Compare commits
18 Commits
bfcecd42d3
...
extracontr
| Author | SHA1 | Date | |
|---|---|---|---|
| adbe9ad023 | |||
| 37c74fc85f | |||
| 0c9e8c3287 | |||
| 506e45ac19 | |||
| 8b07ed5579 | |||
| c368552724 | |||
| 934cabafc5 | |||
| 05107ab828 | |||
| 7ef9d3a556 | |||
| a84891bc06 | |||
| 21b4b0b4f5 | |||
| 5faa373cad | |||
| 32d481c031 | |||
| 3e8e2c2b4b | |||
| 458b6f53a2 | |||
| aea3f0b2d4 | |||
| bcf59ff458 | |||
| 065bcfa40b |
@@ -23,19 +23,6 @@ android {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
repositories {
|
||||
maven {
|
||||
url = 'https://maven.brott.dev/'
|
||||
}
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation project(':FtcRobotController')
|
||||
implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
|
||||
implementation "com.acmerobotics.roadrunner:core:1.0.1"
|
||||
implementation "com.acmerobotics.roadrunner:actions:1.0.1"
|
||||
implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
|
||||
implementation 'org.ftclib.ftclib:core:2.1.1' // core
|
||||
|
||||
}
|
||||
|
||||
@@ -1,751 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
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 androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoClose_V3 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.1; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redClose);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose);
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = servo.setTurrPos(turret_blueClose);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueClose);
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position)){
|
||||
double spinPID = servo.setSpinPos(position);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose);
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose);
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,651 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
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 androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoFar_V1 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.1; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redFar);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redFar);
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = servo.setTurrPos(turret_blueFar);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueFar);
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position)){
|
||||
double spinPID = servo.setSpinPos(position);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
//TODO: add positions to develop auto
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
|
||||
.strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose);
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAutoFar);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.addData("Spin Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
initShooter(AUTO_FAR_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(park.build());
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,839 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.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;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
double velo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
boolean spindexPosEqual(double spindexer) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex equal");
|
||||
TELE.update();
|
||||
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
|
||||
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
|
||||
}
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
double currentPos = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
targetVelocity = (double) vel;
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
robot.turr1.setPower(turret_blueClose);
|
||||
robot.turr2.setPower(1 - turret_blueClose);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, double vel){
|
||||
return new Action() {
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
ticker++;
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !spindexPosEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(double vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 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);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPower(turret_detectBlueClose);
|
||||
robot.turr2.setPower(1 - turret_detectBlueClose);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,771 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
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 androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
double bearing = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
detectTag();
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
double turretPID = servo.setTurrPos(turret_redClose);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose);
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, int vel){
|
||||
return new Action() {
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !servo.spinEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 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);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void detectTag(){
|
||||
AprilTagDetection d20 = aprilTag.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTag.getTagById(24);
|
||||
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class Color {
|
||||
public static boolean redAlliance = true;
|
||||
}
|
||||
@@ -1,33 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Poses {
|
||||
|
||||
public static double goalHeight = 42; //in inches
|
||||
|
||||
public static double turretHeight = 12;
|
||||
|
||||
public static double relativeGoalHeight = goalHeight - turretHeight;
|
||||
|
||||
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
|
||||
|
||||
public static double rx1 = 45, ry1 = -7, rh1 = 0;
|
||||
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
|
||||
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
|
||||
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 45, by1 = 6, bh1 = 0;
|
||||
public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
|
||||
public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
|
||||
|
||||
}
|
||||
@@ -1,45 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos1 = 0.34;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.5;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.66;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.42;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.74;
|
||||
public static double spindexer_outtakeBall1 = 0.58;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
public static double transferServo_in = 0.38;
|
||||
|
||||
public static double turret_range = 0.9;
|
||||
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double hoodAuto = 0.55;
|
||||
|
||||
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 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 = 0.40;
|
||||
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ShooterVars {
|
||||
public static double turret_GearRatio = 0.9974;
|
||||
|
||||
public static double turret_Range = 355;
|
||||
|
||||
public static int velTolerance = 300;
|
||||
|
||||
public static int initTolerance = 1000;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
public static double waitTransferOut = 0.3;
|
||||
public static double waitTransfer = 0.4;
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3025; //3300;
|
||||
public static int AUTO_FAR_VEL = 4000; //TODO: test this
|
||||
}
|
||||
@@ -1,4 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,5 +1,6 @@
|
||||
package org.firstinspires.ftc.teamcode.libs.RR;
|
||||
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
||||
@@ -34,7 +35,6 @@ import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.IMU;
|
||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||
@@ -58,33 +58,33 @@ public final class MecanumDrive {
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.UP;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
public double inPerTick = 1;
|
||||
public double lateralInPerTick = inPerTick;
|
||||
public double trackWidthTicks = 0;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
public double kS = 0;
|
||||
public double kV = 0;
|
||||
public double kA = 0;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
public double maxWheelVel = 50;
|
||||
public double minProfileAccel = -30;
|
||||
public double maxProfileAccel = 50;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4* Math.PI; // shared with path
|
||||
public double maxAngAccel = 4* Math.PI;
|
||||
public double maxAngVel = Math.PI; // shared with path
|
||||
public double maxAngAccel = Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
public double axialGain = 0.0;
|
||||
public double lateralGain = 0.0;
|
||||
public double headingGain = 0.0; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
@@ -212,6 +212,7 @@ public final class MecanumDrive {
|
||||
headingDelta
|
||||
));
|
||||
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
@@ -223,12 +224,12 @@ public final class MecanumDrive {
|
||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||
}
|
||||
|
||||
// TODO: make sure your config has motors with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has motors with these names (or change them)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
