|
|
||||||
limelightUsed = false;
|
|
||||||
gamepad2.rumble(80);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad2.crossWasPressed()) {
|
|
||||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (enableSpindexerManager) {
|
|
||||||
//if (!shootAll) {
|
|
||||||
spindexer.processIntake();
|
|
||||||
//}
|
|
||||||
|
|
||||||
// RIGHT_BUMPER
|
|
||||||
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
|
|
||||||
spindexer.setIntakePower(1);
|
|
||||||
} else if (gamepad1.cross) {
|
|
||||||
spindexer.setIntakePower(-1);
|
|
||||||
} else {
|
|
||||||
spindexer.setIntakePower(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
// LEFT_BUMPER
|
|
||||||
if (!shootAll && gamepad1.leftBumperWasReleased()) {
|
|
||||||
shootStamp = getRuntime();
|
|
||||||
shootAll = true;
|
|
||||||
|
|
||||||
shooterTicker = 0;
|
|
||||||
|
|
||||||
}
|
|
||||||
intakeTicker++;
|
|
||||||
if (shootAll) {
|
|
||||||
intakeTicker = 0;
|
|
||||||
intake = false;
|
|
||||||
reject = false;
|
|
||||||
|
|
||||||
if (shooterTicker == 0) {
|
|
||||||
spindexer.prepareShootAllContinous();
|
|
||||||
//TELE.addLine("preparing to shoot");
|
|
||||||
// } else if (shooterTicker == 2) {
|
|
||||||
// //servo.setTransferPos(transferServo_in);
|
|
||||||
// spindexer.shootAll();
|
|
||||||
// TELE.addLine("starting to shoot");
|
|
||||||
} else if (spindexer.shootAllComplete()) {
|
|
||||||
//spindexPos = spindexer_intakePos1;
|
|
||||||
shootAll = false;
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
//spindexer.processIntake();
|
|
||||||
//TELE.addLine("stop shooting");
|
|
||||||
}
|
|
||||||
shooterTicker++;
|
|
||||||
//spindexer.processIntake();
|
|
||||||
}
|
|
||||||
|
|
||||||
if (gamepad1.left_stick_button) {
|
|
||||||
servo.setTransferPos(transferServo_out);
|
|
||||||
//spindexPos = spindexer_intakePos1;
|
|
||||||
shootAll = false;
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//EXTRA STUFFINESS:
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
|
|
||||||
for (LynxModule hub : allHubs) {
|
|
||||||
hub.clearBulkCache();
|
|
||||||
}
|
|
||||||
loopTimes.loop();
|
|
||||||
//
|
|
||||||
// TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
|
||||||
// TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
|
||||||
// TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
|
||||||
//
|
|
||||||
// TELE.addData("pose", drive.localizer.getPose());
|
|
||||||
// TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
|
||||||
// TELE.addData("distanceToGoal", distanceToGoal);
|
|
||||||
// TELE.addData("hood", robot.hood.getPosition());
|
|
||||||
// TELE.addData("targetVel", vel);
|
|
||||||
// TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
// TELE.addData("Velo1", flywheel.velo1);
|
|
||||||
// TELE.addData("Velo2", flywheel.velo2);
|
|
||||||
// TELE.addData("shootOrder", shootOrder);
|
|
||||||
// TELE.addData("oddColor", oddBallColor);
|
|
||||||
//
|
|
||||||
// // Spindexer Debug
|
|
||||||
// TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
|
|
||||||
// TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
|
|
||||||
// TELE.addData("spinIntakeState", spindexer.currentIntakeState);
|
|
||||||
// TELE.addData("spinTestCounter", spindexer.counter);
|
|
||||||
// TELE.addData("autoSpintake", autoSpintake);
|
|
||||||
//
|
|
||||||
// TELE.addData("shootall commanded", shootAll);
|
|
||||||
// Targeting Debug
|
|
||||||
TELE.addData("robotX", robotX);
|
|
||||||
TELE.addData("robotY", robotY);
|
|
||||||
TELE.addData("robot H", robotHeading);
|
|
||||||
// TELE.addData("robotInchesX", targeting.robotInchesX);
|
|
||||||
// TELE.addData("robotInchesY", targeting.robotInchesY);
|
|
||||||
// TELE.addData("Targeting Interpolate", turretInterpolate);
|
|
||||||
TELE.addData("Targeting GridX", targeting.robotGridX);
|
|
||||||
TELE.addData("Targeting GridY", targeting.robotGridY);
|
|
||||||
// TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
|
|
||||||
// TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
|
|
||||||
// TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
|
|
||||||
// TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
|
|
||||||
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
|
|
||||||
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
|
|
||||||
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
|
|
||||||
TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
|
|
||||||
TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
|
|
||||||
TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
|
|
||||||
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
light.update();
|
|
||||||
|
|
||||||
ticker++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,4 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.teleop;
|
||||||
|
|
||||||
|
public class blank {
|
||||||
|
}
|
||||||
@@ -1,37 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.tests;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
@TeleOp
|
|
||||||
public class AprilTagWebcamExample extends OpMode {
|
|
||||||
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void init() {
|
|
||||||
TELE = new MultipleTelemetry(
|
|
||||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
|
||||||
);
|
|
||||||
|
|
||||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void loop() {
|
|
||||||
|
|
||||||
aprilTagWebcam.update();
|
|
||||||
aprilTagWebcam.displayAllTelemetry();
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
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.Disabled;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||||
|
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||||
|
|
||||||
|
@Config
|
||||||
|
@TeleOp
|
||||||
|
|
||||||
|
@Disabled
|
||||||
|
public class ColorSensorTester extends LinearOpMode {
|
||||||
|
|
||||||
|
|
||||||
|
public static String portAName = "pin0";
|
||||||
|
|
||||||
|
public static String portBName = "pin1";
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void runOpMode() throws InterruptedException {
|
||||||
|
|
||||||
|
|
||||||
|
DigitalChannel pinA = hardwareMap.digitalChannel.get(portAName);
|
||||||
|
DigitalChannel pinB = hardwareMap.digitalChannel.get(portBName);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||||
|
telemetry,
|
||||||
|
FtcDashboard.getInstance().getTelemetry()
|
||||||
|
);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
waitForStart();
|
||||||
|
|
||||||
|
if(isStopRequested()) return;
|
||||||
|
|
||||||
|
while(opModeIsActive()){
|
||||||
|
|
||||||
|
TELE.addData("pinA", pinA.getState());
|
||||||
|
TELE.addData("pinB", pinB.getState());
|
||||||
|
|
||||||
|
TELE.update();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -1,66 +0,0 @@
|
|||||||
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 org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
@TeleOp
|
|
||||||
public class ColorTest extends LinearOpMode {
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
|
||||||
double color1Distance = 0;
|
|
||||||
double color2Distance = 0;
|
|
||||||
double color3Distance = 0;
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
while(opModeIsActive()){
|
|
||||||
double green1 = robot.color1.getNormalizedColors().green;
|
|
||||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
|
||||||
double red1 = robot.color1.getNormalizedColors().red;
|
|
||||||
double dist1 = robot.color1.getDistance(DistanceUnit.MM);
|
|
||||||
color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
|
|
||||||
|
|
||||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
|
||||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
|
||||||
TELE.addData("Color1 distance (mm)", color1Distance);
|
|
||||||
|
|
||||||
// ----- 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);
|
|
||||||
|
|
||||||
// ----- 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.update();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,222 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.tests;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.qualcomm.hardware.lynx.LynxModule;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
|
||||||
|
|
||||||
import java.util.ArrayList;
|
|
||||||
import java.util.List;
|
|
||||||
|
|
||||||
|
|
||||||
public class IntakeTest extends LinearOpMode {
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
Servos servo;
|
|
||||||
public boolean green1 = false;
|
|
||||||
public boolean green2 = false;
|
|
||||||
public boolean green3 = false;
|
|
||||||
List<Double> s1G = new ArrayList<>();
|
|
||||||
List<Double> s2G = new ArrayList<>();
|
|
||||||
List<Double> s3G = new ArrayList<>();
|
|
||||||
List<Double> s1T = new ArrayList<>();
|
|
||||||
List<Double> s2T = new ArrayList<>();
|
|
||||||
List<Double> s3T = new ArrayList<>();
|
|
||||||
List<Boolean> s1 = new ArrayList<>();
|
|
||||||
List<Boolean> s2 = new ArrayList<>();
|
|
||||||
List<Boolean> s3 = new ArrayList<>();
|
|
||||||
public static int mode = 0; // 0 for teleop, 1 for auto
|
|
||||||
public static double manualPow = 0.15;
|
|
||||||
double stamp = 0;
|
|
||||||
int ticker = 0;
|
|
||||||
boolean steadySpin = false;
|
|
||||||
double powPID = 0.0;
|
|
||||||
boolean intake = true;
|
|
||||||
double spindexerPos = spindexer_intakePos1;
|
|
||||||
boolean wasMoving = false;
|
|
||||||
double currentPos = 0.0;
|
|
||||||
double initPos = 0.0;
|
|
||||||
boolean reverse = false;
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
|
||||||
for (LynxModule hub : allHubs) {
|
|
||||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
|
||||||
}
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
servo = new Servos(hardwareMap);
|
|
||||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
if (mode == 0) {
|
|
||||||
if (gamepad1.right_bumper) {
|
|
||||||
ticker++;
|
|
||||||
if (ticker % 16 == 0){
|
|
||||||
currentPos = servo.getSpinPos();
|
|
||||||
if (Math.abs(currentPos - initPos) == 0.0){
|
|
||||||
reverse = !reverse;
|
|
||||||
}
|
|
||||||
initPos = currentPos;
|
|
||||||
}
|
|
||||||
if (reverse){
|
|
||||||
robot.spin1.setPosition(manualPow);
|
|
||||||
robot.spin2.setPosition(-manualPow);
|
|
||||||
} else {
|
|
||||||
robot.spin1.setPosition(-manualPow);
|
|
||||||
robot.spin2.setPosition(manualPow);
|
|
||||||
}
|
|
||||||
robot.intake.setPower(1);
|
|
||||||
stamp = getRuntime();
|
|
||||||
TELE.addData("Reverse?", reverse);
|
|
||||||
TELE.update();
|
|
||||||
} else {
|
|
||||||
robot.spin1.setPosition(0);
|
|
||||||
robot.spin2.setPosition(0);
|
|
||||||
|
|
||||||
if (getRuntime() - stamp < 1) {
|
|
||||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
|
||||||
} else {
|
|
||||||
robot.intake.setPower(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
ticker = 0;
|
|
||||||
}
|
|
||||||
} else if (mode == 1) {
|
|
||||||
|
|
||||||
if (gamepad1.right_bumper && intake){
|
|
||||||
robot.intake.setPower(1);
|
|
||||||
} else if (gamepad1.left_bumper){
|
|
||||||
robot.intake.setPower(-1);
|
|
||||||
} else {
|
|
||||||
robot.intake.setPower(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
colorDetect();
|
|
||||||
spindexer();
|
|
||||||
|
|
||||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
|
||||||
if (!ballIn(2)){
|
|
||||||
if (servo.spinEqual(spindexer_intakePos1)){
|
|
||||||
spindexerPos = spindexer_intakePos2;
|
|
||||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
|
||||||
spindexerPos = spindexer_intakePos3;
|
|
||||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
|
||||||
spindexerPos = spindexer_intakePos1;
|
|
||||||
}
|
|
||||||
} else if (!ballIn(3)){
|
|
||||||
if (servo.spinEqual(spindexer_intakePos1)){
|
|
||||||
spindexerPos = spindexer_intakePos3;
|
|
||||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
|
||||||
spindexerPos = spindexer_intakePos1;
|
|
||||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
|
||||||
spindexerPos = spindexer_intakePos2;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
