Compare commits
13 Commits
8cce5448ca
...
master
| Author | SHA1 | Date | |
|---|---|---|---|
| b235f9787b | |||
| b670d9f026 | |||
| 3bc0f21a63 | |||
| 8af121a12a | |||
| 53944cccc6 | |||
| b5b4b4af50 | |||
| 6e6df07153 | |||
| 75cfc6e220 | |||
| dff98b0dd5 | |||
| 8860fc4c3f | |||
| 4f58438b9e | |||
| 0fc70c5f24 | |||
| 1b9f10693c |
@@ -208,7 +208,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
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drive.updatePoseEstimate();
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Poses_V2.teleStart = drive.localizer.getPose();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(-0.3);
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@@ -272,7 +272,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
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drive.updatePoseEstimate();
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Poses_V2.teleStart = drive.localizer.getPose();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(-0.3);
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@@ -56,6 +56,7 @@ import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
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@@ -63,6 +64,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
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import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
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import androidx.annotation.NonNull;
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@@ -94,31 +96,45 @@ import java.util.Objects;
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@Config
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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public static double shoot0Vel = 2300, shoot0Hood = 0.93;
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public static double shoot0Vel = 2300, shoot0Hood = 0.93 + hoodOffset;
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public static double autoSpinStartPos = 0.2;
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public static double shoot0SpinSpeedIncrease = 0.015;
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public static double spindexerSpeedIncrease = 0.03;
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public static double finalSpindexerSpeedIncrease = 0.025;
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public static double obeliskTurrPos1 = 0.52;
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public static double obeliskTurrPos2 = 0.53;
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public static double obeliskTurrPos3 = 0.54;
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public static double normalIntakeTime = 3.0;
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public static double redObeliskTurrPos1 = turrDefault + 0.12;
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public static double redObeliskTurrPos2 = turrDefault + 0.13;
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public static double redObeliskTurrPos3 = turrDefault + 0.14;
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public static double blueObeliskTurrPos1 = turrDefault - 0.12;
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public static double blueObeliskTurrPos2 = turrDefault - 0.13;
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public static double blueObeliskTurrPos3 = turrDefault - 0.14;
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double obeliskTurrPos1 = 0.0;
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double obeliskTurrPos2 = 0.0;
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double obeliskTurrPos3 = 0.0;
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public static double normalIntakeTime = 3.3;
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public static double shoot1Turr = 0.57;
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public static double shoot0XTolerance = 1.0;
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public static double turretShootPos = 0.52;
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public static double redTurretShootPos = turrDefault + 0.12;
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public static double blueTurretShootPos = turrDefault - 0.14;
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double turretShootPos = 0.0;
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public static double finalShootAllTime = 3.0;
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public static double shootAllTime = 1.8;
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public static double shoot0Time = 1.6;
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public static double intake1Time = 3.0;
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public static double intake1Time = 3.3;
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public static double intake2Time = 3.8;
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public static double intake3Time = 4.2;
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public static double flywheel0Time = 3.5;
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public static double pickup1Speed = 19;
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public static double pickup1Speed = 23;
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// ---- SECOND SHOT / PICKUP ----
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public static double shoot1Vel = 2300;
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public static double shoot1Hood = 0.93;
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public static double shootAllVelocity = 2500;
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public static double shootAllHood = 0.78;
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// ---- PICKUP TIMING ----
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public static double pickup1Time = 3.0;
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public static double shootAllHood = 0.78 + hoodOffset;
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// ---- PICKUP POSITION TOLERANCES ----
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public static double pickup1XTolerance = 2.0;
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public static double pickup1YTolerance = 2.0;
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@@ -316,7 +332,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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drive.updatePoseEstimate();
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Poses_V2.teleStart = drive.localizer.getPose();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(-0.3);
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@@ -380,7 +396,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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drive.updatePoseEstimate();