leftFront = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
leftBack = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
rightBack = hardwareMap.get(DcMotorEx.class, "br");
|
||||
rightFront = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
|
||||
leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
|
||||
rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
|
||||
rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
|
||||
|
||||
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
@@ -236,19 +237,16 @@ public final class MecanumDrive {
|
||||
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
// TODO: reverse motor directions if needed
|
||||
//
|
||||
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
||||
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||
|
||||
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
||||
|
||||
localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
|
||||
localizer = new DriveLocalizer(pose);
|
||||
|
||||
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
||||
}
|
||||
|
||||
@@ -28,7 +28,7 @@ public class OTOSLocalizer implements Localizer {
|
||||
private Pose2d currentPose;
|
||||
|
||||
public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
|
||||
// TODO: make sure your config has an OTOS device with this name
|
||||
// TODO: make sure your HardwareConfig has an OTOS device with this name
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
|
||||
currentPose = initialPose;
|
||||
|
||||
@@ -16,8 +16,8 @@ import java.util.Objects;
|
||||
@Config
|
||||
public final class PinpointLocalizer implements Localizer {
|
||||
public static class Params {
|
||||
public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
|
||||
public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
|
||||
}
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
@@ -29,7 +29,7 @@ public final class PinpointLocalizer implements Localizer {
|
||||
private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
|
||||
|
||||
public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
||||
// TODO: make sure your config has a Pinpoint device with this name
|
||||
// TODO: make sure your HardwareConfig has a Pinpoint device with this name
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
|
||||
|
||||
@@ -38,7 +38,7 @@ public final class PinpointLocalizer implements Localizer {
|
||||
driver.setOffsets(mmPerTick * PARAMS.parYTicks, mmPerTick * PARAMS.perpXTicks, DistanceUnit.MM);
|
||||
|
||||
// TODO: reverse encoder directions if needed
|
||||
initialParDirection = GoBildaPinpointDriver.EncoderDirection.REVERSED;
|
||||
initialParDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
||||
initialPerpDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
||||
|
||||
driver.setEncoderDirections(initialParDirection, initialPerpDirection);
|
||||
|
||||
@@ -232,7 +232,7 @@ public final class TankDrive {
|
||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||
}
|
||||
|
||||
// TODO: make sure your config has motors with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has motors with these names (or change them)
|
||||
// add additional motors on each side if you have them
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
|
||||
@@ -248,7 +248,7 @@ public final class TankDrive {
|
||||
// TODO: reverse motor directions if needed
|
||||
// leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
||||
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||
|
||||
@@ -37,7 +37,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
|
||||
private Pose2d pose;
|
||||
|
||||
public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
||||
// TODO: make sure your config has **motors** with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
|
||||
// the encoders should be plugged into the slot matching the named motor
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
|
||||
|
||||
@@ -46,7 +46,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
|
||||
private Pose2d pose;
|
||||
|
||||
public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
|
||||
// TODO: make sure your config has **motors** with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
|
||||
// the encoders should be plugged into the slot matching the named motor
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
|
||||
|
||||
@@ -1,130 +1,147 @@
|
||||
## TeamCode Module
|
||||
# Team FTC Git Workflow Guide
|
||||
|
||||
Welcome!
|
||||
|
||||
This module, TeamCode, is the place where you will write/paste the code for your team's
|
||||
robot controller App. This module is currently empty (a clean slate) but the
|
||||
process for adding OpModes is straightforward.
|
||||
## 1. Cloning the Repository
|
||||
|
||||
## Creating your own OpModes
|
||||
1. Open a terminal (or the terminal inside Android Studio).
|
||||
2. Navigate to the folder where you want to keep the project.
|
||||
3. Run:
|
||||
|
||||
The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
|
||||
```bash
|
||||
git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
|
||||
cd DecodeFTCMain
|
||||
```
|
||||
|
||||
Sample opmodes exist in the FtcRobotController module.
|
||||
To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
|
||||
4. Verify your remotes:
|
||||
|
||||
Expand the following tree elements:
|
||||
FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
|
||||
```bash
|
||||
git remote -v
|
||||
```
|
||||
|
||||
### Naming of Samples
|
||||
You should see:
|
||||
```
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
|
||||
```
|
||||
|
||||
To gain a better understanding of how the samples are organized, and how to interpret the
|
||||
naming system, it will help to understand the conventions that were used during their creation.
|
||||
---
|
||||
|
||||
These conventions are described (in detail) in the sample_conventions.md file in this folder.
|
||||
## 2. Keeping `master` Clean
|
||||
|
||||
To summarize: A range of different samples classes will reside in the java/external/samples.
|
||||
The class names will follow a naming convention which indicates the purpose of each class.
|
||||
The prefix of the name will be one of the following:
|
||||
- `master` should only contain clean, tested code.
|
||||
- Nobody should ever code directly on `master`.
|
||||
- To stay up to date:
|
||||
|
||||
Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure
|
||||
of a particular style of OpMode. These are bare bones examples.
|
||||
```bash
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
```
|
||||
|
||||
Sensor: This is a Sample OpMode that shows how to use a specific sensor.
|
||||
It is not intended to drive a functioning robot, it is simply showing the minimal code
|
||||
required to read and display the sensor values.
|
||||
---
|
||||
|
||||
Robot: This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
|
||||
It may be used to provide a common baseline driving OpMode, or
|
||||
to demonstrate how a particular sensor or concept can be used to navigate.
|
||||
## 3. Creating a Feature Branch
|
||||
|
||||
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
|
||||
These may be complex, but their operation should be explained clearly in the comments,
|
||||
or the comments should reference an external doc, guide or tutorial.
|
||||
Each OpMode should try to only demonstrate a single concept so they are easy to
|
||||
locate based on their name. These OpModes may not produce a drivable robot.
|
||||
Whenever you start a new task (feature, fix, experiment):
|
||||
|
||||
After the prefix, other conventions will apply:
|
||||
1. Update `master` (see above).
|
||||
2. Create a new branch from `master`:
|
||||
|
||||
* Sensor class names are constructed as: Sensor - Company - Type
|
||||
* Robot class names are constructed as: Robot - Mode - Action - OpModetype
|
||||
* Concept class names are constructed as: Concept - Topic - OpModetype
|
||||
```bash
|
||||
git checkout master
|
||||
git pull origin master
|
||||
git checkout -b feature/short-description
|
||||
```
|
||||
|
||||
Once you are familiar with the range of samples available, you can choose one to be the
|
||||
basis for your own robot. In all cases, the desired sample(s) needs to be copied into
|
||||
your TeamCode module to be used.
|
||||
### Branch Naming Standard
|
||||
|
||||
This is done inside Android Studio directly, using the following steps:
|
||||
|
||||
1) Locate the desired sample class in the Project/Android tree.
|
||||
|
||||
2) Right click on the sample class and select "Copy"
|
||||
|
||||
3) Expand the TeamCode/java folder
|
||||
|
||||
4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
|
||||
|
||||
5) You will be prompted for a class name for the copy.
|
||||
Choose something meaningful based on the purpose of this class.
|
||||
Start with a capital letter, and remember that there may be more similar classes later.
|
||||
|
||||
Once your copy has been created, you should prepare it for use on your robot.
|
||||
This is done by adjusting the OpMode's name, and enabling it to be displayed on the
|
||||
Driver Station's OpMode list.