} else if (mode == 2){ // switch to this mode before switching modes or to reset balls
|
|
||||||
powPID = 0;
|
|
||||||
spindexerPos = spindexer_intakePos1;
|
|
||||||
stamp = getRuntime();
|
|
||||||
ticker = 0;
|
|
||||||
spindexer();
|
|
||||||
intake = true;
|
|
||||||
}
|
|
||||||
for (LynxModule hub : allHubs) {
|
|
||||||
hub.clearBulkCache();
|
|
||||||
}
|
|
||||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
|
||||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
|
||||||
double rx = gamepad1.left_stick_x;
|
|
||||||
|
|
||||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
|
||||||
double frontLeftPower = (y + x + rx) / denominator;
|
|
||||||
double backLeftPower = (y - x + rx) / denominator;
|
|
||||||
double frontRightPower = (y - x - rx) / denominator;
|
|
||||||
double backRightPower = (y + x - rx) / denominator;
|
|
||||||
|
|
||||||
robot.frontLeft.setPower(frontLeftPower);
|
|
||||||
robot.backLeft.setPower(backLeftPower);
|
|
||||||
robot.frontRight.setPower(frontRightPower);
|
|
||||||
robot.backRight.setPower(backRightPower);
|
|
||||||
|
|
||||||
TELE.addData("Manual Power", manualPow);
|
|
||||||
TELE.addData("PID Power", powPID);
|
|
||||||
TELE.addData("B1", ballIn(1));
|
|
||||||
TELE.addData("B2", ballIn(2));
|
|
||||||
TELE.addData("B3", ballIn(3));
|
|
||||||
TELE.addData("Spindex Pos", servo.getSpinPos());
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void colorDetect() {
|
|
||||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
|
||||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
|
||||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
|
||||||
|
|
||||||
TELE.addData("Color 1 Distance", s1D);
|
|
||||||
TELE.addData("Color 2 Distance", s2D);
|
|
||||||
TELE.addData("Color 3 Distance", s3D);
|
|
||||||
TELE.update();
|
|
||||||
|
|
||||||
if (s1D < 43) {
|
|
||||||
s1T.add(getRuntime());
|
|
||||||
}
|
|
||||||
|
|
||||||
if (s2D < 60) {
|
|
||||||
s2T.add(getRuntime());
|
|
||||||
}
|
|
||||||
|
|
||||||
if (s3D < 33) {
|
|
||||||
s3T.add(getRuntime());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void spindexer() {
|
|
||||||
boolean atTarget = servo.spinEqual(spindexerPos);
|
|
||||||
|
|
||||||
if (!atTarget) {
|
|
||||||
powPID = servo.setSpinPos(spindexerPos);
|
|
||||||
robot.spin1.setPosition(powPID);
|
|
||||||
robot.spin2.setPosition(-powPID);
|
|
||||||
|
|
||||||
steadySpin = false;
|
|
||||||
wasMoving = true; // remember we were moving
|
|
||||||
stamp = getRuntime();
|
|
||||||
} else {
|
|
||||||
robot.spin1.setPosition(0);
|
|
||||||
robot.spin2.setPosition(0);
|
|
||||||
steadySpin = true;
|
|
||||||
wasMoving = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
boolean ballIn(int slot) {
|
|
||||||
List<Double> times;
|
|
||||||
|
|
||||||
if (slot == 1) {times = s1T;}
|
|
||||||
else if (slot == 2) {times = s2T;}
|
|
||||||
else if (slot == 3) {times = s3T;}
|
|
||||||
else return false;
|
|
||||||
|
|
||||||
if (!times.isEmpty()){
|
|
||||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
|
||||||
} else {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -4,35 +4,32 @@ import com.acmerobotics.dashboard.FtcDashboard;
|
|||||||
import com.acmerobotics.dashboard.config.Config;
|
import com.acmerobotics.dashboard.config.Config;
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
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.LinearOpMode;
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
import java.util.List;
|
||||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
|
||||||
|
|
||||||
|
//TODO: fix to get the apriltag that it is reading
|
||||||
@Config
|
@Config
|
||||||
@TeleOp
|
@TeleOp
|
||||||
//TODO: fix to get the apriltag that it is reading
|
|
||||||
public class LimelightTest extends LinearOpMode {
|
public class LimelightTest extends LinearOpMode {
|
||||||
MultipleTelemetry TELE;
|
MultipleTelemetry TELE;
|
||||||
Turret turret;
|
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
|
||||||
Robot robot;
|
|
||||||
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
|
|
||||||
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
|
public static 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
|
@Override
|
||||||
public void runOpMode() throws InterruptedException {
|
public void runOpMode() throws InterruptedException {
|
||||||
|
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
|
||||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||||
robot = new Robot(hardwareMap);
|
limelight.pipelineSwitch(pipeline);
|
||||||
turret = new Turret(robot, TELE, robot.limelight);
|
|
||||||
robot.limelight.pipelineSwitch(pipeline);
|
|
||||||
waitForStart();
|
waitForStart();
|
||||||
if (isStopRequested()) return;
|
if (isStopRequested()) return;
|
||||||
|
limelight.start();
|
||||||
while (opModeIsActive()){
|
while (opModeIsActive()){
|
||||||
if (mode == 0){
|
if (mode == 0){
|
||||||
robot.limelight.pipelineSwitch(pipeline);
|
limelight.pipelineSwitch(pipeline);
|
||||||
LLResult result = robot.limelight.getLatestResult();
|
LLResult result = limelight.getLatestResult();
|
||||||
if (result != null) {
|
if (result != null) {
|
||||||
if (result.isValid()) {
|
if (result.isValid()) {
|
||||||
TELE.addData("tx", result.getTx());
|
TELE.addData("tx", result.getTx());
|
||||||
@@ -41,29 +38,40 @@ public class LimelightTest extends LinearOpMode {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
} else if (mode == 1){
|
} else if (mode == 1){
|
||||||
int obeliskID = turret.detectObelisk();
|
limelight.pipelineSwitch(1);
|
||||||
TELE.addData("Limelight ID", obeliskID);
|
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();
|
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();
|
} else if (mode == 2){
|
||||||
double y = turret.getLimelightY();
|
limelight.pipelineSwitch(2);
|
||||||
TELE.addData("tx", tx);
|
LLResult result = limelight.getLatestResult();
|
||||||
TELE.addData("ty", ty);
|
if (result != null) {
|
||||||
TELE.addData("x", x);
|
if (result.isValid()) {
|
||||||
TELE.addData("y", y);
|
TELE.addData("tx", result.getTx());
|
||||||
|
TELE.addData("ty", result.getTy());
|
||||||
TELE.update();
|
TELE.update();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else if (mode == 3){
|
||||||
|
limelight.pipelineSwitch(3);
|
||||||
|
LLResult result = limelight.getLatestResult();
|
||||||
|
if (result != null) {
|
||||||
|
if (result.isValid()) {
|
||||||
|
TELE.addData("tx", result.getTx());
|
||||||
|
TELE.addData("ty", result.getTy());
|
||||||
|
TELE.update();
|
||||||
|
}
|
||||||
|
}
|
||||||
} else {
|
} else {
|
||||||
robot.limelight.pipelineSwitch(0);
|
limelight.pipelineSwitch(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (turretMode){
|
|
||||||
if (turretPos != 0.501){
|
|
||||||
turret.setTurret(turretPos);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,45 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.tests;
|
|
||||||
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
@TeleOp
|
|
||||||
public class MotorDirectionDebugger extends LinearOpMode {
|
|
||||||
|
|
||||||
public static double flPower = 0.0;
|
|
||||||
|
|
||||||
public static double frPower = 0.0;
|
|
||||||
|
|
||||||
public static double blPower = 0.0;
|
|
||||||
public static double brPower = 0.0;
|
|
||||||
|
|
||||||
Robot robot;
|
|
||||||
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if(isStopRequested()) return;
|
|
||||||
|
|
||||||
while(opModeIsActive()){
|
|
||||||
|
|
||||||
robot.frontLeft.setPower(flPower);
|
|
||||||
robot.frontRight.setPower(frPower);
|
|
||||||
robot.backRight.setPower(brPower);
|
|
||||||
robot.backLeft.setPower(blPower);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,62 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.tests;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
|
|
||||||
public class PIDServoTest extends LinearOpMode {
|
|
||||||
|
|
||||||
public static double p = 2, i = 0, d = 0, f = 0;
|
|
||||||
|
|
||||||
public static double target = 0.5;
|
|
||||||
|
|
||||||
public static int mode = 0; //0 is for turret, 1 is for spindexer
|
|
||||||
|
|
||||||
public static double scalar = 1.01;
|
|
||||||
public static double restPos = 0.0;
|
|
||||||
|
|
||||||
Robot robot;
|
|
||||||
|
|
||||||
double pos = 0.0;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
PIDFController controller = new PIDFController(p, i, d, f);
|
|
||||||
|
|
||||||
controller.setTolerance(0.001);
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
|
|
||||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (isStopRequested()) return;
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
controller.setPIDF(p, i, d, f);
|
|
||||||
if (mode == 1) {
|
|
||||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
|
||||||
|
|
||||||
double pid = controller.calculate(pos, target);
|
|
||||||
|
|
||||||
robot.spin1.setPosition(pid);
|
|
||||||
robot.spin2.setPosition(-pid);
|
|
||||||
}
|
|
||||||
|
|
||||||
telemetry.addData("pos", pos);
|
|
||||||
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
|
|
||||||
telemetry.addData("target", target);
|
|
||||||
telemetry.addData("Mode", mode);
|
|
||||||
telemetry.update();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,67 +1,24 @@
|
|||||||
package org.firstinspires.ftc.teamcode.tests;
|
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 com.acmerobotics.dashboard.FtcDashboard;
|
import com.acmerobotics.dashboard.FtcDashboard;
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
import com.acmerobotics.dashboard.config.Config;
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
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.Flywheel;
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
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
|
@Config
|
||||||
@TeleOp
|
@TeleOp
|
||||||
public class ShooterTest extends LinearOpMode {
|
public class ShooterTest extends LinearOpMode {
|
||||||
public static int mode = 1;
|
public static int mode = 0;
|
||||||
public static double parameter = 0.0;
|
public static double parameter = 0.0;
|
||||||
// --- CONSTANTS YOU TUNE ---
|
// --- CONSTANTS YOU TUNE ---
|
||||||
|
|
||||||
public static double Velocity = 0.0;
|
|
||||||
public static double P = 255.0;
|
|
||||||
public static double I = 0.0;
|
|
||||||
public static double D = 0.0;
|
|
||||||
public static double F = 75;
|
|
||||||
public static double transferPower = 1.0;
|
|
||||||
public static double hoodPos = 0.501;
|
public static double 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;
|
Robot robot;
|
||||||
Flywheel flywheel;
|
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
|
@Override
|
||||||
public void runOpMode() throws InterruptedException {
|
public void runOpMode() throws InterruptedException {
|
||||||
@@ -69,136 +26,39 @@ public class ShooterTest extends LinearOpMode {
|
|||||||
robot = new Robot(hardwareMap);
|
robot = new Robot(hardwareMap);
|
||||||
DcMotorEx leftShooter = robot.shooter1;
|
DcMotorEx leftShooter = robot.shooter1;
|
||||||
DcMotorEx rightShooter = robot.shooter2;
|
DcMotorEx rightShooter = robot.shooter2;
|
||||||
flywheel = new Flywheel(hardwareMap);
|
flywheel = new Flywheel();
|
||||||
spindexer = new Spindexer(hardwareMap);
|
|
||||||
servo = new Servos(hardwareMap);
|
|
||||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,0));
|
|
||||||
|
|
||||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||||
);
|
);
|
||||||
turret = new Turret(robot, TELE, robot.limelight);
|
|
||||||
Turret.limelightUsed = true;
|
|
||||||
|
|
||||||
waitForStart();
|
waitForStart();
|
||||||
|
|
||||||
robot.limelight.start();
|
|
||||||
|
|
||||||
if (isStopRequested()) return;
|
if (isStopRequested()) return;
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
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) {
|
if (mode == 0) {
|
||||||
rightShooter.setPower(parameter);
|
rightShooter.setPower(parameter);
|