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Poses_V2.teleStart = drive.localizer.getPose();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(-0.3);
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@@ -485,16 +501,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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if (ticker == 0) {
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stamp = System.currentTimeMillis();
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robot.limelight.pipelineSwitch(1);
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}
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ticker++;
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robot.limelight.pipelineSwitch(1);
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motif = turret.detectObelisk();
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if (redAlliance){
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robot.limelight.pipelineSwitch(4);
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} else {
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robot.limelight.pipelineSwitch(2);
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}
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robot.turr1.setPosition(turrPos);
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robot.turr2.setPosition(1 - turrPos);
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@@ -511,7 +522,16 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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TELE.addData("Hood", robot.hood.getPosition());
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TELE.update();
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return !shouldFinish;
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if (shouldFinish){
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if (redAlliance){
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robot.limelight.pipelineSwitch(4);
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} else {
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robot.limelight.pipelineSwitch(2);
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}
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return false;
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} else {
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return true;
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}
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}
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};
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@@ -733,7 +753,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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turret = new Turret(robot, TELE, robot.limelight);
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turret.manualSetTurret(0.4);
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turret.manualSetTurret(turrDefault);
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drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
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@@ -756,11 +776,33 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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while (opModeInInit()) {
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robot.hood.setPosition(shoot0Hood);
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turret.manualSetTurret(turrDefault);
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if (gamepad2.crossWasPressed()) {
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redAlliance = !redAlliance;
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}
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if (gamepad2.dpadLeftWasPressed()) {
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turrDefault -=0.01;
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}
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if (gamepad2.dpadRightWasPressed()) {
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turrDefault +=0.01;
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}
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redObeliskTurrPos1 = turrDefault + 0.12;
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redObeliskTurrPos2 = turrDefault + 0.13;
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redObeliskTurrPos3 = turrDefault + 0.14;
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blueObeliskTurrPos1 = turrDefault - 0.12;
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blueObeliskTurrPos2 = turrDefault - 0.13;
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blueObeliskTurrPos3 = turrDefault - 0.14;
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redTurretShootPos = turrDefault + 0.12;
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blueTurretShootPos = turrDefault - 0.14;
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if (redAlliance) {
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robot.light.setPosition(0.28);
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@@ -795,6 +837,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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yShoot = rShootY;
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hShoot = rShootH;
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obeliskTurrPos1 = redObeliskTurrPos1;
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obeliskTurrPos2 = redObeliskTurrPos2;
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obeliskTurrPos3 = redObeliskTurrPos3;
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turretShootPos = redTurretShootPos;
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} else {
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robot.light.setPosition(0.6);
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@@ -830,6 +877,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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yShoot = bShootY;
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hShoot = bShootH;
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obeliskTurrPos1 = blueObeliskTurrPos1;
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obeliskTurrPos2 = blueObeliskTurrPos2;
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obeliskTurrPos3 = blueObeliskTurrPos3;
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turretShootPos = blueTurretShootPos;
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}
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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@@ -859,6 +911,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
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TELE.addData("Red?", redAlliance);
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TELE.addData("Turret Default", turrDefault);
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TELE.update();
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}