|
||||
|
||||
Each OpMode sample class begins with several lines of code like the ones shown below:
|
||||
Branches **must** follow the format:
|
||||
|
||||
```
|
||||
@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
|
||||
@Disabled
|
||||
<type>/<short-description>
|
||||
```
|
||||
|
||||
The name that will appear on the driver station's "opmode list" is defined by the code:
|
||||
``name="Template: Linear OpMode"``
|
||||
You can change what appears between the quotes to better describe your opmode.
|
||||
The "group=" portion of the code can be used to help organize your list of OpModes.
|
||||
Where `<type>` is one of:
|
||||
- `feature/` → new functionality
|
||||
- `fix/` → bug fixes
|
||||
- `experiment/` → prototypes or tests
|
||||
- `docs/` → documentation updates
|
||||
- `chore/` → maintenance or cleanup
|
||||
|
||||
As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
|
||||
``@Disabled`` annotation which has been included.
|
||||
This line can simply be deleted , or commented out, to make the OpMode visible.
|
||||
Examples:
|
||||
- `feature/autonomous-path`
|
||||
- `fix/motor-init`
|
||||
- `experiment/vision-test`
|
||||
- `docs/setup-instructions`
|
||||
- `chore/gradle-update`
|
||||
|
||||
## ADVANCED Multi-Team App management: Cloning the TeamCode Module
|
||||
**Rules for names:**
|
||||
- Use lowercase letters and hyphens (`-`) only.
|
||||
- Keep it short but clear (3–5 words).
|
||||
- One branch = one task. Never mix unrelated work.
|
||||
|
||||
In some situations, you have multiple teams in your club and you want them to all share
|
||||
a common code organization, with each being able to *see* the others code but each having
|
||||
their own team module with their own code that they maintain themselves.
|
||||
---
|
||||
|
||||
In this situation, you might wish to clone the TeamCode module, once for each of these teams.
|
||||
Each of the clones would then appear along side each other in the Android Studio module list,
|
||||
together with the FtcRobotController module (and the original TeamCode module).
|
||||
## 4. Working on Your Branch
|
||||
|
||||
Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
|
||||
prior to clicking to the green Run arrow.
|
||||
- Make changes in Android Studio.
|
||||
- Stage and commit your changes:
|
||||
|
||||
Warning: This is not for the inexperienced Software developer.
|
||||
You will need to be comfortable with File manipulations and managing Android Studio Modules.
|
||||
These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
|
||||
```bash
|
||||
git add .
|
||||
git commit -m "short message about what changed"
|
||||
```
|
||||
|
||||
Also.. Make a full project backup before you start this :)
|
||||
- Push your branch to GitHub:
|
||||
|
||||
To clone TeamCode, do the following:
|
||||
```bash
|
||||
git push origin feature/short-description
|
||||
```
|
||||
|
||||
Note: Some names start with "Team" and others start with "team". This is intentional.
|
||||
---
|
||||
|
||||
1) Using your operating system file management tools, copy the whole "TeamCode"
|
||||
folder to a sibling folder with a corresponding new name, eg: "Team0417".
|
||||
## 5. Sharing Your Work
|
||||
|
||||
2) In the new Team0417 folder, delete the TeamCode.iml file.
|
||||
- Once your branch is ready:
|
||||
1. Open a Pull Request (PR) on GitHub to merge into `master`.
|
||||
2. At least one teammate should review before merging.
|
||||
|
||||
3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
|
||||
to a matching name with a lowercase 'team' eg: "team0417".
|
||||
---
|
||||
|
||||
4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
|
||||
contains
|
||||
package="org.firstinspires.ftc.teamcode"
|
||||
to be
|
||||
package="org.firstinspires.ftc.team0417"
|
||||
## 6. Branching Rules
|
||||
|
||||
5) Add: include ':Team0417' to the "/settings.gradle" file.
|
||||
**Do:**
|
||||
- Always branch from `master`.
|
||||
- Follow the naming standard exactly.
|
||||
- Keep branches small and focused.
|
||||
- Delete branches after they’re merged.
|
||||
|
||||
6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
|
||||
**Don’t:**
|
||||
- Don’t push commits directly to `master`.
|
||||
- Don’t leave unfinished work on `master`.
|
||||
- Don’t mix unrelated changes in one branch.
|
||||
|
||||
---
|
||||
|
||||
## 7. Example Workflow
|
||||
|
||||
```bash
|
||||
# Get latest code
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
|
||||
# Start a new feature
|
||||
git checkout -b feature/teleop-improvements
|
||||
|
||||
# Work on code, then commit
|
||||
git add .
|
||||
git commit -m "improved joystick scaling in TeleOp"
|
||||
|
||||
# Push branch
|
||||
git push origin feature/teleop-improvements
|
||||
```
|
||||
|
||||
@@ -1,903 +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.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;
|
||||
|
||||
@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();
|
||||
|
||||
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);
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
//TODO: make sure changing position works throughout opmode
|
||||
if (!servo.spinEqual(spindexPos)){
|
||||
spindexPID = servo.setSpinPos(spindexPos);
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
} else{
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(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.shooter1.getCurrentPosition());
|
||||
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
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
|
||||
}
|
||||
}
|
||||
@@ -1,875 +0,0 @@
|
||||
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.utils.Servos.*;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spin_scalar;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class TeleopV3 extends LinearOpMode {
|
||||
public static double manualVel = 3000;
|
||||
public static int intakeJamSwap = 12;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
public static double desiredTurretAngle = 180;
|
||||
public static double shootStamp2 = 0.0;
|
||||
public static double spinningPow = 0.15;
|
||||
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;
|
||||
|
||||
PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
|
||||
public TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
|
||||
public ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
FlywheelV2 flywheel;
|
||||
MecanumDrive drive;
|
||||
double autoHoodOffset = 0.0;
|
||||
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;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean outtake1 = false;
|
||||
boolean outtake2 = false;
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double spindexPID = 0.0;
|
||||
public static double spindexPos = spindexer_intakePos1;
|
||||
double error = 0.0;
|
||||
double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0;
|
||||
boolean reverse = false;
|
||||
int intakeTicker = 0;
|
||||
Pose2d brakePos = new Pose2d(0, 0, 0);
|
||||
boolean autoDrive = false;
|
||||
private boolean shootAll = false;
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
|
||||
