stash

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java

@@ -710,7 +710,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 bearing = result.getTx();
             }
         }
-        double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
+        double turretPos = (bearing / 1300);
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1 - turretPos);
     }

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

@@ -42,4 +42,8 @@ public class ServoPositions {
     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;
+
+
 }

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

@@ -150,14 +150,14 @@ public class TeleopV3 extends LinearOpMode {
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
         tController.setTolerance(0.001);
+//
+//        if (redAlliance) {
+//            robot.limelight.pipelineSwitch(3);
+//        } else {
+//            robot.limelight.pipelineSwitch(2);
+//        }
 
-        if (redAlliance) {
+//        robot.limelight.start();
-            robot.limelight.pipelineSwitch(3);
-        } else {
-            robot.limelight.pipelineSwitch(2);
-        }
-
-        robot.limelight.start();
 
         waitForStart();
         if (isStopRequested()) return;
@@ -434,28 +434,28 @@ public class TeleopV3 extends LinearOpMode {
 
             TELE.addData("posS2", pos);
 
-            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
+//            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
-                double bearing;
+//                double bearing;
-
+//
-                LLResult result = robot.limelight.getLatestResult();
+//                LLResult result = robot.light.getLatestResult();
-                if (result != null) {
+//                if (result != null) {
-                    if (result.isValid()) {
+//                    if (result.isValid()) {
-                        bearing = result.getTx() * bMult;
+//                        bearing = result.getTx() * bMult;
-
+//
-                        double bearingCorrection = bearing / bDiv;
+//                        double bearingCorrection = bearing / bDiv;
-
+//
-                        error += bearingCorrection;
+//                        error += bearingCorrection;
-
+//
-                        camTicker++;
+//                        camTicker++;
-                        TELE.addData("tx", bearingCorrection);
+//                        TELE.addData("tx", bearingCorrection);
-                        TELE.addData("ty", result.getTy());
+//                        TELE.addData("ty", result.getTy());
-                    }
+//                    }
-                }
+//                }
-
+//
-            } else {
+//            } else {
-                camTicker = 0;
+//                camTicker = 0;
-                overrideTurr = false;
+//                overrideTurr = false;
-            }
+//            }
 
             if (!overrideTurr) {
                 turretPos = pos;

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

@@ -52,7 +52,6 @@ public class PIDServoTest extends LinearOpMode {
             }
 
             telemetry.addData("pos", pos);
-            telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
             telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
             telemetry.addData("target", target);
             telemetry.addData("Mode", mode);

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

@@ -0,0 +1,42 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Autonomous
+@Config
+public class TurretTest extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot robot = new Robot(hardwareMap);
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        AprilTagWebcam webcam = new AprilTagWebcam();
+        webcam.init(robot, TELE);
+
+        Turret turret = new Turret(robot, TELE, webcam);
+        waitForStart();
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(10, 0,0));
+
+        while(opModeIsActive()){
+
+            drive.updatePoseEstimate();
+            turret.trackGoal(drive.localizer.getPose());
+        }
+
+    }
+}

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

@@ -71,7 +71,6 @@ public class PositionalServoProgrammer extends LinearOpMode {
             TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
             TELE.addData("hood pos", robot.hood.getPosition());
             TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
-            TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
             TELE.addData("spindexer pow", robot.spin1.getPower());
             TELE.update();
         }

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -14,10 +15,13 @@ import com.qualcomm.robotcore.hardware.Servo;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
+@Config
 public class Robot {
 
     //Initialize Public Components
 
+    public static boolean usingLimelight = false;
+    public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,8 +33,7 @@ public class Robot {
     public double shooterPIDF_I = 0.6;
     public double shooterPIDF_D = 5.0;
     public double shooterPIDF_F = 10.0;
-
+    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
-    public double[] shooterPIDF_StepSizes = {10.0,1.0,0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -41,7 +44,7 @@ public class Robot {
     public CRServo spin2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
-    public DcMotorEx turr1Pos;
+    public AnalogInput turr1Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
@@ -50,10 +53,6 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
 
-    public static boolean usingLimelight = true;
-
-    public static boolean usingCamera = true;
-
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
@@ -77,7 +76,7 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
         //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooterPIDF = new PIDFCoefficients(shooterPIDF_P,shooterPIDF_I , shooterPIDF_D, shooterPIDF_F);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
         shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
@@ -89,7 +88,7 @@ public class Robot {
 
         turr2 = hardwareMap.get(Servo.class, "t2");
 