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@@ -898,7 +954,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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manageFlywheel(
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shootAllVelocity,
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shootAllHood,
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pickup1Time,
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intake1Time,
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x2b,
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y2b,
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pickup1XTolerance,
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@@ -958,15 +1014,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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new ParallelAction(
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pickup2.build(),
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manageShooterAuto(
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normalIntakeTime,
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intake2Time,
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x2b,
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y2b,
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pickup1XTolerance,
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pickup1YTolerance
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),
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intake(normalIntakeTime),
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intake(intake2Time),
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detectObelisk(
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normalIntakeTime,
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intake2Time,
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0.501,
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0.501,
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obelisk1XTolerance,
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@@ -1009,15 +1065,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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new ParallelAction(
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pickup3.build(),
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manageShooterAuto(
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normalIntakeTime,
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intake3Time,
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x2b,
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y2b,
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pickup1XTolerance,
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pickup1YTolerance
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),
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intake(normalIntakeTime),
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intake(intake3Time),
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detectObelisk(
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normalIntakeTime,
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intake3Time,
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0.501,
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0.501,
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obelisk1XTolerance,
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@@ -1045,13 +1101,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
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Actions.runBlocking(
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new ParallelAction(
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manageShooterAuto(
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shootAllTime,
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finalShootAllTime,
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0.501,
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0.501,
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0.501,
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0.501
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),
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shootAllAuto(shootAllTime, spindexerSpeedIncrease)
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shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
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)
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);
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@@ -1,804 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bHGate;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShoot1Tangent;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootH;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootX;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootY;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bXGate;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bYGate;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh1;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2c;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2c;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx1;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2c;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by1;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2c;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rHGate;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShoot1Tangent;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootH;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootX;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootY;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rXGate;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rYGate;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh1;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2c;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2c;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx1;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses_V2.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
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import com.acmerobotics.dashboard.config.Config;
|
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
@Config
|
||||
public class Auto_LT_Close_GateCycle extends LinearOpMode {
|
||||
|
||||
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
|
||||
public static double autoSpinStartPos = 0.2;
|
||||
public static double shoot0SpinSpeedIncrease = 0.014;
|
||||
|
||||
public static double spindexerSpeedIncrease = 0.02;
|
||||
|
||||
public static double obeliskTurrPos = 0.53;
|
||||
public static double gatePickupTime = 3.0;
|
||||
public static double shoot1Turr = 0.57;
|
||||
public static double shoot0XTolerance = 1.0;
|
||||
public static double turretShootPos = 0.72;
|
||||
public static double shootAllTime = 1.8;
|
||||
public static double shoot0Time = 1.6;
|
||||
public static double intake1Time = 3.0;
|
||||
public static double flywheel0Time = 3.5;
|
||||