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 FlywheelV2();
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()) {
|
||||
//DRIVETRAIN:
|
||||
|
||||
if (!autoDrive) {
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
if (gamepad1.left_trigger > 0.4 && robot.frontLeft.getZeroPowerBehavior() != DcMotor.ZeroPowerBehavior.BRAKE && !autoDrive) {
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
brakePos = drive.localizer.getPose();
|
||||
autoDrive = true;
|
||||
|
||||
} else if (gamepad1.left_trigger > 0.4) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
Pose2d currentPos = drive.localizer.getPose();
|
||||
|
||||
TrajectoryActionBuilder traj2 = drive.actionBuilder(currentPos)
|
||||
.strafeToLinearHeading(new Vector2d(brakePos.position.x, brakePos.position.y), brakePos.heading.toDouble(), VEL_CONSTRAINT, ACCEL_CONSTRAINT);
|
||||
|
||||
if (Math.abs(currentPos.position.x - brakePos.position.x) > 1 || Math.abs(currentPos.position.y - brakePos.position.y) > 1) {
|
||||
Actions.runBlocking(
|
||||
traj2.build()
|
||||
);
|
||||
}
|
||||
} else {
|
||||
autoDrive = false;
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
}
|
||||
|
||||
// // PID SERVOS
|
||||
// turretPID = servo.setTurrPos(turretPos);
|
||||
// robot.turr1.setPower(turretPID);
|
||||
// robot.turr2.setPower(-turretPID);
|
||||
|
||||
if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
|
||||
double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
|
||||
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
|
||||
}
|
||||
|
||||
|
||||
//TODO: Use color sensors to switch between positions...switch after ball detected in
|
||||
|
||||
if (gamepad1.right_bumper) {
|
||||
intakeTicker++;
|
||||
if (intakeTicker % 3 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
if (Math.abs(spinCurrentPos - spinInitPos) < 0.02) {
|
||||
reverse = true;
|
||||
} else {
|
||||
reverse = false;
|
||||
}
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
if (reverse && intakeTicker % intakeJamSwap < (intakeJamSwap / 2)) {
|
||||
robot.spin1.setPower(1);
|
||||
robot.spin2.setPower(-1);
|
||||
} else if (reverse) {
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
} else {
|
||||
robot.spin1.setPower(-spinningPow);
|
||||
robot.spin2.setPower(spinningPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
intakeStamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
if (!servo.spinEqual(spindexPos)) {
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
|
||||
double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
|
||||
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
|
||||
} else {
|
||||
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
}
|
||||
|
||||
if (getRuntime() - intakeStamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
intakeTicker = 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 < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
TELE.addData("gp1", gP);
|
||||
|
||||
if (gP >= 0.36) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
TELE.addData("gp2", gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
TELE.addData("gp3", gP);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
//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 = 4600;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
// //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
|
||||
// double bearing;
|
||||
//
|
||||
// LLResult result = robot.limelight.getLatestResult();
|
||||
// if (result != null) {
|
||||
// if (result.isValid()) {
|
||||
// bearing = result.getTx();
|
||||
// overrideTurr = true;
|
||||
// turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
//
|
||||
// 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++;
|
||||
// TELE.addData("tx", bearing);
|
||||
// TELE.addData("ty", result.getTy());
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// } 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;
|
||||
// }
|
||||
//
|
||||
|
||||
// //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;
|
||||
//
|
||||
// }
|
||||
//
|
||||
// //TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
|
||||
// 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;
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// 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 (gamepad1.squareWasPressed()) {
|
||||
// square = true;
|
||||
// shootStamp = getRuntime();
|
||||
// shootStamp2 = getRuntime();
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
// }
|
||||
//
|
||||
// if (gamepad1.circleWasPressed()) {
|
||||
// circle = true;
|
||||
// shootStamp = getRuntime();
|
||||
// shootStamp2 = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// }
|
||||
//
|
||||
// if (gamepad1.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 (gamepad1.crossWasPressed()) {
|
||||
// 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;
|
||||
// }
|
||||
|
||||
//EXTRA STUFFINESS:
|
||||
|
||||
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);
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
}
|
||||
}
|
||||
|
||||
// Helper methods
|
||||
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) {
|
||||
List<Double> times =
|
||||
slot == 1 ? s1T :
|
||||
slot == 2 ? s2T :
|
||||
slot == 3 ? s3T : null;
|
||||
|
||||
if (times == null || times.isEmpty()) return false;
|
||||
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
}
|
||||
}
|
||||
@@ -1,793 +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 com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
|
||||
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.AngleUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Intake;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
@Disabled
|
||||
public class old extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
Drivetrain drivetrain;
|
||||
|
||||
Intake intake;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
GamepadEx g1;
|
||||
|
||||
GamepadEx g2;
|
||||
|
||||
public static double defaultSpeed = 1;
|
||||
|
||||
public static double slowMoSpeed = 0.4;
|
||||
|
||||
public static double power = 0.0;
|
||||
|
||||
public static double pos = hoodDefault;
|
||||
|
||||
public boolean all = false;
|
||||
|
||||
public int ticker = 0;
|
||||
|
||||
ToggleButtonReader g1RightBumper;
|
||||
|
||||
ToggleButtonReader g2Circle;
|
||||
|
||||
ToggleButtonReader g2Square;
|
||||
|
||||
ToggleButtonReader g2Triangle;
|
||||
|
||||
ToggleButtonReader g2RightBumper;
|
||||
|
||||
ToggleButtonReader g1LeftBumper;
|
||||
|
||||
ToggleButtonReader g2LeftBumper;
|
||||
|
||||
ToggleButtonReader g2DpadUp;
|
||||
|
||||
ToggleButtonReader g2DpadDown;
|
||||
|
||||
ToggleButtonReader g2DpadRight;
|
||||
|
||||
ToggleButtonReader g2DpadLeft;
|
||||
|
||||
public boolean leftBumper = false;
|
||||
public double g1RightBumperStamp = 0.0;
|
||||
|
||||
public double g1LeftBumperStamp = 0.0;
|
||||
|
||||
public double g2LeftBumperStamp = 0.0;
|
||||
|
||||
public static int spindexerPos = 0;
|
||||
|
||||
public boolean green = false;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
public boolean scoreAll = false;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