||||||
leftShooter.setPower(parameter);
|
leftShooter.setPower(parameter);
|
||||||
} else if (mode == 1) {
|
} else if (mode == 1) {
|
||||||
flywheel.setPIDF(P, I, D, F / voltage);
|
double powPID = flywheel.manageFlywheel((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition());
|
||||||
flywheel.manageFlywheel((int) Velocity);
|
rightShooter.setPower(powPID);
|
||||||
|
leftShooter.setPower(powPID);
|
||||||
|
TELE.addData("PIDPower", powPID);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (hoodPos != 0.501) {
|
if (hoodPos != 0.501) {
|
||||||
if (enableHoodAutoOpen) {
|
robot.hood.setPosition(hoodPos);
|
||||||
robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
|
|
||||||
} else {
|
|
||||||
robot.hood.setPosition(hoodPos + hoodOffset);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
if (intake) {
|
TELE.addData("Used Velocity", flywheel.getVelo(leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition()));
|
||||||
robot.intake.setPower(1);
|
TELE.addData("Velocity1", flywheel.getVelo1());
|
||||||
|
TELE.addData("Velocity2", flywheel.getVelo2());
|
||||||
} else {
|
|
||||||
robot.intake.setPower(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if (shoot) {
|
|
||||||
shootStamp = getRuntime();
|
|
||||||
shootAll = true;
|
|
||||||
shoot = false;
|
|
||||||
robot.transfer.setPower(transferPower);
|
|
||||||
shooterTicker = 0;
|
|
||||||
}
|
|
||||||
if (shootAll) {
|
|
||||||
|
|
||||||
//intake = false;
|
|
||||||
//reject = false;
|
|
||||||
|
|
||||||
//spindexPos = spindexer_intakePos1;
|
|
||||||
if (getRuntime() - shootStamp < 3.5) {
|
|
||||||
|
|
||||||
if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
|
|
||||||
robot.spin1.setPosition(spinStartPos);
|
|
||||||
robot.spin2.setPosition(1-spinStartPos);
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_in);
|
|
||||||
shooterTicker++;
|
|
||||||
double prevSpinPos = robot.spin1.getPosition();
|
|
||||||
|
|
||||||
if (prevSpinPos < 0.9){
|
|
||||||
robot.spin1.setPosition(prevSpinPos + spinSpeed);
|
|
||||||
robot.spin2.setPosition(1 - prevSpinPos - spinSpeed);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
} else {
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
//spindexPos = spindexer_intakePos1;
|
|
||||||
|
|
||||||
shootAll = false;
|
|
||||||
shooterTicker = 0;
|
|
||||||
|
|
||||||
robot.transferServo.setPosition(transferServo_out);
|
|
||||||
robot.transfer.setPower(0);
|
|
||||||
|
|
||||||
|
|
||||||
spindexer.resetSpindexer();
|
|
||||||
spindexer.processIntake();
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
spindexer.processIntake();
|
|
||||||
}
|
|
||||||
|
|
||||||
TELE.addData("Velocity", flywheel.getVelo());
|
|
||||||
TELE.addData("Velocity 1", flywheel.getVelo1());
|
|
||||||
TELE.addData("Velocity 2", flywheel.getVelo2());
|
|
||||||
TELE.addData("Power", robot.shooter1.getPower());
|
TELE.addData("Power", robot.shooter1.getPower());
|
||||||
TELE.addData("Steady?", flywheel.getSteady());
|
TELE.addData("Steady?", flywheel.getSteady());
|
||||||
TELE.addData("Position", robot.shooter1.getCurrentPosition());
|
TELE.addData("Position1", robot.shooter1.getCurrentPosition()/28);
|
||||||
TELE.addData("Voltage", voltage);
|
TELE.addData("Position2", robot.shooter2.getCurrentPosition()/28);
|
||||||
|
|
||||||
TELE.update();
|
TELE.update();
|
||||||
|
|
||||||
|
|||||||
@@ -1,51 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.tests;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
|
||||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
|
||||||
|
|
||||||
@TeleOp
|
|
||||||
@Config
|
|
||||||
public class TurretTest extends LinearOpMode {
|
|
||||||
public static boolean zeroTurr = false;
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
Robot robot = new Robot(hardwareMap);
|
|
||||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
|
||||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
|
||||||
);
|
|
||||||
|
|
||||||
Turret turret = new Turret(robot, TELE, robot.limelight);
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
|
|
||||||
|
|
||||||
while(opModeIsActive()){
|
|
||||||
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
turret.trackGoal(drive.localizer.getPose());
|
|
||||||
|
|
||||||
TELE.addData("tpos", turret.getTurrPos());
|
|
||||||
TELE.addData("Limelight tx", turret.getBearing());
|
|
||||||
TELE.addData("Limelight ty", turret.getTy());
|
|
||||||
TELE.addData("Limelight X", turret.getLimelightX());
|
|
||||||
TELE.addData("Limelight Y", turret.getLimelightY());
|
|
||||||
|
|
||||||
if(zeroTurr){
|
|
||||||
turret.zeroTurretEncoder();
|
|
||||||
}
|
|
||||||
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,104 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
|
||||||
|
|
||||||
import android.util.Size;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.vision.VisionPortal;
|
|
||||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
|
||||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
|
||||||
|
|
||||||
import java.util.ArrayList;
|
|
||||||
import java.util.List;
|
|
||||||
|
|
||||||
public class AprilTagWebcam {
|
|
||||||
|
|
||||||
private AprilTagProcessor aprilTagProcessor;
|
|
||||||
private VisionPortal visionPortal;
|
|
||||||
private List<AprilTagDetection> detectedTags = new ArrayList<>();
|
|
||||||
private MultipleTelemetry telemetry;
|
|
||||||
public void init(Robot robot, MultipleTelemetry TELE){
|
|
||||||
|
|
||||||
this.telemetry = TELE;
|
|
||||||
|
|
||||||
aprilTagProcessor = new AprilTagProcessor.Builder()
|
|
||||||
.setDrawTagID(true)
|
|
||||||
.setDrawTagOutline(true)
|
|
||||||
.setDrawAxes(true)
|
|
||||||
.setDrawCubeProjection(true)
|
|
||||||
.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
|
|
||||||
.build();
|
|
||||||
|
|
||||||
VisionPortal.Builder builder = new VisionPortal.Builder();
|
|
||||||
builder.setCamera(robot.webcam);
|
|
||||||
builder.setCameraResolution(new Size(640, 480));
|
|
||||||
builder.addProcessor(aprilTagProcessor);
|
|
||||||
|
|
||||||
visionPortal = builder.build();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public void update() {
|
|
||||||
detectedTags = aprilTagProcessor.getDetections();
|
|
||||||
}
|
|
||||||
|
|
||||||
public List<AprilTagDetection> getDetectedTags() {
|
|
||||||
return detectedTags;
|
|
||||||
}
|
|
||||||
|
|
||||||
public AprilTagDetection getTagById(int id){
|
|
||||||
for (AprilTagDetection detection : detectedTags) {
|
|
||||||
if (detection.id ==id){
|
|
||||||
return detection;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return null;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void stop(){
|
|
||||||
if (visionPortal != null){
|
|
||||||
visionPortal.close();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//Helper Functions
|
|
||||||
|
|
||||||
public void displayDetectionTelemetry (AprilTagDetection detectedId){
|
|
||||||
if (detectedId ==null){return;}
|
|
||||||
|
|
||||||
if (detectedId.metadata != null) {
|
|
||||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
|
|
||||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
|
|
||||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
|
|
||||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
|
|
||||||
} else {
|
|
||||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
|
|
||||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detectedId.center.x, detectedId.center.y));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void displayAllTelemetry (){
|
|
||||||
if (detectedTags ==null){return;}
|
|
||||||
|
|
||||||
telemetry.addData("# AprilTags Detected", detectedTags.size());
|
|
||||||
|
|
||||||
|
|
||||||
for (AprilTagDetection detection : detectedTags) {
|
|
||||||
if (detection.metadata != null) {
|
|
||||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
|
||||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
|
||||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
|
||||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
|
||||||
} else {
|
|
||||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
|
||||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
|
||||||
}
|
|
||||||
} // end for() loop
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,34 +1,25 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
package org.firstinspires.ftc.teamcode.utils;
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||||
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
|
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
|
||||||
|
|
||||||
@Config
|
@Disabled
|
||||||
@TeleOp
|
@TeleOp
|
||||||
public class ConfigureColorRangefinder extends LinearOpMode {
|
public class ConfigureColorRangefinder extends LinearOpMode {
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
public static double lowerBound = 80;
|
|
||||||
public static double higherBound = 120;
|
|
||||||
|
|
||||||
public static int led = 0;
|
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
public void runOpMode() throws InterruptedException {
|
public void runOpMode() throws InterruptedException {
|
||||||
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "color"));
|
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "Color"));
|
||||||
waitForStart();
|
waitForStart();
|
||||||
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
|
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
|
||||||
pin0 --> purple
|
pin0 --> purple
|
||||||
pin1 --> green */
|
pin1 --> green */
|
||||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3, 20);
|
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 160 / 360.0 * 255, 190 / 360.0 * 255); // purple
|
||||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
|
crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
|
||||||
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
|
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
|
||||||
crf.setLedBrightness(led);
|
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -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 +1,104 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
package org.firstinspires.ftc.teamcode.utils;
|
||||||
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
import com.acmerobotics.dashboard.config.Config;
|
||||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
|
||||||
|
|
||||||
|
@Config
|
||||||
public class Flywheel {
|
public class Flywheel {
|
||||||
Robot robot;
|
public static double kP = 0.001; // small proportional gain (tune this)
|
||||||
public PIDFCoefficients shooterPIDF1, shooterPIDF2;
|
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 velo = 0.0;
|
||||||
public double velo1 = 0.0;
|
double velo1 = 0.0;
|
||||||
public double velo2 = 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 targetVelocity = 0.0;
|
||||||
|
double powPID = 0.0;
|
||||||
boolean steady = false;
|
boolean steady = false;
|
||||||
public Flywheel (HardwareMap hardwareMap) {
|
|
||||||
robot = new Robot(hardwareMap);
|
public Flywheel() {
|
||||||
shooterPIDF1 = new PIDFCoefficients
|
//robot = new Robot(hardwareMap);
|
||||||
(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
|
|
||||||
shooterPIDF2 = new PIDFCoefficients
|
|
||||||
(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public double getVelo () {
|
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||||
return velo;
|
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;
|
||||||
}
|
}
|
||||||
public double getVelo1 () {
|
|
||||||
return velo1;
|
|
||||||
}
|
}
|
||||||
public double getVelo2 () {
|
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||||
return velo2;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||||
|
|
||||||
|
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||||
|
|
||||||
public boolean getSteady() {
|
public boolean getSteady() {
|
||||||
return steady;
|
return steady;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Set the robot PIDF for the next cycle.