public static double pickup1Speed = 80.0;
|
||||
// ---- SECOND SHOT / PICKUP ----
|
||||
public static double shoot1Vel = 2300;
|
||||
public static double shoot1Hood = 0.93;
|
||||
|
||||
public static double shootAllVelocity = 2500;
|
||||
public static double shootAllHood = 0.78;
|
||||
// ---- PICKUP TIMING ----
|
||||
public static double pickup1Time = 3.0;
|
||||
// ---- PICKUP POSITION TOLERANCES ----
|
||||
public static double pickup1XTolerance = 2.0;
|
||||
public static double pickup1YTolerance = 2.0;
|
||||
// ---- OBELISK DETECTION ----
|
||||
public static double obelisk1Time = 1.5;
|
||||
public static double obelisk1XTolerance = 2.0;
|
||||
public static double obelisk1YTolerance = 2.0;
|
||||
public static double shoot1ToleranceX = 2.0;
|
||||
public static double shoot1ToleranceY = 2.0;
|
||||
public static double shoot1Time = 2.0;
|
||||
public static double shootCycleTime = 2.5;
|
||||
public int motif = 0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
private double x1, y1, h1;
|
||||
|
||||
private double x2a, y2a, h2a, t2a;
|
||||
|
||||
private double x2b, y2b, h2b, t2b;
|
||||
private double x2c, y2c, h2c, t2c;
|
||||
|
||||
private double xShoot, yShoot, hShoot;
|
||||
private double xGate, yGate, hGate;
|
||||
|
||||
private double shoot1Tangent;
|
||||
|
||||
public Action prepareShootAll(double time) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
turret.manualSetTurret(turretShootPos);
|
||||
|
||||
robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
|
||||
|
||||
return (System.currentTimeMillis() - stamp) < (time * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
double velo = vel;
|
||||
|
||||
int shooterTicker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
spindexer.processIntake();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
spindexer.ballCounterLight();
|
||||
|
||||
return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action detectObelisk(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance,
|
||||
double turrPos
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
robot.turr1.setPosition(turrPos);
|
||||
robot.turr2.setPosition(1 - turrPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageFlywheel(
|
||||
double vel,
|
||||
double hoodPos,
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
robot.hood.setPosition(hoodPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x;
|
||||
double robotY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
turret.trackGoal(deltaPose);
|
||||
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageFlywheelAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x;
|
||||
double robotY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
hardwareMap.get(Servo.class, "light").setPosition(0);
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
turret.manualSetTurret(0.4);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
|
||||
TrajectoryActionBuilder shoot0 = null;
|
||||
TrajectoryActionBuilder pickup1 = null;
|
||||
TrajectoryActionBuilder shoot1 = null;
|
||||
TrajectoryActionBuilder gatePickup = null;
|
||||
TrajectoryActionBuilder shootCycle = null;
|
||||
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.light.setPosition(1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
robot.hood.setPosition(shoot0Hood);
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = rx1;
|
||||
y1 = ry1;
|
||||
h1 = rh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = rx2a;
|
||||
y2a = ry2a;
|
||||
h2a = rh2a;
|
||||
t2a = rt2a;
|
||||
x2b = rx2b;
|
||||
y2b = ry2b;
|
||||
h2b = rh2b;
|
||||
t2b = rt2b;
|
||||
x2c = rx2c;
|
||||
y2c = ry2c;
|
||||
h2c = rh2c;
|
||||
t2c = rt2c;
|
||||
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
shoot1Tangent = rShoot1Tangent;
|
||||
|
||||
xGate = rXGate;
|
||||
yGate = rYGate;
|
||||
hGate = rHGate;
|
||||
|
||||
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = bx1;
|
||||
y1 = by1;
|
||||
h1 = bh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = bx2a;
|
||||
y2a = by2a;
|
||||
h2a = bh2a;
|
||||
t2a = bt2a;
|
||||
x2b = bx2b;
|
||||
y2b = by2b;
|
||||
h2b = bh2b;
|
||||
t2b = bt2b;
|
||||
x2c = bx2c;
|
||||
y2c = by2c;
|
||||
h2c = bh2c;
|
||||
t2c = bt2c;
|
||||
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
|
||||
shoot1Tangent = bShoot1Tangent;
|
||||
|
||||
xGate = bXGate;
|
||||
yGate = bYGate;
|
||||
hGate = bHGate;
|
||||
}
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
|
||||
.setReversed(true)
|
||||
.splineTo(new Vector2d(x2a, y2a), shoot1Tangent)
|
||||
.splineToSplineHeading(new Pose2d(xShoot, yShoot, hShoot), shoot1Tangent);
|
||||
|
||||
gatePickup = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
|
||||
.strafeToLinearHeading(new Vector2d(xGate, yGate), hGate);
|
||||
|
||||
shootCycle = drive.actionBuilder(new Pose2d(xGate, yGate, hGate))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
manageFlywheel(
|
||||
shoot0Vel,
|
||||
shoot0Hood,
|
||||
flywheel0Time,
|
||||
x1,
|
||||
0.501,
|
||||
shoot0XTolerance,
|
||||
0.501
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
manageFlywheel(
|
||||
shootAllVelocity,
|
||||
shootAllHood,
|
||||
pickup1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(intake1Time),
|
||||
detectObelisk(
|
||||
obelisk1Time,
|
||||
x2b,
|
||||
y2c,
|
||||
obelisk1XTolerance,
|
||||
obelisk1YTolerance,
|
||||
obeliskTurrPos
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheel(
|
||||
shootAllVelocity,
|
||||
shootAllHood,
|
||||
shoot1Time,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot1.build(),
|
||||
prepareShootAll(shoot1Time)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
gatePickup.build(),
|
||||
manageShooterAuto(
|
||||
gatePickupTime,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(gatePickupTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheelAuto(
|
||||
shootCycleTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootCycle.build(),
|
||||
prepareShootAll(shootCycleTime)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -16,33 +16,38 @@ public class Poses {
|
||||
|
||||
public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
|
||||
public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140.1);
|
||||
public static double rx2b = 19, ry2b = 40, rh2b = Math.toRadians(140.1);
|
||||
|
||||
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
|
||||
|
||||
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
|
||||
public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
|
||||
|
||||
public static double rx4a = 72, ry4a = 50, rh4a = Math.toRadians(145);
|
||||
public static double rx4b = 42, ry4b = 80, rh4b = Math.toRadians(145.1);
|
||||
public static double rx3aG = 60, ry3aG = 34, rh3aG = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 40, by1 = 7, bh1 = 0;
|
||||
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
|
||||
public static double rx3b = 36, ry3b = 58, rh3b = Math.toRadians(140.1);
|
||||
|