public boolean autotrack = false;
|
||||
|
||||
public int last = 0;
|
||||
public int second = 0;
|
||||
|
||||
public double offset = 0.0;
|
||||
|
||||
public static double rIn = 0.59;
|
||||
|
||||
public static double rOut = 0;
|
||||
|
||||
public boolean notShooting = true;
|
||||
|
||||
public boolean circle = false;
|
||||
|
||||
public boolean square = false;
|
||||
|
||||
public boolean tri = false;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(),
|
||||
telemetry
|
||||
);
|
||||
|
||||
g1 = new GamepadEx(gamepad1);
|
||||
|
||||
g1RightBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2 = new GamepadEx(gamepad2);
|
||||
|
||||
g1LeftBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2Circle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.B
|
||||
);
|
||||
|
||||
g2Triangle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.Y
|
||||
);
|
||||
|
||||
g2Square = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.X
|
||||
);
|
||||
|
||||
g2RightBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2LeftBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2DpadUp = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_UP
|
||||
);
|
||||
|
||||
g2DpadDown = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_DOWN
|
||||
);
|
||||
|
||||
g2DpadLeft = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_LEFT
|
||||
);
|
||||
|
||||
g2DpadRight = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_RIGHT
|
||||
);
|
||||
|
||||
drivetrain = new Drivetrain(robot, TELE, g1);
|
||||
|
||||
drivetrain.setMode("Default");
|
||||
|
||||
drivetrain.setDefaultSpeed(defaultSpeed);
|
||||
|
||||
drivetrain.setSlowSpeed(slowMoSpeed);
|
||||
|
||||
intake = new Intake(robot);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.setTelemetryOn(true);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
robot.rejecter.setPosition(rIn);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
|
||||
TELE.addData("off", offset);
|
||||
|
||||
robot.hood.setPosition(pos);
|
||||
|
||||
g1LeftBumper.readValue();
|
||||
|
||||
if (g1LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
leftBumper = true;
|
||||
}
|
||||
|
||||
if (leftBumper) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
if (time < 1.0) {
|
||||
robot.rejecter.setPosition(rOut);
|
||||
} else {
|
||||
robot.rejecter.setPosition(rIn);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake();
|
||||
|
||||
drivetrain.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
transfer.update();
|
||||
|
||||
g2RightBumper.readValue();
|
||||
|
||||
g2LeftBumper.readValue();
|
||||
|
||||
g2DpadDown.readValue();
|
||||
|
||||
g2DpadUp.readValue();
|
||||
|
||||
if (!scoreAll) {
|
||||
spindexer.checkForBalls();
|
||||
}
|
||||
|
||||
if (g2DpadUp.wasJustPressed()) {
|
||||
pos -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadDown.wasJustPressed()) {
|
||||
pos += 0.02;
|
||||
}
|
||||
|
||||
g2DpadLeft.readValue();
|
||||
|
||||
g2DpadRight.readValue();
|
||||
|
||||
if (g2DpadLeft.wasJustPressed()) {
|
||||
offset -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadRight.wasJustPressed()) {
|
||||
offset += 0.02;
|
||||
}
|
||||
|
||||
TELE.addData("hood", pos);
|
||||
|
||||
if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
|
||||
|
||||
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
|
||||
|
||||
} else {
|
||||
|
||||
autotrack = false;
|
||||
|
||||
shooter.moveTurret(0.3 + offset);
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autotrack = true;
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustPressed()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferIn();
|
||||
shooter.setManualPower(1);
|
||||
|
||||
notShooting = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustReleased()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferOut();
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y > 0.5) {
|
||||
|
||||
shooter.setManualPower(0);
|
||||
} else if (gamepad2.left_stick_y < -0.5) {
|
||||
shooter.setManualPower(1);
|
||||
}
|
||||
|
||||
if (g2LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
notShooting = false;
|
||||
scoreAll = true;
|
||||
}
|
||||
|
||||
if (scoreAll) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
TELE.addData("greenImportant", green);
|
||||
|
||||
TELE.addData("last", last);
|
||||
TELE.addData("2ndLast", second);
|
||||
|
||||
int numGreen = spindexer.greens();
|
||||
|
||||
if (square) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (tri) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (circle) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
} else {
|
||||
all = true;
|
||||
}
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake3();
|
||||
last = 3;
|
||||
second = 3;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake2();
|
||||
|
||||
last = 2;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake1();
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void intake() {
|
||||
|
||||
g1RightBumper.readValue();
|
||||
|
||||
g2Circle.readValue();
|
||||
|
||||
g2Square.readValue();
|
||||
|
||||
g2Triangle.readValue();
|
||||
|
||||
if (g1RightBumper.wasJustPressed()) {
|
||||
|
||||
notShooting = true;
|
||||
|
||||
if (getRuntime() - g1RightBumperStamp < 0.3) {
|
||||
intake.reverse();
|
||||
} else {
|
||||
intake.toggle();
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1) {
|
||||
shooter.setManualPower(0);
|
||||
}
|
||||
|
||||
spindexer.intake();
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
g1RightBumperStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1 && notShooting) {
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
} else {
|
||||
if (g2Circle.wasJustPressed()) {
|
||||
circle = true;
|
||||
tri = false;
|
||||
square = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2Triangle.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = true;
|
||||
square = false;
|
||||
}
|
||||
|
||||
if (g2Square.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = true;
|
||||
}
|
||||
|
||||
if (gamepad2.x) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,144 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ActiveColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException{
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
int b1Purple = 1;
|
||||
int b1Total = 1;
|
||||
int b2Purple = 1;
|
||||
int b2Total = 1;
|
||||
int b3Purple = 1;
|
||||
int b3Total = 1;
|
||||
|
||||
double totalStamp1 = 0.0;
|
||||
double purpleStamp1 = 0.0;
|
||||
double totalStamp2 = 0.0;
|
||||
double purpleStamp2 = 0.0;
|
||||
double totalStamp3 = 0.0;
|
||||
double purpleStamp3 = 0.0;
|
||||
|
||||
String b1 = "none";
|
||||
String b2 = "none";
|
||||
String b3 = "none";
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
// Reset the counters after 1 second of not reading a ball.
|
||||
final double ColorCounterResetDelay = 1.0;
|
||||
// Number of times the loop needs to run before deciding on a color.
|
||||
final int ColorCounterTotalMinCount = 20;
|
||||
// If the color sensor reads a color this percentage of time
|
||||
// out of the total, declare the color.