|
private double getTimeSeconds() {
|
||||||
private double prevF = 0;
|
return (double) System.currentTimeMillis() / 1000.0;
|
||||||
public static double voltagePIDFDifference = 0.8;
|
|
||||||
public void setPIDF(double p, double i, double d, double f) {
|
|
||||||
shooterPIDF1.p = p;
|
|
||||||
shooterPIDF1.i = i;
|
|
||||||
shooterPIDF1.d = d;
|
|
||||||
shooterPIDF1.f = f;
|
|
||||||
shooterPIDF2.p = p;
|
|
||||||
shooterPIDF2.i = i;
|
|
||||||
shooterPIDF2.d = d;
|
|
||||||
shooterPIDF2.f = f;
|
|
||||||
if (Math.abs(prevF - f) > voltagePIDFDifference){
|
|
||||||
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
|
|
||||||
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
|
|
||||||
prevF = f;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Convert from RPM to Ticks per Second
|
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||||
private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
|
|
||||||
|
|
||||||
// Convert from Ticks per Second to RPM
|
|
||||||
private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
|
|
||||||
|
|
||||||
public void manageFlywheel(double commandedVelocity) {
|
|
||||||
|
|
||||||
if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
|
|
||||||
targetVelocity = commandedVelocity;
|
targetVelocity = commandedVelocity;
|
||||||
// Add code here to set PIDF based on desired RPM
|
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||||
//robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
|
// Flywheel PID code here
|
||||||
//robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
|
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 ---
|
||||||
robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
|
double error = targetVelocity - velo;
|
||||||
robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
|
double correction = kP * error;
|
||||||
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);
|
|
||||||
|
|
||||||
|
// 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));
|
||||||
}
|
}
|
||||||
|
|
||||||
public void update()
|
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;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,66 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.util.ElapsedTime;
|
|
||||||
|
|
||||||
public class MeasuringLoopTimes {
|
|
||||||
private ElapsedTime elapsedtime;
|
|
||||||
private double minLoopTime = 999999999999.0;
|
|
||||||
|
|
||||||
private double maxLoopTime = 0.0;
|
|
||||||
double mainLoopTime = 0.0;
|
|
||||||
|
|
||||||
private double MeasurementStart = 0.0;
|
|
||||||
double currentTime = 0.0;
|
|
||||||
|
|
||||||
private double avgLoopTime = 0.0;
|
|
||||||
private int avgLoopTimeTicker = 0;
|
|
||||||
private double avgLoopTimeSum = 0;
|
|
||||||
|
|
||||||
private double getTimeSeconds ()
|
|
||||||
{
|
|
||||||
return (double) System.currentTimeMillis()/1000.0;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void init() {
|
|
||||||
elapsedtime = new ElapsedTime();
|
|
||||||
elapsedtime.reset();
|
|
||||||
|
|
||||||
MeasurementStart = getTimeSeconds();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public double getAvgLoopTime() {
|
|
||||||
return avgLoopTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getMaxLoopTimeOneMin() {
|
|
||||||
return maxLoopTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getMinLoopTimeOneMin() {
|
|
||||||
return minLoopTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void loop() {
|
|
||||||
currentTime = getTimeSeconds();
|
|
||||||
if ((MeasurementStart + 15.0) < currentTime)
|
|
||||||
{
|
|
||||||
minLoopTime = 9999999.0;
|
|
||||||
maxLoopTime = 0.0;
|
|
||||||
MeasurementStart = currentTime;
|
|
||||||
|
|
||||||
avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
|
|
||||||
avgLoopTimeSum = 0.0;
|
|
||||||
avgLoopTimeTicker = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
mainLoopTime = elapsedtime.milliseconds();
|
|
||||||
elapsedtime.reset();
|
|
||||||
|
|
||||||
avgLoopTimeSum += mainLoopTime;
|
|
||||||
avgLoopTimeTicker++;
|
|
||||||
minLoopTime = Math.min(minLoopTime,mainLoopTime);
|
|
||||||
maxLoopTime = Math.max(maxLoopTime,mainLoopTime);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,66 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
|
||||||
|
|
||||||
@TeleOp
|
|
||||||
@Config
|
|
||||||
public class PositionalServoProgrammer extends LinearOpMode {
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
Servos servo;
|
|
||||||
|
|
||||||
public static double spindexPos = 0.501;
|
|
||||||
public static double turretPos = 0.501;
|
|
||||||
public static double transferPos = 0.501;
|
|
||||||
public static double hoodPos = 0.501;
|
|
||||||
public static double light = 0.501;
|
|
||||||
|
|
||||||
Turret turret;
|
|
||||||
|
|
||||||
@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 (turretPos != 0.501){
|
|
||||||
robot.turr1.setPosition(turretPos);
|
|
||||||
robot.turr2.setPosition(1-turretPos);
|
|
||||||
}
|
|
||||||
if (transferPos != 0.501){
|
|
||||||
robot.transferServo.setPosition(transferPos);
|
|
||||||
}
|
|
||||||
if (hoodPos != 0.501){
|
|
||||||
robot.hood.setPosition(hoodPos);
|
|
||||||
}
|
|
||||||
if (light !=0.501){
|
|
||||||
robot.light.setPosition(light);
|
|
||||||
}
|
|
||||||
|
|
||||||
TELE.addData("spindexer pos", servo.getSpinPos());
|
|
||||||
TELE.addData("turret pos", robot.turr1.getPosition());
|
|
||||||
TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
|
|
||||||
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
|
|
||||||
TELE.addData("hood pos", robot.hood.getPosition());
|
|
||||||
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
|
|
||||||
TELE.addData("tpos ", turret.getTurrPos() );
|
|
||||||
TELE.update();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,131 +1,59 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
package org.firstinspires.ftc.teamcode.utils;
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
|
||||||
|
|
||||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
||||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
import com.qualcomm.robotcore.hardware.IMU;
|
||||||
import com.qualcomm.robotcore.hardware.Servo;
|
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 {
|
public class Robot {
|
||||||
|
|
||||||
//Initialize Public Components
|
//Initialize Public Components
|
||||||
|
|
||||||
public static boolean usingLimelight = true;
|
public Limelight3A limelight3A;
|
||||||
public static boolean usingCamera = false;
|
|
||||||
public DcMotorEx frontLeft;
|
public IMU imu;
|
||||||
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 shooter1;
|
||||||
|
|
||||||
public DcMotorEx shooter2;
|
public DcMotorEx shooter2;
|
||||||
|
|
||||||
public Servo hood;
|
public Servo hood;
|
||||||
public Servo transferServo;
|
|
||||||
public Servo turr1;
|
|
||||||
public Servo turr2;
|
|
||||||
|
|
||||||
public Servo spin1;
|
public Robot (HardwareMap hardwareMap) {
|
||||||
|
|
||||||
public Servo spin2;
|
|
||||||
public AnalogInput spin1Pos;
|
|
||||||
public AnalogInput spin2Pos;
|
|
||||||
public AnalogInput turr1Pos;
|
|
||||||
public AnalogInput transferServoPos;
|
|
||||||
public AprilTagProcessor aprilTagProcessor;
|
|
||||||
public WebcamName webcam;
|
|
||||||
public RevColorSensorV3 color1;
|
|
||||||
public RevColorSensorV3 color2;
|
|
||||||
public RevColorSensorV3 color3;
|
|
||||||
public Limelight3A limelight;
|
|
||||||
public Servo light;
|
|
||||||
public VoltageSensor voltage;
|
|
||||||
|
|
||||||
public Robot(HardwareMap hardwareMap) {
|
|
||||||
|
|
||||||
//Define components w/ hardware map
|
//Define components w/ hardware map
|
||||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
|
||||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
|
||||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
|
||||||
backRight = hardwareMap.get(DcMotorEx.class, "br");
|
|
||||||
frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
|
||||||
backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
|
||||||
|
|
||||||
frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
|
||||||
frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
|
||||||
backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
|
||||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
|
||||||
|
|
||||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
|
||||||
|
|
||||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
|
||||||
|
|
||||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
|
||||||
|
|
||||||
|
shooter1 = hardwareMap.get(DcMotorEx.class, "s1");
|
||||||
|
shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
|
||||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
|
shooter2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||||
shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||||
shooter1.setVelocity(0);
|
|
||||||
shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
|
||||||
shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
|
||||||
shooter2.setVelocity(0);
|
|
||||||
|
|
||||||
hood = hardwareMap.get(Servo.class, "hood");
|
hood = hardwareMap.get(Servo.class, "hood");
|
||||||
|
|
||||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
if (USING_LL) {
|
||||||
|
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
|
||||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
limelight3A.start(); // This tells Limelight to start looking!
|
||||||
|
|
||||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
|
|
||||||
|
|
||||||
spin1 = hardwareMap.get(Servo.class, "spin2");
|
|
||||||
|
|
||||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
|
||||||
|
|
||||||
spin2 = hardwareMap.get(Servo.class, "spin1");
|
|
||||||
|
|
||||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
|
||||||
|
|
||||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
|
||||||
|
|
||||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
|
||||||
|
|
||||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
|
||||||
|
|
||||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
|
||||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
|
||||||
|
|
||||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
|
||||||
|
|
||||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
|
||||||
|
|
||||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
|
||||||
|
|
||||||
if (usingLimelight) {
|
|
||||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
|
||||||
} else if (usingCamera) {
|
|
||||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
|
||||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
light = hardwareMap.get(Servo.class, "light");
|
imu = hardwareMap.get(IMU.class, "imu");
|
||||||
voltage = hardwareMap.voltageSensor.iterator().next();
|
|
||||||
|
RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
|
||||||
|
|
||||||
|
RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
|
||||||
|
|
||||||
|
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoFacingDirection, usbFacingDirection);
|
||||||
|
|
||||||
|
imu.initialize(new IMU.Parameters(orientationOnRobot));
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,84 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
|
||||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
public class Servos {
|
|
||||||
//PID constants
|
|
||||||
// TODO: get PIDF constants
|
|
||||||
public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
|
|
||||||
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
|
|
||||||
public static double spin_scalar = 1.112;
|
|
||||||
public static double spin_restPos = 0.155;
|
|
||||||
Robot robot;
|
|
||||||
PIDFController spinPID;
|
|
||||||
PIDFController turretPID;
|
|
||||||
|
|
||||||
private double prevSpinPos = 0.0;
|
|
||||||
private boolean firstSpinPos = true;
|
|
||||||
|
|
||||||
private double prevTransferPos = 0.0;
|
|
||||||
private boolean firstTransferPos = true;
|
|
||||||
|
|
||||||
private double prevHoodPos = 0.0;
|
|
||||||
private boolean firstHoodPos = true;
|
|
||||||
|
|
||||||
public Servos(HardwareMap hardwareMap) {
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
