Add Targeting values from shootertesting. Tune flywheel with shootertest. Add additional telemetry.

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

@@ -5,11 +5,11 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.19;
+    public static double spindexer_intakePos1 = 0.18;
 
-    public static double spindexer_intakePos2 = 0.35;//0.5;
+    public static double spindexer_intakePos2 = 0.36;//0.5;
 
-    public static double spindexer_intakePos3 = 0.51;//0.66;
+    public static double spindexer_intakePos3 = 0.54;//0.66;
 
     public static double spindexer_outtakeBall3 = 0.47;
 

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

@@ -814,6 +814,8 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
             TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velo1", flywheel.velo1);
+            TELE.addData("Velo2", flywheel.velo2);
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+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;
 
@@ -12,28 +13,40 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
 
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-
-    public static int mode = 0;
+    public static int mode = 1;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
     public static double Velocity = 0.0;
-    public static double P = 40.0;
-    public static double I = 0.3;
-    public static double D = 7.0;
-    public static double F = 10.0;
+    public static double P = 255.0;
+    public static double I = 0.0;
+    public static double D = 0.0;
+    public static double F = 7.5;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
+
+    public static boolean intake = false;
     Robot robot;
     Flywheel flywheel;
 
+    double shootStamp = 0.0;
+    boolean shootAll = false;
+
+    public double spinPow = 0.09;
+
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
+    Spindexer spindexer ;
+
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -41,6 +54,7 @@ public class ShooterTest extends LinearOpMode {
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
         flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -61,15 +75,60 @@ public class ShooterTest extends LinearOpMode {
             }
 
             if (hoodPos != 0.501) {
-                robot.hood.setPosition(hoodPos);
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
+                    robot.hood.setPosition(hoodPos);
+                }
             }
 
-            robot.transfer.setPower(transferPower);
-            if (shoot) {
-                robot.transferServo.setPosition(transferServo_in);
+            if (intake) {
+                robot.intake.setPower(1);
+
             } else {
-                robot.transferServo.setPosition(transferServo_out);
+                robot.intake.setPower(0);
             }
+
+
+            if (shoot) {
+                shootStamp = getRuntime();
+                shootAll = true;
+                shoot = false;
+                robot.transfer.setPower(transferPower);
+            }
+            if (shootAll) {
+
+                //intake = false;
+                //reject = false;
+
+                // TODO: Change starting position based on desired order to shoot green ball
+                //spindexPos = spindexer_intakePos1;
+
+                if (getRuntime() - shootStamp < 3.5) {
+
+                    robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.transfer.setPower(0);
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+                }
+            } else {
+                spindexer.processIntake();
+            }
+
             TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java

@@ -9,8 +9,8 @@ public class Flywheel {
     Robot robot;
     public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
-    double velo1 = 0.0;
-    double velo2 = 0.0;
+    public double velo1 = 0.0;
+    public double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
@@ -38,10 +38,14 @@ public class Flywheel {
 
     // Set the robot PIDF for the next cycle.
     public void setPIDF(double p, double i, double d, double f) {
-        robot.shooterPIDF.p = p;
-        robot.shooterPIDF.i = i;
-        robot.shooterPIDF.d = d;
-        robot.shooterPIDF.f = f;
+        shooterPIDF1.p = p;
+        shooterPIDF1.i = i;
+        shooterPIDF1.d = d;
+        shooterPIDF1.f = f;
+        shooterPIDF2.p = p;
+        shooterPIDF2.i = i;
+        shooterPIDF2.d = d;
+        shooterPIDF2.f = f;
     }
 
     // Convert from RPM to Ticks per Second
@@ -54,10 +58,6 @@ public class Flywheel {
         targetVelocity = commandedVelocity;
 
         // Add code here to set PIDF based on desired RPM
-        //robot.shooterPIDF.p = P;
-        //robot.shooterPIDF.i = I;
-        //robot.shooterPIDF.d = D;
-        //robot.shooterPIDF.f = F;
 
         robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
         robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java

@@ -21,7 +21,7 @@ public class Robot {
     //Initialize Public Components
 
     public static boolean usingLimelight = true;
-    public static boolean usingCamera = true;
+    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,10 +29,10 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
-    public double shooterPIDF_I = 0.6;
-    public double shooterPIDF_D = 5.0;
-    public double shooterPIDF_F = 10.0;
+    public double shooterPIDF_P = 255.0;
+    public double shooterPIDF_I = 0.0;
+    public double shooterPIDF_D = 0.0;
+    public double shooterPIDF_F = 7.5;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java

@@ -8,7 +8,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Servos {
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.0086;
     public static double spin_restPos = 0.0;
@@ -40,7 +40,7 @@ public class Servos {
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.02;
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
 
     public double getTurrPos() {

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

@@ -277,7 +277,6 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
                     stopSpindexer();
-                    detectBalls(true, true);
                     unknownColorDetect = 0;
                 } else {
                     // Keep moving the spindexer
@@ -288,7 +287,7 @@ public class Spindexer {
                 if (unknownColorDetect >5) {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
-                    detectBalls(true, true);
+                    //detectBalls(true, true);
                     unknownColorDetect++;
                 }
                 break;
@@ -343,7 +342,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(false, false);
+                    //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -374,7 +373,7 @@ public class Spindexer {
 
             case SHOOT_ALL_READY:
                 // Double Check Colors
-                detectBalls(false, false); // Minimize hardware calls
+                //detectBalls(false, false); // Minimize hardware calls
                 if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
                     // All ball shot move to intake state
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
@@ -422,7 +421,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(true, false);
+                    //detectBalls(true, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);

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

@@ -9,8 +9,8 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Targeting {
     MultipleTelemetry TELE;
 
-    double cancelOffsetX = 7.071067811;
-    double cancelOffsetY = 7.071067811;
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
     double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
@@ -37,33 +37,33 @@ public class Targeting {
     static {
         KNOWNTARGETING = new Settings[6][6];
         // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
-        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
-        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
-        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
-        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        KNOWNTARGETING[0][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
         // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
-        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
-        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
-        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
-        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
-        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
+        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
         // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
-        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
-        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        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);
         // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
-        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
-        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
-        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
         // ROW 4
         KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
         KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
@@ -89,8 +89,8 @@ public class Targeting {
 
         double cos45 = Math.cos(Math.toRadians(-45));
         double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
-        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
+        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
 
         // Convert robot coordinates to inches
         robotInchesX = rotatedX * unitConversionFactor;
@@ -107,8 +107,8 @@ public class Targeting {
         // basic search
         if(!interpolate) {
             if ((robotGridY < 6) && (robotGridX <6)) {
-                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
             }
             return recommendedSettings;
         } else {