|
||||
// Usage: (Color Count)/(Total Count) > ColorCounterThreshold
|
||||
final double ColorCounterThreshold = 0.65;
|
||||
|
||||
if (robot.pin1.getState()){
|
||||
if (robot.pin0.getState()){
|
||||
b1Purple ++;
|
||||
}
|
||||
b1Total++;
|
||||
totalStamp1 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b1 = "none";
|
||||
b1Total = 1;
|
||||
b1Purple = 1;
|
||||
}else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b1 = "Purple";
|
||||
}else if (b1Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b1 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin3.getState()){
|
||||
if (robot.pin2.getState()){
|
||||
b2Purple ++;
|
||||
}
|
||||
b2Total++;
|
||||
totalStamp2 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b2 = "none";
|
||||
b2Total = 1;
|
||||
b2Purple = 1;
|
||||
}else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b2 = "Purple";
|
||||
}else if (b2Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b2 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin5.getState()){
|
||||
if (robot.pin4.getState()){
|
||||
b3Purple ++;
|
||||
}
|
||||
b3Total++;
|
||||
totalStamp3 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b3 = "none";
|
||||
b3Total = 1;
|
||||
b3Purple = 1;
|
||||
}else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b3 = "Purple";
|
||||
}else if (b3Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b3 = "Green";
|
||||
}
|
||||
|
||||
TELE.addData("Green1:", robot.pin1.getState());
|
||||
TELE.addData("Purple1:", robot.pin0.getState());
|
||||
TELE.addData("Green2:", robot.pin3.getState());
|
||||
TELE.addData("Purple2:", robot.pin2.getState());
|
||||
TELE.addData("Green3:", robot.pin5.getState());
|
||||
TELE.addData("Purple3:", robot.pin4.getState());
|
||||
TELE.addData("1", b1);
|
||||
TELE.addData("2",b2);
|
||||
TELE.addData("3",b3);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class AprilTagWebcamExample extends OpMode {
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
|
||||
@Override
|
||||
public void init() {
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void loop() {
|
||||
|
||||
aprilTagWebcam.update();
|
||||
aprilTagWebcam.displayAllTelemetry();
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
// ----- COLOR 1 -----
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,61 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
|
||||
@Disabled
|
||||
public class ColorSensorTester extends LinearOpMode {
|
||||
|
||||
|
||||
public static String portAName = "pin0";
|
||||
|
||||
public static String portBName = "pin1";
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
|
||||
DigitalChannel pinA = hardwareMap.digitalChannel.get(portAName);
|
||||
DigitalChannel pinB = hardwareMap.digitalChannel.get(portBName);
|
||||
|
||||
|
||||
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry,
|
||||
FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
TELE.addData("pinA", pinA.getState());
|
||||
TELE.addData("pinB", pinB.getState());
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ColorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,223 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class IntakeTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
public static int mode = 0; // 0 for teleop, 1 for auto
|
||||
public static double manualPow = 0.15;
|
||||
double stamp = 0;
|
||||
int ticker = 0;
|
||||
boolean steadySpin = false;
|
||||
double powPID = 0.0;
|
||||
boolean intake = true;
|
||||
double spindexerPos = spindexer_intakePos1;
|
||||
boolean wasMoving = false;
|
||||
double currentPos = 0.0;
|
||||
double initPos = 0.0;
|
||||
boolean reverse = false;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
robot = new Robot(hardwareMap);
|
||||
servo = new Servos(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (mode == 0) {
|
||||
if (gamepad1.right_bumper) {
|
||||
ticker++;
|
||||
if (ticker % 16 == 0){
|
||||
currentPos = servo.getSpinPos();
|
||||
if (Math.abs(currentPos - initPos) == 0.0){
|
||||
reverse = !reverse;
|
||||
}
|
||||
initPos = currentPos;
|
||||
}
|
||||
if (reverse){
|
||||
robot.spin1.setPower(manualPow);
|
||||
robot.spin2.setPower(-manualPow);
|
||||
} else {
|
||||
robot.spin1.setPower(-manualPow);
|
||||
robot.spin2.setPower(manualPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
stamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
ticker = 0;
|
||||
}
|
||||
} else if (mode == 1) {
|
||||
|
||||
if (gamepad1.right_bumper && intake){
|
||||
robot.intake.setPower(1);
|
||||
} else if (gamepad1.left_bumper){
|
||||
robot.intake.setPower(-1);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
colorDetect();
|
||||
spindexer();
|
||||
|
||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
||||
if (!ballIn(2)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
}
|
||||
} else if (!ballIn(3)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if (mode == 2){ // switch to this mode before switching modes or to reset balls
|
||||
powPID = 0;
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
stamp = getRuntime();
|
||||
ticker = 0;
|
||||
spindexer();
|
||||
intake = true;
|
||||
}
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
TELE.addData("Manual Power", manualPow);
|
||||
TELE.addData("PID Power", powPID);
|
||||
TELE.addData("B1", ballIn(1));
|
||||
TELE.addData("B2", ballIn(2));
|
||||
TELE.addData("B3", ballIn(3));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
public void colorDetect() {
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
TELE.addData("Color 1 Distance", s1D);
|
||||
TELE.addData("Color 2 Distance", s2D);
|
||||
TELE.addData("Color 3 Distance", s3D);
|
||||
TELE.update();
|
||||
|
||||
if (s1D < 43) {
|
||||
s1T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
}
|
||||
|
||||
public void spindexer() {
|
||||
boolean atTarget = servo.spinEqual(spindexerPos);
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos);
|
||||
robot.spin1.setPower(powPID);
|
||||
robot.spin2.setPower(-powPID);
|
||||
|
||||
steadySpin = false;
|
||||
wasMoving = true; // remember we were moving
|
||||
stamp = getRuntime();
|
||||
} else {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
steadySpin = true;
|
||||
wasMoving = false;
|
||||
}
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
List<Double> times;
|
||||
|
||||
if (slot == 1) {times = s1T;}
|
||||
else if (slot == 2) {times = s2T;}
|
||||
else if (slot == 3) {times = s3T;}
|
||||
else return false;
|
||||
|
||||
if (!times.isEmpty()){
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -11,9 +11,9 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
//TODO: fix to get the apriltag that it is reading
|
||||
@Config
|
||||
@TeleOp
|
||||
//TODO: fix to get the apriltag that it is reading
|
||||
public class LimelightTest extends LinearOpMode {
|
||||
MultipleTelemetry TELE;
|
||||
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
|
||||
@@ -50,7 +50,7 @@ public class LimelightTest extends LinearOpMode {
|
||||
|
||||
}
|
||||
} else if (mode == 2){
|
||||
limelight.pipelineSwitch(4);
|
||||
limelight.pipelineSwitch(2);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
@@ -60,7 +60,7 @@ public class LimelightTest extends LinearOpMode {
|
||||
}
|
||||
}
|
||||
} else if (mode == 3){
|
||||
limelight.pipelineSwitch(5);
|
||||
limelight.pipelineSwitch(3);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class MotorDirectionDebugger extends LinearOpMode {
|
||||
|
||||
public static double flPower = 0.0;
|
||||
|
||||
public static double frPower = 0.0;
|
||||
|
||||
public static double blPower = 0.0;
|
||||
public static double brPower = 0.0;
|
||||
|
||||
Robot robot;
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