|
||||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
|
||||||
|
|
||||||
turretPID.setTolerance(0.001);
|
|
||||||
}
|
|
||||||
|
|
||||||
// In the code below, encoder = robot.servo.getVoltage()
|
|
||||||
// TODO: set the restPos and scalar
|
|
||||||
public double getSpinPos() {
|
|
||||||
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getSpinCmdPos() {
|
|
||||||
return prevSpinPos;
|
|
||||||
}
|
|
||||||
|
|
||||||
public static boolean servoPosEqual(double pos1, double pos2) {
|
|
||||||
return (Math.abs(pos1 - pos2) < 0.005);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void setTransferPos(double pos) {
|
|
||||||
if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
|
|
||||||
robot.transferServo.setPosition(pos);
|
|
||||||
firstTransferPos = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
prevTransferPos = pos;
|
|
||||||
}
|
|
||||||
|
|
||||||
public double setSpinPos(double pos) {
|
|
||||||
if (firstSpinPos || !servoPosEqual(pos, prevSpinPos)) {
|
|
||||||
robot.spin1.setPosition(pos);
|
|
||||||
robot.spin2.setPosition(1-pos);
|
|
||||||
firstSpinPos = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
prevSpinPos = pos;
|
|
||||||
return pos;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void setHoodPos(double pos){
|
|
||||||
if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
|
|
||||||
robot.hood.setPosition(pos + hoodOffset);
|
|
||||||
firstHoodPos = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
prevHoodPos = pos;
|
|
||||||
}
|
|
||||||
|
|
||||||
public boolean spinEqual(double pos) {
|
|
||||||
return Math.abs(pos - this.getSpinPos()) < 0.03;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,680 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
|
||||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
|
||||||
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
|
||||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
|
|
||||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
|
||||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
|
||||||
|
|
||||||
import java.util.Objects;
|
|
||||||
|
|
||||||
public class Spindexer {
|
|
||||||
|
|
||||||
Robot robot;
|
|
||||||
Servos servos;
|
|
||||||
Flywheel flywheel;
|
|
||||||
MecanumDrive drive;
|
|
||||||
double lastKnownSpinPos = 0.0;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
|
|
||||||
PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
|
||||||
|
|
||||||
double spinCurrentPos = 0.0;
|
|
||||||
|
|
||||||
public int commandedIntakePosition = 0;
|
|
||||||
|
|
||||||
public double distanceRearCenter = 0.0;
|
|
||||||
public double distanceFrontDriver = 0.0;
|
|
||||||
public double distanceFrontPassenger = 0.0;
|
|
||||||
|
|
||||||
public double spindexerWiggle = 0.01;
|
|
||||||
|
|
||||||
public double spindexerOuttakeWiggle = 0.01;
|
|
||||||
private double prevPos = 0.0;
|
|
||||||
public double spindexerPosOffset = 0.00;
|
|
||||||
public static int shootWaitMax = 4;
|
|
||||||
public static boolean whileShooting = false;
|
|
||||||
public static int waitFirstBallTicks = 4;
|
|
||||||
private int shootTicks = 0;
|
|
||||||
public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
|
|
||||||
// For Use
|
|
||||||
enum RotatedBallPositionNames {
|
|
||||||
REARCENTER,
|
|
||||||
FRONTDRIVER,
|
|
||||||
FRONTPASSENGER
|
|
||||||
}
|
|
||||||
// Array of commandedIntakePositions with contents
|
|
||||||
// {RearCenter, FrontDriver, FrontPassenger}
|
|
||||||
static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
|
|
||||||
class spindexerBallRoatation {
|
|
||||||
int rearCenter = 0; // aka commanded Position
|
|
||||||
int frontDriver = 0;
|
|
||||||
int frontPassenger = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
enum IntakeState {
|
|
||||||
UNKNOWN_START,
|
|
||||||
UNKNOWN_MOVE,
|
|
||||||
UNKNOWN_DETECT,
|
|
||||||
INTAKE,
|
|
||||||
FINDNEXT,
|
|
||||||
MOVING,
|
|
||||||
FULL,
|
|
||||||
SHOOTNEXT,
|
|
||||||
SHOOTMOVING,
|
|
||||||
SHOOTWAIT,
|
|
||||||
SHOOT_ALL_PREP,
|
|
||||||
SHOOT_ALL_READY,
|
|
||||||
SHOOT_PREP_CONTINOUS,
|
|
||||||
SHOOT_CONTINOUS
|
|
||||||
}
|
|
||||||
|
|
||||||
int shootWaitCount = 0;
|
|
||||||
|
|
||||||
public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
|
|
||||||
public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
|
|
||||||
public int unknownColorDetect = 0;
|
|
||||||
public enum BallColor {
|
|
||||||
UNKNOWN,
|
|
||||||
GREEN,
|
|
||||||
PURPLE
|
|
||||||
}
|
|
||||||
|
|
||||||
class BallPosition {
|
|
||||||
boolean isEmpty = true;
|
|
||||||
int foundEmpty = 0;
|
|
||||||
BallColor ballColor = BallColor.UNKNOWN;
|
|
||||||
}
|
|
||||||
|
|
||||||
BallPosition[] ballPositions = new BallPosition[3];
|
|
||||||
|
|
||||||
public boolean init () {
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
public Spindexer(HardwareMap hardwareMap) {
|
|
||||||
robot = new Robot(hardwareMap);
|
|
||||||
servos = new Servos(hardwareMap);
|
|
||||||
flywheel = new Flywheel(hardwareMap);
|
|
||||||
//TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
|
||||||
|
|
||||||
lastKnownSpinPos = servos.getSpinPos();
|
|
||||||
|
|
||||||
ballPositions[0] = new BallPosition();
|
|
||||||
ballPositions[1] = new BallPosition();
|
|
||||||
ballPositions[2] = new BallPosition();
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
double[] outakePositions =
|
|
||||||
{spindexer_outtakeBall1+spindexerPosOffset,
|
|
||||||
spindexer_outtakeBall2+spindexerPosOffset,
|
|
||||||
spindexer_outtakeBall3+spindexerPosOffset};
|
|
||||||
|
|
||||||
double[] intakePositions =
|
|
||||||
{spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
|
|
||||||
|
|
||||||
public int counter = 0;
|
|
||||||
|
|
||||||
// private double getTimeSeconds ()
|
|
||||||
// {
|
|
||||||
// return (double) System.currentTimeMillis()/1000.0;
|
|
||||||
// }
|
|
||||||
|
|
||||||
// public double getPos() {
|
|
||||||
// robot.spin1Pos.getVoltage();
|
|
||||||
// robot.spin1Pos.getMaxVoltage();
|
|
||||||
// return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
|
|
||||||
// }
|
|
||||||
|
|
||||||
// public void manageSpindexer() {
|
|
||||||
//
|
|
||||||
// }
|
|
||||||
|
|
||||||
public void resetBallPosition (int pos) {
|
|
||||||
ballPositions[pos].isEmpty = true;
|
|
||||||
ballPositions[pos].foundEmpty = 0;
|
|
||||||
ballPositions[pos].ballColor = BallColor.UNKNOWN;
|
|
||||||
distanceRearCenter = 61;
|
|
||||||
distanceFrontDriver = 61;
|
|
||||||
distanceFrontPassenger = 61;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void resetSpindexer () {
|
|
||||||
for (int i = 0; i < 3; i++) {
|
|
||||||
resetBallPosition(i);
|
|
||||||
}
|
|
||||||
currentIntakeState = IntakeState.UNKNOWN_START;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Detects if a ball is found and what color.
|
|
||||||
// Returns true is there was a new ball found in Position 1
|
|
||||||
// FIXIT: Reduce number of times that we read the color sensors for loop times.
|
|
||||||
public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
|
|
||||||
|
|
||||||
boolean newPos1Detection = false;
|
|
||||||
int spindexerBallPos = 0;
|
|
||||||
|
|
||||||
// Read Distances
|
|
||||||
double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
|
|
||||||
distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
|
|
||||||
double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
|
|
||||||
distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
|
|
||||||
double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
|
|
||||||
distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
|
|
||||||
|
|
||||||
// Position 1
|
|
||||||
if (distanceRearCenter < 65) {
|
|
||||||
|
|
||||||
// Mark Ball Found
|
|
||||||
newPos1Detection = true;
|
|
||||||
|
|
||||||
if (detectRearColor) {
|
|
||||||
// Detect which color
|
|
||||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
|
||||||
|
|
||||||
double gP = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
|
||||||
|
|
||||||
// FIXIT - Add filtering to improve accuracy.
|
|
||||||
if (gP >= 0.38) {
|
|
||||||
ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN; // green
|
|
||||||
} else {
|
|
||||||
ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE; // purple
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// Position 2
|
|
||||||
// Find which ball position this is in the spindexer
|
|
||||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
|
|
||||||
if (distanceFrontDriver < 56) {
|
|
||||||
// reset FoundEmpty because looking for 3 in a row before reset
|
|
||||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
|
||||||
if (detectFrontColor) {
|
|
||||||
NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
|
|
||||||
|
|
||||||
double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
|
|
||||||
|
|
||||||
if (gP >= 0.4) {
|
|
||||||
ballPositions[spindexerBallPos].ballColor = BallColor.GREEN; // green
|
|
||||||
} else {
|
|
||||||
ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE; // purple
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
if (!ballPositions[spindexerBallPos].isEmpty) {
|
|
||||||
if (ballPositions[spindexerBallPos].foundEmpty > 3) {
|
|
||||||
resetBallPosition(spindexerBallPos);
|
|
||||||
}
|
|
||||||
ballPositions[spindexerBallPos].foundEmpty++;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
// Position 3
|
|
||||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
|
|
||||||
if (distanceFrontPassenger < 29) {
|
|
||||||
|
|
||||||
// reset FoundEmpty because looking for 3 in a row before reset
|
|
||||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
|
||||||
if (detectFrontColor) {
|
|
||||||
NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
|
|
||||||
|
|
||||||
double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
|
|
||||||
|
|
||||||
if (gP >= 0.42) {
|
|
||||||
ballPositions[spindexerBallPos].ballColor = BallColor.GREEN; // green
|
|
||||||
} else {
|
|
||||||
ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE; // purple
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
if (!ballPositions[spindexerBallPos].isEmpty) {
|
|
||||||
if (ballPositions[spindexerBallPos].foundEmpty > 3) {
|
|
||||||
resetBallPosition(spindexerBallPos);
|
|
||||||
}
|
|
||||||
ballPositions[spindexerBallPos].foundEmpty++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// TELE.addData("Velocity", velo);
|
|
||||||
// TELE.addLine("Detecting");
|
|
||||||
// TELE.addData("Distance 1", s1D);
|
|
||||||
// TELE.addData("Distance 2", s2D);
|
|
||||||
// TELE.addData("Distance 3", s3D);
|
|
||||||
// TELE.addData("B1", b1);
|
|
||||||
// TELE.addData("B2", b2);
|
|
||||||
// TELE.addData("B3", b3);
|
|
||||||
// TELE.update();
|
|
||||||
|
|
||||||
return newPos1Detection;
|
|
||||||
}
|
|
||||||
// Has code to unjam spindexer
|
|
||||||
private void moveSpindexerToPos(double pos) {
|
|
||||||
servos.setSpinPos(pos);
|
|
||||||
// double currentPos = servos.getSpinPos();
|
|
||||||
// if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
|
|
||||||
// if (currentPos > pos){
|
|
||||||
// robot.spin1.setPosition(servos.getSpinPos() + 0.05);
|
|
||||||
// robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
|
|
||||||
// } else {
|
|
||||||
// robot.spin1.setPosition(servos.getSpinPos() - 0.05);
|
|
||||||
// robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
|
|
||||||
// }
|
|
||||||
// }
|
|
||||||
// prevPos = pos;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void stopSpindexer() {
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getRearCenterLight() {
|
|
||||||
BallColor color = GetRearCenterColor();
|
|
||||||
if (Objects.equals(color, BallColor.GREEN)) {
|
|
||||||
return LightGreen;
|
|
||||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
|
||||||
return LightPurple;
|
|
||||||
} else {
|
|
||||||
return LightOrange;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public double getDriverLight() {
|
|
||||||
BallColor color = GetFrontDriverColor();
|
|
||||||
if (Objects.equals(color, BallColor.GREEN)) {
|
|
||||||