||||
public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
|
||||
public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
|
||||
|
||||
public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
|
||||
public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
|
||||
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
|
||||
|
||||
public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
|
||||
public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
|
||||
public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
|
||||
|
||||
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
|
||||
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
|
||||
|
||||
public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
|
||||
public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
|
||||
public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
|
||||
|
||||
public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
|
||||
public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);
|
||||
public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
|
||||
public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
|
||||
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(0, 0, 0);
|
||||
|
||||
@@ -10,47 +10,16 @@ public class Poses_V2 {
|
||||
|
||||
public static double turretHeight = 12;
|
||||
|
||||
public static double relativeGoalHeight = goalHeight - turretHeight;
|
||||
public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
|
||||
|
||||
public static Pose2d goalPose = new Pose2d(-10, 0, 0);
|
||||
public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
|
||||
|
||||
public static double rx1 = 20, ry1 = 0, rh1 = 0;
|
||||
public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a = Math.toRadians(Math.PI/2);
|
||||
public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b = Math.toRadians(Math.PI/2);
|
||||
public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
|
||||
|
||||
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c = Math.toRadians(Math.PI/2);
|
||||
public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
|
||||
public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
|
||||
|
||||
public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
|
||||
public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
|
||||
|
||||
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
|
||||
public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
|
||||
public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 20, by1 = 0, bh1 = 0;
|
||||
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a = Math.toRadians(140);
|
||||
public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b = Math.toRadians(140);
|
||||
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c = Math.toRadians(140);
|
||||
|
||||
public static double rShootX = 40, rShootY = 7, rShootH = Math.toRadians(140);
|
||||
|
||||
public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
|
||||
public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165);
|
||||
|
||||
|
||||
public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
|
||||
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static double rShoot1Tangent = Math.toRadians(0);
|
||||
public static double bShoot1Tangent = Math.toRadians(0);
|
||||
|
||||
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(0, 0, 0);
|
||||
|
||||
}
|
||||
|
||||
@@ -5,22 +5,22 @@ import com.acmerobotics.dashboard.config.Config;
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos1 = 0.05; //0.13;
|
||||
public static double spindexer_intakePos1 = 0.07; //0.13;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
|
||||
public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
|
||||
public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
|
||||
public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
|
||||
public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
|
||||
public static double spinStartPos = 0.25;
|
||||
public static double spinStartPos = 0.22;
|
||||
public static double spinEndPos = 0.85;
|
||||
|
||||
public static double shootAllAutoSpinStartPos = 0.2;
|
||||
public static double shootAllSpindexerSpeedIncrease = 0.04;
|
||||
public static double shootAllSpindexerSpeedIncrease = 0.014;
|
||||
public static double shootAllTime = 1.8;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
@@ -33,24 +33,11 @@ public class ServoPositions {
|
||||
|
||||
public static double hoodAuto = 0.27;
|
||||
|
||||
public static double hoodAutoFar = 0.5; //TODO: change this;
|
||||
|
||||
public static double hoodHigh = 0.21; //TODO: change this;
|
||||
|
||||
public static double hoodLow = 1.0; //TODO: change this;
|
||||
public static double hoodOffset = -0.05;
|
||||
|
||||
public static double turret_redClose = 0.42;
|
||||
public static double turret_blueClose = 0.38;
|
||||
public static double turret_redFar = 0.5; //TODO: change this
|
||||
public static double turret_blueFar = 0.5; // TODO: change this
|
||||
|
||||
public static double turret_detectRedClose = 0.2;
|
||||
|
||||
public static double turret_detectBlueClose = 0.6;
|
||||
public static double turrDefault = 0.4;
|
||||
|
||||
public static double turrMin = 0.2;
|
||||
public static double turrMax = 0.8;
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -1,898 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@Disabled
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TeleopV2 extends LinearOpMode {
|
||||
Servos servo;
|
||||
Flywheel flywheel;
|
||||
public static double manualVel = 3000;
|
||||
public static double hood = 0.5;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
public static double desiredTurretAngle = 180;
|
||||
public static double velMultiplier = 20;
|
||||
public static double shootStamp2 = 0.0;
|
||||
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
public boolean autoHood = true;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
public double shootStamp = 0.0;
|
||||
public boolean circle = false;
|
||||
public boolean square = false;
|
||||
public boolean triangle = false;
|
||||
double autoHoodOffset = 0.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
int camTicker = 0;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
boolean oddBallColor = false;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
MecanumDrive drive;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shoot1 = false;
|
||||
// Make these class-level flags
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
|
||||
boolean outtake1 = false;
|
||||
boolean outtake2 = false;
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean emergency = false;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
private double lastTimeStamp = 0.0;
|
||||
private double velo1, velo;
|
||||
private double stamp1, stamp, initPos;
|
||||
private boolean shootAll = false;
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double spindexPID = 0.0;