robot.frontLeft.setPower(flPower);
|
||||
robot.frontRight.setPower(frPower);
|
||||
robot.backRight.setPower(brPower);
|
||||
robot.backLeft.setPower(blPower);
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,73 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
public static double p = 2, i = 0, d = 0, f = 0;
|
||||
|
||||
public static double target = 0.5;
|
||||
|
||||
public static int mode = 0; //0 is for turret, 1 is for spindexer
|
||||
|
||||
public static double scalar = 1.01;
|
||||
public static double restPos = 0.0;
|
||||
|
||||
Robot robot;
|
||||
|
||||
double pos = 0.0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
|
||||
if (mode == 0) {
|
||||
pos = robot.turr1Pos.getCurrentPosition();
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.turr1.setPower(pid);
|
||||
robot.turr2.setPower(-pid);
|
||||
} else if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.spin1.setPower(pid);
|
||||
robot.spin2.setPower(-pid);
|
||||
}
|
||||
|
||||
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);
|
||||
telemetry.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,7 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
@@ -9,24 +7,18 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
public static int mode = 0;
|
||||
public static double parameter = 0.0;
|
||||
// --- CONSTANTS YOU TUNE ---
|
||||
|
||||
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
|
||||
public static double transferPower = 1.0;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double turretPos = 0.501;
|
||||
public static boolean shoot = false;
|
||||
Robot robot;
|
||||
FlywheelV2 flywheel;
|
||||
Flywheel flywheel;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
@@ -34,7 +26,7 @@ public class ShooterTest extends LinearOpMode {
|
||||
robot = new Robot(hardwareMap);
|
||||
DcMotorEx leftShooter = robot.shooter1;
|
||||
DcMotorEx rightShooter = robot.shooter2;
|
||||
flywheel = new FlywheelV2();
|
||||
flywheel = new Flywheel();
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
@@ -50,7 +42,7 @@ public class ShooterTest extends LinearOpMode {
|
||||
rightShooter.setPower(parameter);
|
||||
leftShooter.setPower(parameter);
|
||||
} else if (mode == 1) {
|
||||
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
double powPID = flywheel.manageFlywheel((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition());
|
||||
rightShooter.setPower(powPID);
|
||||
leftShooter.setPower(powPID);
|
||||
TELE.addData("PIDPower", powPID);
|
||||
@@ -60,23 +52,13 @@ public class ShooterTest extends LinearOpMode {
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (turretPos != 0.501) {
|
||||
robot.turr1.setPower(turretPos);
|
||||
robot.turr2.setPower(turretPos);
|
||||
}
|
||||
|
||||
robot.transfer.setPower(transferPower);
|
||||
if (shoot) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
|
||||
TELE.addData("Velocity 1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity 2", flywheel.getVelo2());
|
||||
TELE.addData("Used Velocity", flywheel.getVelo(leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition()));
|
||||
TELE.addData("Velocity1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity2", flywheel.getVelo2());
|
||||
TELE.addData("Power", robot.shooter1.getPower());
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.addData("Position", robot.shooter1.getCurrentPosition());
|
||||
TELE.addData("Position1", robot.shooter1.getCurrentPosition()/28);
|
||||
TELE.addData("Position2", robot.shooter2.getCurrentPosition()/28);
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
@@ -1,210 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
public static double pow = 0.0;
|
||||
public static double vel = 0.0;
|
||||
public static double ecpr = 1024.0; // CPR of the encoder
|
||||
public static double hoodPos = 0.5;
|
||||
public static double turretPos = 0.9;
|
||||
|
||||
public static String flyMode = "VEL";
|
||||
|
||||
public static boolean AutoTrack = false;
|
||||
|
||||
double initPos = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
|
||||
double stamp1 = 0.0;
|
||||
|
||||
double initPos1 = 0.0;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
|
||||
public static boolean shoot = false;
|
||||
|
||||
public static int spindexPos = 1;
|
||||
|
||||
public static boolean intake = true;
|
||||
|
||||
public static int tolerance = 50;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
public static double distance = 50;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Shooter shooter = new Shooter(robot, TELE);
|
||||
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooter.setTelemetryOn(true);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
initPos = shooter.getECPRPosition();
|
||||
|
||||
int ticker = 0;
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
ticker++;
|
||||
|
||||
if (AutoTrack){
|
||||
hoodPos = hoodAnglePrediction(distance);
|
||||
vel = velPrediction(distance);
|
||||
}
|
||||
|
||||
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
shooter.setManualPower(pow);
|
||||
|
||||
robot.hood.setPosition(hoodPos);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
if (intake) {
|
||||
robot.transfer.setPower(0);
|
||||
robot.intake.setPower(0.75);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
} else {
|
||||
robot.transfer.setPower(.75 + (powPID/4));
|
||||
robot.intake.setPower(0);
|
||||
if (spindexPos == 1) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall1);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall1);
|
||||
} else if (spindexPos == 2) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall2);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall2);
|
||||
} else if (spindexPos == 3) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall3);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall3);
|
||||
}
|
||||
}
|
||||
|
||||
double penguin = 0;
|
||||
if (ticker % 8 ==0){
|
||||
penguin = shooter.getECPRPosition();
|
||||
stamp = getRuntime();
|
||||
velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
|
||||
initPos1 = penguin;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
|
||||
velo = velo1;
|
||||
|
||||
double feed = vel / maxVel; // Example: vel=2500 → feed=0.5
|
||||
|
||||
if (vel > 500){
|
||||
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
}
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo1;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
|
||||
if (vel - velo > 1000){
|
||||
powPID = 1;
|
||||
} else if (velo - vel > 1000){
|
||||
powPID = 0;
|
||||
}
|
||||
|
||||
shooter.setVelocity(powPID);
|
||||
|
||||
if (shoot) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
TELE.addData("Revolutions", shooter.getECPRPosition());
|
||||
TELE.addData("hoodPos", shooter.gethoodPosition());
|
||||
TELE.addData("turretPos", shooter.getTurretPosition());
|
||||
TELE.addData("Power Fly 1", robot.shooter1.getPower());
|
||||
TELE.addData("Power Fly 2", robot.shooter2.getPower());
|
||||
TELE.addData("powPID", shooter.getpowPID());
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double distance) {
|
||||
double L = 0.298317;
|
||||
double A = 1.02124;
|
||||
double k = 0.0157892;
|
||||
double n = 3.39375;
|
||||
|
||||
double dist = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
return L + A * Math.exp(-Math.pow(k * dist, n));
|
||||
}
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
double x = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
|
||||
|
||||
double A = -211149.992;
|
||||
double B = -1.19943;
|
||||
double C = 3720.15909;
|
||||
|
||||
return A * Math.pow(x, B) + C;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,104 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import android.util.Size;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