return LightGreen;
|
|
||||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
|
||||||
return LightPurple;
|
|
||||||
} else {
|
|
||||||
return LightOrange;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getPassengerLight() {
|
|
||||||
BallColor color = GetFrontPassengerColor();
|
|
||||||
if (Objects.equals(color, BallColor.GREEN)) {
|
|
||||||
return LightGreen;
|
|
||||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
|
||||||
return LightPurple;
|
|
||||||
} else {
|
|
||||||
return LightOrange;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
public double ballCounterLight() {
|
|
||||||
int counter = 0;
|
|
||||||
if (!ballPositions[0].isEmpty) {
|
|
||||||
counter++;
|
|
||||||
}
|
|
||||||
if (!ballPositions[1].isEmpty) {
|
|
||||||
counter++;
|
|
||||||
}
|
|
||||||
if (!ballPositions[2].isEmpty) {
|
|
||||||
counter++;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (counter == 3) {
|
|
||||||
return Light3;
|
|
||||||
} else if (counter == 2) {
|
|
||||||
return Light2;
|
|
||||||
} else if (counter == 1) {
|
|
||||||
return Light1;
|
|
||||||
} else {
|
|
||||||
return Light0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
public boolean slotIsEmpty(int slot){
|
|
||||||
return !ballPositions[slot].isEmpty;
|
|
||||||
}
|
|
||||||
|
|
||||||
public boolean isFull () {
|
|
||||||
return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
|
|
||||||
}
|
|
||||||
|
|
||||||
private double intakeTicker = 0;
|
|
||||||
public boolean processIntake() {
|
|
||||||
|
|
||||||
switch (currentIntakeState) {
|
|
||||||
case UNKNOWN_START:
|
|
||||||
// For now just set position ONE if UNKNOWN
|
|
||||||
commandedIntakePosition = 0;
|
|
||||||
servos.setSpinPos(intakePositions[0]);
|
|
||||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
|
|
||||||
break;
|
|
||||||
case UNKNOWN_MOVE:
|
|
||||||
// Stopping when we get to the new position
|
|
||||||
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
|
|
||||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
|
|
||||||
stopSpindexer();
|
|
||||||
unknownColorDetect = 0;
|
|
||||||
} else {
|
|
||||||
// Keep moving the spindexer
|
|
||||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case UNKNOWN_DETECT:
|
|
||||||
if (unknownColorDetect >5) {
|
|
||||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
|
||||||
} else {
|
|
||||||
//detectBalls(true, true);
|
|
||||||
unknownColorDetect++;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case INTAKE:
|
|
||||||
// Ready for intake and Detecting a New Ball
|
|
||||||
if (detectBalls(true, false)) {
|
|
||||||
ballPositions[commandedIntakePosition].isEmpty = false;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
|
||||||
} else {
|
|
||||||
// Maintain Position
|
|
||||||
spindexerWiggle *= -1.0;
|
|
||||||
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case FINDNEXT:
|
|
||||||
// Find Next Open Position and start movement
|
|
||||||
double currentSpindexerPos = servos.getSpinPos();
|
|
||||||
double commandedtravelDistance = 2.0;
|
|
||||||
double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
|
|
||||||
//if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
|
|
||||||
if (ballPositions[0].isEmpty) {
|
|
||||||
// Position 1
|
|
||||||
commandedIntakePosition = 0;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
|
||||||
}
|
|
||||||
//proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
|
|
||||||
//if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
|
|
||||||
else if (ballPositions[1].isEmpty) {
|
|
||||||
// Position 2
|
|
||||||
commandedIntakePosition = 1;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
|
||||||
}
|
|
||||||
//proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
|
|
||||||
else if (ballPositions[2].isEmpty) {
|
|
||||||
// Position 3
|
|
||||||
commandedIntakePosition = 2;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
|
||||||
}
|
|
||||||
if (currentIntakeState != Spindexer.IntakeState.MOVING) {
|
|
||||||
// Full
|
|
||||||
//commandedIntakePosition = bestFitMotif();
|
|
||||||
currentIntakeState = Spindexer.IntakeState.FULL;
|
|
||||||
}
|
|
||||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case MOVING:
|
|
||||||
// Stopping when we get to the new position
|
|
||||||
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
|
|
||||||
if (intakeTicker > 1){
|
|
||||||
currentIntakeState = Spindexer.IntakeState.INTAKE;
|
|
||||||
stopSpindexer();
|
|
||||||
intakeTicker = 0;
|
|
||||||
} else {
|
|
||||||
intakeTicker++;
|
|
||||||
}
|
|
||||||
//detectBalls(false, false);
|
|
||||||
} else {
|
|
||||||
// Keep moving the spindexer
|
|
||||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case FULL:
|
|
||||||
// Double Check Colors
|
|
||||||
detectBalls(false, false); // Minimize hardware calls
|
|
||||||
if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
|
|
||||||
// Error handling found an empty spot, get it ready for a ball
|
|
||||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
|
||||||
}
|
|
||||||
// Maintain Position
|
|
||||||
spindexerWiggle *= -1.0;
|
|
||||||
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOT_ALL_PREP:
|
|
||||||
// We get here with function call to prepareToShootMotif
|
|
||||||
// Stopping when we get to the new position
|
|
||||||
commandedIntakePosition = 0;
|
|
||||||
if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
|
|
||||||
// Keep moving the spindexer
|
|
||||||
servos.setSpinPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOT_ALL_READY: // Not used
|
|
||||||
// Double Check Colors
|
|
||||||
//detectBalls(false, false); // Minimize hardware calls
|
|
||||||
if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
|
|
||||||
// All ball shot move to intake state
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
|
||||||
}
|
|
||||||
// Maintain Position
|
|
||||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOTNEXT:
|
|
||||||
// Find Next Open Position and start movement
|
|
||||||
if (!ballPositions[0].isEmpty) {
|
|
||||||
// Position 1
|
|
||||||
commandedIntakePosition = 0;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
|
||||||
} else if (!ballPositions[1].isEmpty) {
|
|
||||||
// Position 2
|
|
||||||
commandedIntakePosition = 1;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
|
||||||
} else if (!ballPositions[2].isEmpty) {
|
|
||||||
// Position 3
|
|
||||||
commandedIntakePosition = 2;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
|
||||||
} else {
|
|
||||||
// Empty return to intake state
|
|
||||||
currentIntakeState = IntakeState.FINDNEXT;
|
|
||||||
}
|
|
||||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOTMOVING:
|
|
||||||
// Stopping when we get to the new position
|
|
||||||
if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
|
|
||||||
} else {
|
|
||||||
// Keep moving the spindexer
|
|
||||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOTWAIT:
|
|
||||||
// Stopping when we get to the new position
|
|
||||||
if (prevIntakeState != currentIntakeState) {
|
|
||||||
if (commandedIntakePosition==2) {
|
|
||||||
shootWaitMax = 5;
|
|
||||||
}
|
|
||||||
shootWaitCount = 0;
|
|
||||||
} else {
|
|
||||||
shootWaitCount++;
|
|
||||||
}
|
|
||||||
// wait 10 cycles
|
|
||||||
if (shootWaitCount > shootWaitMax) {
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
|
||||||
ballPositions[commandedIntakePosition].isEmpty = true;
|
|
||||||
shootWaitCount = 0;
|
|
||||||
//stopSpindexer();
|
|
||||||
//detectBalls(true, false);
|
|
||||||
}
|
|
||||||
// Keep moving the spindexer
|
|
||||||
spindexerOuttakeWiggle *= -1.0;
|
|
||||||
servos.setSpinPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOT_PREP_CONTINOUS:
|
|
||||||
if (shootTicks > waitFirstBallTicks){
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
|
||||||
shootTicks++;
|
|
||||||
} else if (servos.spinEqual(spinStartPos)){
|
|
||||||
shootTicks++;
|
|
||||||
servos.setTransferPos(transferServo_in);
|
|
||||||
} else {
|
|
||||||
servos.setSpinPos(spinStartPos);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SHOOT_CONTINOUS:
|
|
||||||
whileShooting = true;
|
|
||||||
ballPositions[0].isEmpty = false;
|
|
||||||
ballPositions[1].isEmpty = false;
|
|
||||||
ballPositions[2].isEmpty = false;
|
|
||||||
if (servos.getSpinPos() > spinEndPos){
|
|
||||||
whileShooting = false;
|
|
||||||
servos.setTransferPos(transferServo_out);
|
|
||||||
shootTicks = 0;
|
|
||||||
currentIntakeState = IntakeState.FINDNEXT;
|
|
||||||
} else {
|
|
||||||
double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
|
|
||||||
if (spinPos > spinEndPos + 0.03){
|
|
||||||
spinPos = spinEndPos + 0.03;
|
|
||||||
}
|
|
||||||
servos.setSpinPos(spinPos);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
// Statements to execute if no case matches
|
|
||||||
}
|
|
||||||
|
|
||||||
prevIntakeState = currentIntakeState;
|
|
||||||
//TELE.addData("commandedIntakePosition", commandedIntakePosition);
|
|
||||||
//TELE.update();
|
|
||||||
// Signal a successful intake
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void setDesiredMotif (StateEnums.Motif newMotif) {
|
|
||||||
desiredMotif = newMotif;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns the best fit for the motiff
|
|
||||||
public int bestFitMotif () {
|
|
||||||
switch (desiredMotif) {
|
|
||||||
case GPP:
|
|
||||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
|
||||||
return 2;
|
|
||||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
|
||||||
return 0;
|
|
||||||
} else {
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
//break;
|
|
||||||
case PGP:
|
|
||||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
|
||||||
return 0;
|
|
||||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
|
||||||
return 1;
|
|
||||||
} else {
|
|
||||||
return 2;
|
|
||||||
}
|
|
||||||
//break;
|
|
||||||
case PPG:
|
|
||||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
|
||||||
return 1;
|
|
||||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
|
||||||
return 0;
|
|
||||||
} else {
|
|
||||||
return 2;
|
|
||||||
}
|
|
||||||
//break;
|
|
||||||
case NONE:
|
|
||||||
return 0;
|
|
||||||
//break;
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
void prepareToShootMotif () {
|
|
||||||
commandedIntakePosition = bestFitMotif();
|
|
||||||
}
|
|
||||||
|
|
||||||
public void prepareShootAll(){
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
|
|
||||||
}
|
|
||||||
public void prepareShootAllContinous(){
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
|
|
||||||
}
|
|
||||||
public void shootAll () {
|
|
||||||
ballPositions[0].isEmpty = false;
|
|
||||||
ballPositions[1].isEmpty = false;
|
|
||||||
ballPositions[2].isEmpty = false;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
|
||||||
}
|
|
||||||
public void shootAllContinous(){
|
|
||||||
ballPositions[0].isEmpty = false;
|
|
||||||
ballPositions[1].isEmpty = false;
|
|
||||||
ballPositions[2].isEmpty = false;
|
|
||||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
|
||||||
}
|
|
||||||
|
|
||||||
public boolean shootAllComplete ()
|
|
||||||
{
|
|
||||||
return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
|
|
||||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
|
|
||||||
(currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
|
|
||||||
(currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
|
|
||||||
(currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
|
|
||||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
|
|
||||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
|
|
||||||
}
|
|
||||||
|
|
||||||
void shootAllToIntake () {
|
|
||||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void update()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
public BallColor GetFrontDriverColor () {
|
|
||||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
|
|
||||||
}
|
|
||||||
|
|
||||||
public BallColor GetFrontPassengerColor () {
|
|
||||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
|
|
||||||
}
|
|
||||||
|
|
||||||
public BallColor GetRearCenterColor () {