|
||||
double spindexPos = spindexer_intakePos1;
|
||||
double error = 0.0;
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
// linear interpolation between 40->2650 and 120->3600
|
||||
double slope = (3700.0 - 2750.0) / (100.0 - 30);
|
||||
return (int) Math.round(2750 + slope * (distance - 30));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
servo = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
Pose2d shootPos = teleStart;
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()) {
|
||||
|
||||
//DRIVETRAIN:
|
||||
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
|
||||
//TODO: make sure changing position works throughout opmode
|
||||
if (!servo.spinEqual(spindexPos)){
|
||||
spindexPID = servo.setSpinPos(spindexPos);
|
||||
robot.spin1.setPosition(spindexPID);
|
||||
robot.spin2.setPosition(-spindexPID);
|
||||
} else{
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
}
|
||||
|
||||
//INTAKE:
|
||||
|
||||
if (gamepad1.rightBumperWasPressed()) {
|
||||
intake = !intake;
|
||||
reject = false;
|
||||
shootAll = false;
|
||||
emergency = false;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()) {
|
||||
intake = false;
|
||||
emergency = !emergency;
|
||||
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
spindexPos = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
spindexPos = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
|
||||
} else if (reject) {
|
||||
robot.intake.setPower(-1);
|
||||
spindexPos = spindexer_intakePos1;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
//COLOR:
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s3G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s3.add(true);
|
||||
} else {
|
||||
s3.add(false);
|
||||
}
|
||||
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (!s1.isEmpty()) {
|
||||
green1 = checkGreen(s1, s1T);
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
//TURRET:
|
||||
|
||||
double offset;
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotX = robX - xOffset;
|
||||
double robotY = robY - yOffset;
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -10;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = goalX - robotX; // delta x from robot to goal
|
||||
double dy = goalY - robotY; // delta y from robot to goal
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
|
||||
|
||||
desiredTurretAngle += manualOffset;
|
||||
|
||||
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
|
||||
|
||||
if (offset > 135) {
|
||||
offset -= 360;
|
||||
}
|
||||
|
||||
//TODO: test the camera teleop code
|
||||
double pos = turrDefault + (error/8); // adds the overall error to the default
|
||||
|
||||
TELE.addData("offset", offset);
|
||||
|
||||
pos -= offset * (0.9 / 360);
|
||||
|
||||
if (pos < 0.02) {
|
||||
pos = 0.02;
|
||||
} else if (pos > 0.97) {
|
||||
pos = 0.97;
|
||||
}
|
||||
|
||||
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
|
||||
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
|
||||
|
||||
double bearing = 0.0;
|
||||
if (d20 != null || d24 != null){
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
}
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
}
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos() - (bearing/1300);
|
||||
TELE.addData("Bear", bearing);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
|
||||
|
||||
// deadband: ignore tiny noise
|
||||
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
|
||||
// only accumulate if bearing direction is consistent
|
||||
if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
|
||||
error += bearingCorrection;
|
||||
}
|
||||
}
|
||||
|
||||
camTicker++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
|
||||
if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4100;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualOffset = 0;
|
||||
manualTurret = false;
|
||||
if (gamepad2.left_bumper) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
|
||||
sleep(1200);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y < -0.5) {
|
||||
autoHood = true;
|
||||
} else if (gamepad2.left_stick_y > 0.5) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
//SHOOT ALL:]
|
||||
|
||||
if (emergency) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
|
||||
if (getRuntime() % 3 > 1.5) {
|
||||
spindexPos = 1;
|
||||
} else {
|
||||
spindexPos = 0;
|
||||
}
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
} else if (shootAll) {
|
||||
|
||||
TELE.addData("100% works", shootOrder);
|
||||
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
case 1:
|
||||
shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
|
||||
TELE.addData("shootA", shootA);
|
||||
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootA;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
|
||||
TELE.addData("shootB", shootB);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootB;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
|
||||
TELE.addData("shootC", shootC);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootC;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// Remove from the list only if shooting is complete
|
||||
if (shootingDone) {
|
||||
shootOrder.remove(0);
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
// Finished shooting all balls
|
||||
spindexPos = spindexer_intakePos1;
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
|
||||
shootOrder.clear();
|
||||
|
||||
// Determine shooting order based on button pressed
|
||||
// square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
// // Right bumper shoots all balls fastest, ignoring colors
|
||||
// if (gamepad2.leftBumperWasPressed()) {
|
||||
// shootOrder.clear();
|
||||
// shootStamp = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// // Fastest order (example: slot 3 → 2 → 1)
|
||||
//
|
||||
// if (ballIn(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
// if (ballIn(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
// shootAll = true;
|
||||
// shootPos = drive.localizer.getPose();
|
||||
//
|
||||
// }
|
||||
//
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = true;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
emergency = false;
|
||||
}
|
||||
|
||||
//MISC:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
TELE.addData("distanceToGoal", distanceToGoal);
|
||||
TELE.addData("hood", robot.hood.getPosition());
|
||||
TELE.addData("targetVel", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
aprilTagWebcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// Returns color of ball in slot i (1-based)
|
||||
boolean getBallColor(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
return green1;
|
||||
case 2:
|
||||
return green2;
|
||||
case 3:
|
||||
return green3;
|
||||
}
|
||||
return false; // default
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
|
||||
if (!s1T.isEmpty()) {
|
||||
|
||||
return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 2:
|
||||
|
||||
if (!s2T.isEmpty()) {
|
||||
|
||||
return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 3:
|
||||
|
||||
if (!s3T.isEmpty()) {
|
||||
|
||||
return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
|
||||
|
||||
}
|
||||
}
|
||||
return true; // default
|
||||
}
|
||||
}
|
||||
@@ -2,9 +2,9 @@ package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
@@ -36,14 +36,13 @@ public class TeleopV3 extends LinearOpMode {
|
||||
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
|
||||
public static double spinSpeedIncrease = 0.03;
|
||||
public static int resetSpinTicks = 4;
|
||||
public static double hoodSpeedOffset = 0.01;
|
||||
public static double turretSpeedOffset = 0.01;
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public boolean targetingHood = true;
|
||||
public double manualOffset = 0.0;
|
||||
public boolean autoHood = true;
|
||||
|
||||
public double shootStamp = 0.0;
|
||||
|
||||
boolean fixedTurret = false;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@@ -63,7 +62,6 @@ public class TeleopV3 extends LinearOpMode {
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
double hoodOffset = 0.0;
|
||||
|
||||
boolean autoSpintake = false;
|
||||
boolean enableSpindexerManager = true;
|
||||
@@ -110,6 +108,9 @@ public class TeleopV3 extends LinearOpMode {
|
||||
}
|
||||
}
|
||||
|
||||
limelightUsed= true;
|
||||
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
@@ -117,7 +118,7 @@ public class TeleopV3 extends LinearOpMode {
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
TELE.addData("Is limelight on?", robot.limelight.getStatus());
|
||||
//TELE.addData("Is limelight on?", robot.limelight.getStatus());
|
||||
|
||||
// LIGHT COLORS
|
||||
spindexer.ballCounterLight();
|
||||
@@ -191,44 +192,41 @@ public class TeleopV3 extends LinearOpMode {
|
||||
//HOOD:
|
||||
|
||||
if (targetingHood) {
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
robot.hood.setPosition(hoodDefaultPos);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed() || gamepad1.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed() || gamepad1.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
autoHoodOffset -= hoodSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
autoHoodOffset += hoodSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.cross) {
|
||||
manualOffset = 0;
|
||||
overrideTurr = true;
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
Turret.manualOffset -= turretSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
} else if (gamepad2.dpadRightWasPressed()) {
|
||||
Turret.manualOffset += turretSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(20, 0, 0));
|
||||
sleep(1500);
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
limelightUsed = true;
|
||||
gamepad2.rumble(80);
|
||||
} else if (gamepad2.leftBumperWasPressed()) {
|
||||
limelightUsed = false;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.triangle) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
|
||||
autoHood = true;
|
||||
fixedTurret = false;
|
||||
}
|
||||
|
||||
if (enableSpindexerManager) {
|
||||
//if (!shootAll) {
|
||||
@@ -238,6 +236,9 @@ public class TeleopV3 extends LinearOpMode {
|
||||
// RIGHT_BUMPER
|
||||
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
|
||||
robot.intake.setPower(1);
|
||||
} else if (gamepad1.cross) {
|
||||
robot.intake.setPower(-1);
|
||||
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
|
||||
@@ -259,21 +260,21 @@ public class TeleopV3 extends LinearOpMode {
|
||||
|
||||
if (shooterTicker == 0) {
|
||||
spindexer.prepareShootAllContinous();
|
||||
TELE.addLine("preparing to shoot");
|
||||
//TELE.addLine("preparing to shoot");
|
||||
// } else if (shooterTicker == 2) {
|
||||
// //robot.transferServo.setPosition(transferServo_in);
|
||||
// spindexer.shootAll();
|
||||
// TELE.addLine("starting to shoot");
|
||||
} else if (!spindexer.shootAllComplete()) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addLine("shoot");
|
||||
//TELE.addLine("shoot");
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
shootAll = false;
|
||||
spindexer.resetSpindexer();
|
||||
//spindexer.processIntake();
|
||||
TELE.addLine("stop shooting");
|
||||
//TELE.addLine("stop shooting");
|
||||
}
|
||||
shooterTicker++;
|
||||
//spindexer.processIntake();
|
||||
@@ -311,24 +312,24 @@ public class TeleopV3 extends LinearOpMode {
|
||||
// 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("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("robotInchesX", targeting.robotInchesX);
|
||||
// TELE.addData( "robotInchesY", targeting.robotInchesY);
|
||||
// TELE.addData("Targeting Interpolate", turretInterpolate);
|
||||
TELE.addData("shootall commanded", shootAll);
|
||||
// Targeting Debug
|
||||
TELE.addData("robotX", robotX);
|
||||
TELE.addData("robotY", robotY);
|
||||
TELE.addData("robotInchesX", targeting.robotInchesX);
|
||||
TELE.addData( "robotInchesY", targeting.robotInchesY);
|
||||
TELE.addData("Targeting Interpolate", turretInterpolate);
|
||||
TELE.addData("Targeting GridX", targeting.robotGridX);
|
||||
TELE.addData("Targeting GridY", targeting.robotGridY);
|
||||
TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
|
||||
TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
|
||||
// TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
|
||||
TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class Test extends LinearOpMode {
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
}
|
||||
}
|
||||
@@ -201,7 +201,7 @@ public class Spindexer {
|
||||
// Position 2
|
||||
// Find which ball position this is in the spindexer
|
||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
|
||||
if (distanceFrontDriver < 50) {
|
||||
if (distanceFrontDriver < 56) {
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor) {
|
||||
|
||||
@@ -1,41 +1,17 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import android.provider.Settings;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
|
||||
public class Targeting {
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
double cancelOffsetX = 0.0; // was -40.0
|
||||
double cancelOffsetY = 0.0; // was 7.0
|
||||
double unitConversionFactor = 0.95;
|
||||
|
||||
int tileSize = 24; //inches
|
||||
public final int TILE_UPPER_QUARTILE = 18;
|
||||
public final int TILE_LOWER_QUARTILE = 6;
|
||||
|
||||
public double robotInchesX, robotInchesY = 0.0;
|
||||
|
||||
public int robotGridX, robotGridY = 0;
|
||||
|
||||
|
||||
public static class Settings {
|
||||
public double flywheelRPM = 0.0;
|
||||
public double hoodAngle = 0.0;
|
||||
|
||||
public Settings (double flywheelRPM, double hoodAngle) {
|
||||
this.flywheelRPM = flywheelRPM;
|
||||
this.hoodAngle = hoodAngle;
|
||||
}
|
||||
}
|
||||
|
||||
// Known settings discovered using shooter test.
|
||||
// Keep the fidelity at 1 floor tile for now but we could also half it if more
|
||||
// accuracy is needed.