-        turr1Pos = intake; // Encoder of turret plugged in intake port
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
 
         //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
         spin1 = hardwareMap.get(CRServo.class, "spin1");
@@ -118,9 +117,9 @@ public class Robot {
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
 
-        if (usingLimelight){
+        if (usingLimelight) {
             limelight = hardwareMap.get(Limelight3A.class, "limelight");
-        } else if (usingCamera){
+        } else if (usingCamera) {
             webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
             aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }

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

@@ -44,17 +44,15 @@ public class Servos {
     }
 
     public double getTurrPos() {
-        return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
+        return 1.0;
 
     }
 
     public double setTurrPos(double pos) {
-        turretPID.setPIDF(turrP, turrI, turrD, turrF);
+        return 1.0;
-
-        return spinPID.calculate(this.getTurrPos(), pos);
     }
 
     public boolean turretEqual(double pos) {
-        return Math.abs(pos - this.getTurrPos()) < 0.01;
+        return true;
     }
 }

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

@@ -0,0 +1,142 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Config
+public class Turret {
+
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 1.009;
+    public static double turret180Range = 0.6;
+    public static double turrDefault = 0.4;
+    public static double cameraBearingEqual = 1.5;
+    public static double errorLearningRate = 2;
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
+    Robot robot;
+    MultipleTelemetry TELE;
+    AprilTagWebcam webcam;
+    private int obeliskID = 0;
+    private double turrPos = 0.0;
+    private double offset = 0.0;
+    private double bearing = 0.0;
+
+    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
+        this.TELE = tele;
+        this.robot = rob;
+        this.webcam = cam;
+    }
+
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3);
+
+    }
+
+    public void manualSetTurret(double pos){
+        robot.turr1.setPosition(pos);
+        robot.turr2.setPosition(1-pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
+    }
+
+    public double getBearing() {
+        if (redAlliance) {
+            AprilTagDetection d24 = webcam.getTagById(24);
+            if (d24 != null) {
+                bearing = d24.ftcPose.bearing;
+                return bearing;
+            } else {
+                return 1000.0;
+            }
+        } else {
+            AprilTagDetection d20 = webcam.getTagById(20);
+            if (d20 != null) {
+                bearing = d20.ftcPose.bearing;
+                return bearing;
+            } else {
+                return 1000.0;
+            }
+        }
+    }
+
+    public int detectObelisk() {
+        AprilTagDetection id21 = webcam.getTagById(21);
+        AprilTagDetection id22 = webcam.getTagById(22);
+        AprilTagDetection id23 = webcam.getTagById(23);
+        if (id21 != null) {
+            obeliskID = 21;
+        } else if (id22 != null) {
+            obeliskID = 22;
+        } else if (id23 != null) {
+            obeliskID = 23;
+        }
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void update() {
+
+    }
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
+    public void trackGoal(Pose2d deltaPos) {
+
+        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+
+        // Angle from robot to goal in robot frame
+        double desiredTurretAngleDeg = Math.toDegrees(
+                Math.atan2(deltaPos.position.y, deltaPos.position.x)
+        );
+
+        // Robot heading (field → robot)
+        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
+
+        // Turret angle needed relative to robot
+        double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
+
+        // Normalize to [-180, 180]
+        while (turretAngleDeg > 180) turretAngleDeg -= 360;
+        while (turretAngleDeg < -180) turretAngleDeg += 360;
+
+        /* ---------------- APRILTAG CORRECTION ---------------- */
+
+        double tagBearingDeg = getBearing();  // + = target is to the left
+
+        if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) < cameraBearingEqual) {
+            // Slowly learn turret offset (persistent calibration)
+            offset -= tagBearingDeg * errorLearningRate;
+        }
+
+        turretAngleDeg += offset;
+
+        /* ---------------- ANGLE → SERVO ---------------- */
+
+        double turretPos = turrDefault + (turretAngleDeg / (turret180Range * 2.0));
+
+        // Clamp to servo range
+        turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle", turretAngleDeg);
+        TELE.addData("Bearing", tagBearingDeg);
+        TELE.addData("Offset", offset);
+    }
+
+}