|
|
||||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
|
|
||||||
}
|
|
||||||
private double prevPow = 0.501;
|
|
||||||
public void setIntakePower(double pow){
|
|
||||||
if (prevPow != 0.501 && prevPow != pow){
|
|
||||||
robot.intake.setPower(pow);
|
|
||||||
}
|
|
||||||
prevPow = pow;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,8 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.utils;
|
||||||
|
|
||||||
|
public interface Subsystem {
|
||||||
|
|
||||||
|
public void update();
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
@@ -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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,350 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.utils;
|
|
||||||
|
|
||||||
import static java.lang.Math.abs;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.arcrobotics.ftclib.controller.PIDController;
|
|
||||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
|
||||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
|
||||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
|
|
||||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
|
||||||
|
|
||||||
import java.util.List;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
|
|
||||||
public class Turret {
|
|
||||||
|
|
||||||
public static double turretTolerance = 0.02;
|
|
||||||
public static double turrPosScalar = 0.00011264432;
|
|
||||||
public static double turret180Range = 0.54;
|
|
||||||
public static double turrDefault = 0.35;
|
|
||||||
public static double turrMin = 0;
|
|
||||||
public static double turrMax = 1;
|
|
||||||
public static boolean limelightUsed = true;
|
|
||||||
public static double limelightPosOffset = 5;
|
|
||||||
public static double manualOffset = 0.0;
|
|
||||||
|
|
||||||
// public static double visionCorrectionGain = 0.08; // Single tunable gain
|
|
||||||
// public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
|
|
||||||
// public static double cameraBearingEqual = 0.5; // Deadband
|
|
||||||
|
|
||||||
// public static double clampTolerance = 0.03;
|
|
||||||
//public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
|
|
||||||
public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
|
|
||||||
Robot robot;
|
|
||||||
MultipleTelemetry TELE;
|
|
||||||
Limelight3A webcam;
|
|
||||||
double tx = 0.0;
|
|
||||||
double ty = 0.0;
|
|
||||||
double limelightPosX = 0.0;
|
|
||||||
double limelightPosY = 0.0;
|
|
||||||
LLResult result;
|
|
||||||
public static double TARGET_POSITION_TOLERANCE = 0.5;
|
|
||||||
public static double COLOR_OK_TOLERANCE = 2;
|
|
||||||
boolean bearingAligned = false;
|
|
||||||
private boolean lockOffset = false;
|
|
||||||
private int obeliskID = 0;
|
|
||||||
private double offset = 0.0;
|
|
||||||
private double currentTrackOffset = 0.0;
|
|
||||||
private double lightColor = Color.LightRed;
|
|
||||||
private int currentTrackCount = 0;
|
|
||||||
double permanentOffset = 0.0;
|
|
||||||
private int prevPipeline = -1;
|
|
||||||
PIDController bearingPID;
|
|
||||||
|
|
||||||
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
|
|
||||||
this.TELE = tele;
|
|
||||||
this.robot = rob;
|
|
||||||
this.webcam = cam;
|
|
||||||
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getLightColor() {
|
|
||||||
return lightColor;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void zeroTurretEncoder() {
|
|
||||||
robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
|
||||||
robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getTurrPos() {
|
|
||||||
return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
|
|
||||||
|
|
||||||
}
|
|
||||||
private double prevTurrPos = 0;
|
|
||||||
private boolean isFirstTurretPos = true;
|
|
||||||
public void setTurret(double pos) {
|
|
||||||
if (isFirstTurretPos || prevTurrPos != pos){
|
|
||||||
robot.turr1.setPosition(pos);
|
|
||||||
robot.turr2.setPosition(1-pos);
|
|
||||||
isFirstTurretPos = false;
|
|
||||||
}
|
|
||||||
prevTurrPos = pos;
|
|
||||||
}
|
|
||||||
public void pipelineSwitch(int pipeline){
|
|
||||||
if (prevPipeline != pipeline){
|
|
||||||
robot.limelight.pipelineSwitch(pipeline);
|
|
||||||
}
|
|
||||||
prevPipeline = pipeline;
|
|
||||||
}
|
|
||||||
|
|
||||||
public boolean turretEqual(double pos) {
|
|
||||||
return Math.abs(pos - this.getTurrPos()) < turretTolerance;
|
|
||||||
}
|
|
||||||
|
|
||||||
public static double alphaPosConstant = 0.3;
|
|
||||||
private void limelightRead() { // only for tracking purposes, not general reads
|
|
||||||
Double xPos = null;
|
|
||||||
Double yPos = null;
|
|
||||||
Double zPos = null;
|
|
||||||
Double hPos = null;
|
|
||||||
result = webcam.getLatestResult();
|
|
||||||
if (result != null) {
|
|
||||||
if (result.isValid()) {
|
|
||||||
tx = result.getTx();
|
|
||||||
ty = result.getTy();
|
|
||||||
// MegaTag1 code for receiving position
|
|
||||||
Pose3D botpose = result.getBotpose();
|
|
||||||
if (botpose != null) {
|
|
||||||
limelightPosX = botpose.getPosition().x;
|
|
||||||
limelightPosY = botpose.getPosition().y;
|
|
||||||
}
|
|
||||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
|
||||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
|
||||||
limelightTagPose = fiducial.getRobotPoseTargetSpace();
|
|
||||||
if (limelightTagPose != null){
|
|
||||||
xPos = limelightTagPose.getPosition().x;
|
|
||||||
yPos = limelightTagPose.getPosition().y;
|
|
||||||
zPos = limelightTagPose.getPosition().z;
|
|
||||||
hPos = limelightTagPose.getOrientation().getYaw();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (xPos != null ){
|
|
||||||
if (zPos>0) {
|
|
||||||
|
|
||||||
limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
|
|
||||||
limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
|
|
||||||
limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
|
|
||||||
limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getBearing() {
|
|
||||||
tx = 1000;
|
|
||||||
limelightRead();
|
|
||||||
return tx;
|
|
||||||
}
|
|
||||||
|
|
||||||
public double getTy() {
|
|
||||||
return ty;
|
|
||||||
}
|
|
||||||
|
|
||||||
Pose3D limelightTagPose;
|
|
||||||
double limelightTagX = 0.0;
|
|
||||||
double limelightTagY = 0.0;
|
|
||||||
double limelightTagZ = 0.0;
|
|
||||||
double limelightTagH = 0.0;
|
|
||||||
public double getLimelightX() {
|
|
||||||
return limelightTagX;
|
|
||||||
}
|
|
||||||
public double getLimelightY() {return limelightTagY;}
|
|
||||||
public double getLimelightZ(){return limelightTagZ;}
|
|
||||||
public double getLimelightH(){return limelightTagH;}
|
|
||||||
|
|
||||||
public void relocalize(){
|
|
||||||
setTurret(turrDefault);
|
|
||||||
limelightRead();
|
|
||||||
}
|
|
||||||
|
|
||||||
public int detectObelisk() {
|
|
||||||
webcam.pipelineSwitch(1);
|
|
||||||
LLResult result = webcam.getLatestResult();
|
|
||||||
if (result != null && result.isValid()) {
|
|
||||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
|
||||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
|
||||||
obeliskID = fiducial.getFiducialId();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return obeliskID;
|
|
||||||
}
|
|
||||||
|
|
||||||
public int getObeliskID() {
|
|
||||||
return obeliskID;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void zeroOffset() {
|
|
||||||
offset = 0.0;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void lockOffset(boolean lock) {
|
|
||||||
lockOffset = lock;
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
|
|
||||||
*/
|
|
||||||
private double targetTx = 0;
|
|
||||||
public static double alphaTX = 0.5;
|
|
||||||
private double bearingAlign(LLResult llResult) {
|
|
||||||
double bearingOffset = 0.0;
|
|
||||||
double tx = llResult.getTx(); // How far left or right the target is (degrees)
|
|
||||||
targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
|
|
||||||
// final double MIN_OFFSET_POWER = 0.15;
|
|
||||||
// // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
|
|
||||||
// final double HORIZONTAL_FOV_RANGE = 26.0; // Total usable horizontal degrees from center +/-
|
|
||||||
// final double DRIVE_POWER_REDUCTION = 2.0;
|
|
||||||
|
|
||||||
if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
|
|
||||||
bearingAligned = true;
|
|
||||||
lightColor = Color.LightBlue;
|
|
||||||
} else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
|
|
||||||
bearingAligned = false;
|
|
||||||
lightColor = Color.LightPurple;
|
|
||||||
} else {
|
|
||||||
bearingAligned = false;
|
|
||||||
lightColor = Color.LightOrange;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Only with valid data and if too far off target
|
|
||||||
if (llResult.isValid() && !bearingAligned) {
|
|
||||||
|
|
||||||
// Adjust Robot Speed based on how far the target is located
|
|
||||||
// Only drive at half speed max
|
|
||||||
// switched to PID but original formula left for reference in comments
|
|
||||||
//drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
|
|
||||||
bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
|
|
||||||
|
|
||||||
// // Make sure we have enough power to actually drive the wheels
|
|
||||||
// if (abs(bearingOffset) < MIN_OFFSET_POWER) {
|
|
||||||
// if (bearingOffset > 0.0) {
|
|
||||||
// bearingOffset = MIN_OFFSET_POWER;
|
|
||||||
// } else {
|
|
||||||
// bearingOffset = -MIN_OFFSET_POWER;
|
|
||||||
// }
|
|
||||||
//
|
|
||||||
// }
|
|
||||||
}
|
|
||||||
|
|
||||||
return bearingOffset;
|
|
||||||
}
|
|
||||||
|
|
||||||
public void trackGoal(Pose2d deltaPos) {
|
|
||||||
|
|
||||||
/* ---------------- FIELD → TURRET GEOMETRY ---------------- */
|
|
||||||
|
|
||||||
// Angle from robot to goal in robot frame
|
|
||||||
double desiredTurretAngleDeg = Math.toDegrees(
|
|
||||||
Math.atan2(deltaPos.position.y, deltaPos.position.x)
|
|
||||||
);
|
|
||||||
|
|
||||||
// Robot heading (field → robot)
|
|
||||||
double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
|
|
||||||
|
|
||||||
// Turret angle needed relative to robot
|
|
||||||
double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
|
|
||||||
turretAngleDeg = -turretAngleDeg;
|
|
||||||
|
|
||||||
// Normalize to [-180, 180]
|
|
||||||
while (turretAngleDeg > 180) turretAngleDeg -= 360;
|
|
||||||
while (turretAngleDeg < -180) turretAngleDeg += 360;
|
|
||||||
|
|
||||||
|
|
||||||
/* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
|
|
||||||
// Update local limelight results
|
|
||||||
//double tagBearingDeg = getBearing(); // + = target is to the left
|
|
||||||
//boolean hasValidTarget = (tagBearingDeg != 1000.0);
|
|
||||||
|
|
||||||
turretAngleDeg += permanentOffset;
|
|
||||||
|
|
||||||
limelightRead();
|
|
||||||
// Active correction if we see the target
|
|
||||||
if (result.isValid() && !lockOffset && limelightUsed) {
|
|
||||||
currentTrackOffset += bearingAlign(result);
|
|
||||||
currentTrackCount++;
|
|
||||||
// double bearingError = Math.abs(tagBearingDeg);
|
|
||||||
//
|
|
||||||
// if (bearingError > cameraBearingEqual) {
|
|
||||||
// // Apply sqrt scaling to reduce aggressive corrections at large errors
|
|
||||||
// double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
|
|
||||||
//
|
|
||||||
// // Calculate correction
|
|
||||||
// double offsetChange = visionCorrectionGain * filteredBearing;
|
|
||||||
//
|
|
||||||
// // Limit rate of change to prevent jumps
|
|
||||||
// offsetChange = Math.max(-maxOffsetChangePerCycle,
|
|
||||||
// Math.min(maxOffsetChangePerCycle, offsetChange));
|
|
||||||
//
|
|
||||||
// // Accumulate the correction
|
|
||||||
// offset += offsetChange;
|
|
||||||
//
|
|
||||||
// TELE.addData("Bearing Error", tagBearingDeg);
|
|
||||||
// TELE.addData("Offset Change", offsetChange);
|
|
||||||
// TELE.addData("Total Offset", offset);
|
|
||||||
// } else {
|
|
||||||
// // When centered, lock in the learned offset
|
|
||||||
// permanentOffset = offset;
|
|
||||||
// offset = 0.0;
|
|
||||||
// }
|
|
||||||
} else {
|
|
||||||
// only store perma update after 20+ successful tracks
|
|
||||||
// this did not work good in testing; only current works best so far.