|
||||
public static final Settings[][] KNOWNTARGETING;
|
||||
|
||||
static {
|
||||
KNOWNTARGETING = new Settings[6][6];
|
||||
// ROW 0 - Closet to the goals
|
||||
@@ -49,16 +25,25 @@ public class Targeting {
|
||||
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][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 (2900.0, 0.53);
|
||||
KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
|
||||
KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
|
||||
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);
|
||||
@@ -80,10 +65,20 @@ public class Targeting {
|
||||
KNOWNTARGETING[5][3] = new Settings(3350, 0.48);
|
||||
KNOWNTARGETING[5][4] = new Settings(3350, 0.48);
|
||||
KNOWNTARGETING[5][5] = new Settings(3350, 0.48);
|
||||
|
||||
}
|
||||
|
||||
public Targeting()
|
||||
{
|
||||
public final int TILE_UPPER_QUARTILE = 18;
|
||||
public final int TILE_LOWER_QUARTILE = 6;
|
||||
public double robotInchesX, robotInchesY = 0.0;
|
||||
public int robotGridX, robotGridY = 0;
|
||||
MultipleTelemetry TELE;
|
||||
double cancelOffsetX = 0.0; // was -40.0
|
||||
double cancelOffsetY = 0.0; // was 7.0
|
||||
double unitConversionFactor = 0.95;
|
||||
int tileSize = 24; //inches
|
||||
|
||||
public Targeting() {
|
||||
}
|
||||
|
||||
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
|
||||
@@ -177,14 +172,20 @@ public class Targeting {
|
||||
}
|
||||
|
||||
//clamp
|
||||
|
||||
if (redAlliance) {
|
||||
robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
} else {
|
||||
robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
}
|
||||
|
||||
// basic search
|
||||
if (true) { //!interpolate) {
|
||||
if ((robotGridY < 6) && (robotGridX < 6)) {
|
||||
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
|
||||
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
|
||||
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
|
||||
}
|
||||
return recommendedSettings;
|
||||
} else {
|
||||
@@ -216,4 +217,14 @@ public class Targeting {
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
|
||||
import static java.lang.Math.abs;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
@@ -23,9 +21,12 @@ public class Turret {
|
||||
public static double turretTolerance = 0.02;
|
||||
public static double turrPosScalar = 0.00011264432;
|
||||
public static double turret180Range = 0.4;
|
||||
public static double turrDefault = 0.4;
|
||||
public static double turrDefault = 0.39;
|
||||
public static double turrMin = 0.15;
|
||||
public static double turrMax = 0.85;
|
||||
public static boolean limelightUsed = true;
|
||||
|
||||
public static double manualOffset = 0.0;
|
||||
|
||||
public static double visionCorrectionGain = 0.08; // Single tunable gain
|
||||
public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
|
||||
@@ -34,28 +35,23 @@ public class Turret {
|
||||
// TODO: tune these values for limelight
|
||||
|
||||
public static double clampTolerance = 0.03;
|
||||
public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Limelight3A webcam;
|
||||
|
||||
double tx = 0.0;
|
||||
double ty = 0.0;
|
||||
double limelightPosX = 0.0;
|
||||
double limelightPosY = 0.0;
|
||||
LLResult result;
|
||||
boolean bearingAligned = false;
|
||||
private boolean lockOffset = false;
|
||||
private int obeliskID = 0;
|
||||
|
||||
private double offset = 0.0;
|
||||
private double currentTrackOffset = 0.0;
|
||||
private int currentTrackCount = 0;
|
||||
|
||||
private double permanentOffset = 0.0;
|
||||
|
||||
LLResult result;
|
||||
|
||||
private PIDController bearingPID;
|
||||
public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05;
|
||||
boolean bearingAligned = false;
|
||||
|
||||
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
|
||||
this.TELE = tele;
|
||||
@@ -84,11 +80,6 @@ public class Turret {
|
||||
}
|
||||
|
||||
private void limelightRead() { // only for tracking purposes, not general reads
|
||||
if (redAlliance) {
|
||||
webcam.pipelineSwitch(4);
|
||||
} else {
|
||||
webcam.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
result = webcam.getLatestResult();
|
||||
if (result != null) {
|
||||
@@ -152,7 +143,6 @@ public class Turret {
|
||||
Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
|
||||
*/
|
||||
|
||||
|
||||
private double bearingAlign(LLResult llResult) {
|
||||
double bearingOffset = 0.0;
|
||||
double targetTx = llResult.getTx(); // How far left or right the target is (degrees)
|
||||
@@ -169,8 +159,7 @@ public class Turret {
|
||||
}
|
||||
|
||||
// Only with valid data and if too far off target
|
||||
if (llResult.isValid() && !bearingAligned)
|
||||
{
|
||||
if (llResult.isValid() && !bearingAligned) {
|
||||
|
||||
// Adjust Robot Speed based on how far the target is located
|
||||
// Only drive at half speed max
|
||||
@@ -192,7 +181,6 @@ public class Turret {
|
||||
return bearingOffset;
|
||||
}
|
||||
|
||||
|
||||
public void trackGoal(Pose2d deltaPos) {
|
||||
|
||||
/* ---------------- FIELD → TURRET GEOMETRY ---------------- */
|
||||
@@ -223,7 +211,7 @@ public class Turret {
|
||||
|
||||
limelightRead();
|
||||
// Active correction if we see the target
|
||||
if (result.isValid() && !lockOffset) {
|
||||
if (result.isValid() && !lockOffset && limelightUsed) {
|
||||
currentTrackOffset += bearingAlign(result);
|
||||
currentTrackCount++;
|
||||
// double bearingError = Math.abs(tagBearingDeg);
|
||||
@@ -282,21 +270,21 @@ public class Turret {
|
||||
}
|
||||
|
||||
// Set servo positions
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1.0 - turretPos);
|
||||
robot.turr1.setPosition(turretPos + manualOffset);
|
||||
robot.turr2.setPosition(1.0 - 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("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);
|
||||
// TELE.addData("Learned Offset", "%.2f", offset);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user