|
|
||||||
// if (currentTrackCount > 20) {
|
|
||||||
// offset = currentTrackOffset;
|
|
||||||
// }
|
|
||||||
lightColor = Color.LightRed;
|
|
||||||
currentTrackOffset = 0.0;
|
|
||||||
currentTrackCount = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Apply accumulated offset
|
|
||||||
turretAngleDeg += offset + currentTrackOffset;
|
|
||||||
|
|
||||||
|
|
||||||
/* ---------------- ANGLE → SERVO POSITION ---------------- */
|
|
||||||
|
|
||||||
double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
|
|
||||||
|
|
||||||
// Clamp to physical servo limits
|
|
||||||
targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
|
|
||||||
|
|
||||||
// Interpolate towards target position
|
|
||||||
// double currentPos = getTurrPos();
|
|
||||||
double turretPos = targetTurretPos;
|
|
||||||
|
|
||||||
if (targetTurretPos == turrMin) {
|
|
||||||
turretPos = turrMin;
|
|
||||||
} else if (targetTurretPos == turrMax) {
|
|
||||||
turretPos = turrMax;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Set servo positions
|
|
||||||
if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
|
|
||||||
setTurret(turretPos + manualOffset);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/* ---------------- TELEMETRY ---------------- */
|
|
||||||
|
|
||||||
// TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
|
|
||||||
// TELE.addData("Target Pos", "%.3f", targetTurretPos);
|
|
||||||
// TELE.addData("Current Pos", "%.3f", currentPos);
|
|
||||||
// TELE.addData("Commanded Pos", "%.3f", turretPos);
|
|
||||||
// TELE.addData("LL Valid", result.isValid());
|
|
||||||
// TELE.addData("LL getTx", result.getTx());
|
|
||||||
// TELE.addData("LL Offset", offset);
|
|
||||||
// TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
|
|
||||||
// TELE.addData("Learned Offset", "%.2f", offset);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,224 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.utils.subsystems;
|
||||||
|
|
||||||
|
|
||||||
|
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||||
|
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||||
|
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||||
|
import com.qualcomm.hardware.limelightvision.LLStatus;
|
||||||
|
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||||
|
import com.qualcomm.robotcore.hardware.IMU;
|
||||||
|
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.Position;
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
||||||
|
import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
|
||||||
|
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||||
|
import org.firstinspires.ftc.teamcode.utils.Subsystem;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
import java.util.Objects;
|
||||||
|
|
||||||
|
public class Limelight implements Subsystem {
|
||||||
|
|
||||||
|
private final Limelight3A limelight;
|
||||||
|
private final MultipleTelemetry telemetry;
|
||||||
|
|
||||||
|
private LLResult result;
|
||||||
|
private LLStatus status;
|
||||||
|
|
||||||
|
private boolean telemetryOn = false;
|
||||||
|
private String mode = "AT";
|
||||||
|
|
||||||
|
// ✅ Internal cached data
|
||||||
|
private Pose3D botpose;
|
||||||
|
|
||||||
|
private double captureLatency = 0.0;
|
||||||
|
private double targetingLatency = 0.0;
|
||||||
|
private double parseLatency = 0.0;
|
||||||
|
private double[] pythonOutput = new double[0];
|
||||||
|
|
||||||
|
private double tx = 0.0;
|
||||||
|
private double txnc = 0.0;
|
||||||
|
private double ty = 0.0;
|
||||||
|
private double tync = 0.0;
|
||||||
|
|
||||||
|
private double ta = 0.0;
|
||||||
|
|
||||||
|
private List<LLResultTypes.BarcodeResult> barcodeResults = new ArrayList<>();
|
||||||
|
private List<LLResultTypes.ClassifierResult> classifierResults = new ArrayList<>();
|
||||||
|
private List<LLResultTypes.DetectorResult> detectorResults = new ArrayList<>();
|
||||||
|
private List<LLResultTypes.FiducialResult> fiducialResults = new ArrayList<>();
|
||||||
|
private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
|
||||||
|
|
||||||
|
private IMU imu;
|
||||||
|
|
||||||
|
public Limelight(Robot robot, MultipleTelemetry tele) {
|
||||||
|
|
||||||
|
HardwareConfig.USING_LL= true;
|
||||||
|
|
||||||
|
this.limelight = robot.limelight3A;
|
||||||
|
this.telemetry = tele;
|
||||||
|
limelight.pipelineSwitch(1);
|
||||||
|
|
||||||
|
this.imu = robot.imu;
|
||||||
|
|
||||||
|
this.imu.resetYaw();
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
public void setPipeline(int pipeline) {limelight.pipelineSwitch(pipeline);}
|
||||||
|
|
||||||
|
public void setTelemetryOn(boolean state) { telemetryOn = state; }
|
||||||
|
|
||||||
|
public void setMode(String newMode) { this.mode = newMode; }
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/** ✅ MAIN UPDATE LOOP */
|
||||||
|
@Override
|
||||||
|
public void update() {
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
result = limelight.getLatestResult();
|
||||||
|
status = limelight.getStatus();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
if (result != null && (Objects.equals(status.getPipelineType(), "pipe_python") || result.isValid())){
|
||||||
|
// Refresh all cached values
|
||||||
|
botpose = result.getBotpose();
|
||||||
|
captureLatency = result.getCaptureLatency();
|
||||||
|
targetingLatency= result.getTargetingLatency();
|
||||||
|
parseLatency = result.getParseLatency();
|
||||||
|
pythonOutput = result.getPythonOutput();
|
||||||
|
tx = result.getTx();
|
||||||
|
txnc = result.getTxNC();
|
||||||
|
ty = result.getTy();
|
||||||
|
tync = result.getTyNC();
|
||||||
|
ta = result.getTa();
|
||||||
|
barcodeResults = result.getBarcodeResults();
|
||||||
|
classifierResults = result.getClassifierResults();
|
||||||
|
detectorResults = result.getDetectorResults();
|
||||||
|
fiducialResults = result.getFiducialResults();
|
||||||
|
colorResults = result.getColorResults();
|
||||||
|
}
|
||||||
|
|
||||||
|
if (telemetryOn) telemetryUpdate();
|
||||||
|
}
|
||||||
|
|
||||||
|
/** ✅ Telemetry Output */
|
||||||
|
private void telemetryUpdate() {
|
||||||
|
// ✅ Use getters instead of directly accessing 'status' or cached fields
|
||||||
|
telemetry.addData("Name", "%s", getStatus().getName());
|
||||||
|
telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
|
||||||
|
getStatus().getTemp(),
|
||||||
|
getStatus().getCpu(),
|
||||||
|
(int) getStatus().getFps());
|
||||||
|
telemetry.addData("Pipeline", "Index: %d, Type: %s",
|
||||||
|
getStatus().getPipelineIndex(),
|
||||||
|
getStatus().getPipelineType());
|
||||||
|
telemetry.addData("ResultNull", result == null);
|
||||||
|
telemetry.addData("ResultValid", result.isValid());
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
if (result != null && result.isValid()) {
|
||||||
|
telemetry.addData("LL Latency", getTotalLatency());
|
||||||
|
telemetry.addData("Capture Latency", getCaptureLatency());
|
||||||
|
telemetry.addData("Targeting Latency", getTargetingLatency());
|
||||||
|
telemetry.addData("Parse Latency", getParseLatency());
|
||||||
|
telemetry.addData("PythonOutput", java.util.Arrays.toString(getPythonOutput()));
|
||||||
|
telemetry.addData("tx", getTx());
|
||||||
|
telemetry.addData("txnc", getTxNC());
|
||||||
|
telemetry.addData("ty", getTy());
|
||||||
|
telemetry.addData("tync", getTyNC());
|
||||||
|
telemetry.addData("ta", getTa());
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
telemetry.addData("BotX", getBotX());
|
||||||
|
|
||||||
|
telemetry.addData("BotY", getBotY());
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
if (Objects.equals(mode, "BR"))
|
||||||
|
for (LLResultTypes.BarcodeResult br : getBarcodeResults())
|
||||||
|
telemetry.addData("Barcode", "Data: %s", br.getData());
|
||||||
|
|
||||||
|
if (Objects.equals(mode, "CL"))
|
||||||
|
for (LLResultTypes.ClassifierResult cr : getClassifierResults())
|
||||||
|
telemetry.addData("Classifier", "Class: %s, Confidence: %.2f",
|
||||||
|
cr.getClassName(), cr.getConfidence());
|
||||||
|
|
||||||
|
if (Objects.equals(mode, "DE"))
|
||||||
|
for (LLResultTypes.DetectorResult dr : getDetectorResults())
|
||||||
|
telemetry.addData("Detector", "Class: %s, Area: %.2f",
|
||||||
|
dr.getClassName(), dr.getTargetArea());
|
||||||
|
|
||||||
|
if (Objects.equals(mode, "FI"))
|
||||||
|
for (LLResultTypes.FiducialResult fr : getFiducialResults())
|
||||||
|
telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f",
|
||||||
|
fr.getFiducialId(), fr.getFamily(),
|
||||||
|
fr.getTargetXDegrees(), fr.getTargetYDegrees());
|
||||||
|
|
||||||
|
if (Objects.equals(mode, "CO"))
|
||||||
|
for (LLResultTypes.ColorResult cr : getColorResults())
|
||||||
|
telemetry.addData("Color", "X: %.2f, Y: %.2f",
|
||||||
|
cr.getTargetXDegrees(), cr.getTargetYDegrees());
|
||||||
|
} else {
|
||||||
|
telemetry.addData("Limelight", "No data available");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// ✅ Getter methods (for use anywhere else in your code)
|
||||||
|
|
||||||
|
public Pose3D getBotPose() {
|
||||||
|
if (botpose == null) {
|
||||||
|
botpose = new Pose3D(
|
||||||
|
new Position(),
|
||||||
|
new YawPitchRollAngles(AngleUnit.DEGREES, 0.0, 0.0, 0.0, 0L)
|
||||||
|
);
|
||||||
|
}
|
||||||
|
return botpose;
|
||||||
|
}
|
||||||
|
|
||||||
|
public double getCaptureLatency() { return captureLatency; }
|
||||||
|
public double getTargetingLatency() { return targetingLatency; }
|
||||||
|
public double getTotalLatency() { return captureLatency + targetingLatency; }
|
||||||
|
public double getParseLatency() { return parseLatency; }
|
||||||
|
public double[] getPythonOutput() { return pythonOutput; }
|
||||||
|
|
||||||
|
public double getTx() { return tx; }
|
||||||
|
public double getTxNC() { return txnc; }
|
||||||
|
public double getTy() { return ty; }
|
||||||
|
public double getTyNC() { return tync;}
|
||||||
|
|
||||||
|
public double getTa() {return ta;}
|
||||||
|
|
||||||
|
public double getBotX() {return getBotPose().getPosition().x;}
|
||||||
|
|
||||||
|
public double getBotY() {return getBotPose().getPosition().y;}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
public List<LLResultTypes.BarcodeResult> getBarcodeResults() { return barcodeResults; }
|
||||||
|
public List<LLResultTypes.ClassifierResult> getClassifierResults() { return classifierResults; }
|
||||||
|
public List<LLResultTypes.DetectorResult> getDetectorResults() { return detectorResults; }
|
||||||
|
public List<LLResultTypes.FiducialResult> getFiducialResults() { return fiducialResults; }
|
||||||
|
public List<LLResultTypes.ColorResult> getColorResults() { return colorResults; }
|
||||||
|
|
||||||
|
public LLStatus getStatus() { return status; }
|
||||||
|
public LLResult getRawResult() { return result; }
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
@@ -0,0 +1,12 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.variables;
|
||||||
|
|
||||||
|
|
||||||
|
import com.acmerobotics.dashboard.config.Config;
|
||||||
|
|
||||||
|
@Config
|
||||||
|
public class HardwareConfig {
|
||||||
|
|
||||||
|
public static boolean USING_LL = false;
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
@@ -6,26 +6,30 @@ repositories {
|
|||||||
maven { url = 'https://maven.brott.dev/' } //RR
|
maven { url = 'https://maven.brott.dev/' } //RR
|
||||||
maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
|
maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
|
||||||
maven { url = "https://repo.dairy.foundation/releases" } //AS
|
maven { url = "https://repo.dairy.foundation/releases" } //AS
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
dependencies {
|
dependencies {
|
||||||
implementation 'org.firstinspires.ftc:Inspection:11.1.0'
|
implementation 'org.firstinspires.ftc:Inspection:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:Blocks:11.1.0'
|
implementation 'org.firstinspires.ftc:Blocks:11.0.0'
|
||||||
//noinspection Aligned16KB
|
implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
|
implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
|
implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
|
implementation 'org.firstinspires.ftc:Hardware:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:Hardware:11.1.0'
|
implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
|
implementation 'org.firstinspires.ftc:Vision:11.0.0'
|
||||||
implementation 'org.firstinspires.ftc:Vision:11.1.0'
|
|
||||||
implementation 'androidx.appcompat:appcompat:1.2.0'
|
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.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
|
implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
|
||||||
|
|
||||||
@@ -36,5 +40,11 @@ dependencies {
|
|||||||
implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
|
implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -25,9 +25,5 @@ allprojects {
|
|||||||
}
|
}
|
||||||
|
|
||||||
repositories {
|
repositories {
|
||||||
repositories {
|
|
||||||
mavenCentral()
|
mavenCentral()
|
||||||
google()
|
|
||||||
maven { url 'https://maven.pedropathing.com' }
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user