public class AprilTagWebcam {
|
||||
|
||||
private AprilTagProcessor aprilTagProcessor;
|
||||
private VisionPortal visionPortal;
|
||||
private List<AprilTagDetection> detectedTags = new ArrayList<>();
|
||||
private MultipleTelemetry telemetry;
|
||||
public void init(Robot robot, MultipleTelemetry TELE){
|
||||
|
||||
this.telemetry = TELE;
|
||||
|
||||
aprilTagProcessor = new AprilTagProcessor.Builder()
|
||||
.setDrawTagID(true)
|
||||
.setDrawTagOutline(true)
|
||||
.setDrawAxes(true)
|
||||
.setDrawCubeProjection(true)
|
||||
.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
|
||||
.build();
|
||||
|
||||
VisionPortal.Builder builder = new VisionPortal.Builder();
|
||||
builder.setCamera(robot.webcam);
|
||||
builder.setCameraResolution(new Size(640, 480));
|
||||
builder.addProcessor(aprilTagProcessor);
|
||||
|
||||
visionPortal = builder.build();
|
||||
|
||||
}
|
||||
|
||||
public void update() {
|
||||
detectedTags = aprilTagProcessor.getDetections();
|
||||
}
|
||||
|
||||
public List<AprilTagDetection> getDetectedTags() {
|
||||
return detectedTags;
|
||||
}
|
||||
|
||||
public AprilTagDetection getTagById(int id){
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.id ==id){
|
||||
return detection;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
public void stop(){
|
||||
if (visionPortal != null){
|
||||
visionPortal.close();
|
||||
}
|
||||
}
|
||||
|
||||
//Helper Functions
|
||||
|
||||
public void displayDetectionTelemetry (AprilTagDetection detectedId){
|
||||
if (detectedId ==null){return;}
|
||||
|
||||
if (detectedId.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detectedId.center.x, detectedId.center.y));
|
||||
}
|
||||
}
|
||||
|
||||
public void displayAllTelemetry (){
|
||||
if (detectedTags ==null){return;}
|
||||
|
||||
telemetry.addData("# AprilTags Detected", detectedTags.size());
|
||||
|
||||
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -1,34 +1,25 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
|
||||
|
||||
@Config
|
||||
@Disabled
|
||||
@TeleOp
|
||||
public class ConfigureColorRangefinder extends LinearOpMode {
|
||||
|
||||
|
||||
|
||||
public static double lowerBound = 80;
|
||||
public static double higherBound = 120;
|
||||
|
||||
public static int led = 0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "color"));
|
||||
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "Color"));
|
||||
waitForStart();
|
||||
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
|
||||
pin0 --> purple
|
||||
pin1 --> green */
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3, 20);
|
||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
|
||||
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
|
||||
crf.setLedBrightness(led);
|
||||
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 160 / 360.0 * 255, 190 / 360.0 * 255); // purple
|
||||
crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
|
||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
|
||||
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,21 +1,22 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
double initPos = 0.0;
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
double initPos1 = 0.0;
|
||||
double initPos2 = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos = 0.0;
|
||||
double currentPos1 = 0.0;
|
||||
double currentPos2 = 0.0;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo1a = 0.0;
|
||||
double velo1b = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
@@ -23,27 +24,12 @@ public class Flywheel {
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
public Flywheel () {
|
||||
|
||||
public Flywheel() {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo () {
|
||||
return velo;
|
||||
}
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds ()
|
||||
{
|
||||
return (double) System.currentTimeMillis()/1000.0;
|
||||
}
|
||||
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
|
||||
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
@@ -51,18 +37,45 @@ public class Flywheel {
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
currentPos = shooter1CurPos / 2048;
|
||||
currentPos1 = shooter1CurPos / 28;
|
||||
currentPos2 = shooter2CurPos / 28;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
|
||||
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
|
||||
initPos1 = currentPos1;
|
||||
initPos2 = currentPos2;
|
||||
stamp1 = stamp;
|
||||
|
||||
velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
|
||||
if (velo1a < 200){
|
||||
velo1 = velo1b;
|
||||
} else if (velo1b < 200){
|
||||
velo1 = velo1a;
|
||||
} else {
|
||||
velo1 = (velo1a + velo1b) / 2;
|
||||
}
|
||||
// Flywheel control code here
|
||||
}
|
||||
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||
}
|
||||
|
||||
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds() {
|
||||
return (double) System.currentTimeMillis() / 1000.0;
|
||||
}
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500){
|
||||
} else if (velo - targetVelocity > 500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
@@ -81,13 +94,11 @@ public class Flywheel {
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
public void update() {
|
||||
}
|
||||
}
|
||||
@@ -1,110 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class FlywheelV2 {
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
double initPos1 = 0.0;
|
||||
double initPos2 = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos1 = 0.0;
|
||||
double currentPos2 = 0.0;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo1a = 0.0;
|
||||
double velo1b = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public FlywheelV2() {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
currentPos1 = shooter1CurPos / 28;
|
||||
currentPos2 = shooter2CurPos / 28;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
|
||||
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
|
||||
initPos1 = currentPos1;
|
||||
initPos2 = currentPos2;
|
||||
stamp1 = stamp;
|
||||
|
||||
if (velo1a < 200){
|
||||
velo1 = velo1b;
|
||||
} else if (velo1b < 200){
|
||||
velo1 = velo1a;
|
||||
} else {
|
||||
velo1 = (velo1a + velo1b) / 2;
|
||||
}
|
||||
}
|
||||
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||
}
|
||||
|
||||
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds() {
|
||||
return (double) System.currentTimeMillis() / 1000.0;
|
||||
}
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 4500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 4500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
|
||||
double a = 2539.07863;
|
||||
double c = 1967.6498;
|
||||
double d = -0.289647;
|
||||
double h = -1.1569;
|
||||
|
||||
double feed = Math.log((a / (targetVelocity + c)) + d) / h;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update() {
|
||||
}
|
||||
}
|
||||
@@ -1,86 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PositionalServoProgrammer extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
|
||||
public static double spindexPos = 0.501;
|
||||
public static double spindexPow = 0.0;
|
||||
public static double spinHoldPow = 0.0;
|
||||
public static double turretPos = 0.501;
|
||||
public static double turretPow = 0.0;
|
||||
public static double turrHoldPow = 0.0;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static int mode = 0; //0 for positional, 1 for power
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos(hardwareMap);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
|
||||
double pos = servo.setSpinPos(spindexPos);
|
||||
robot.spin1.setPower(pos);
|
||||
robot.spin2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.spin1.setPower(spinHoldPow);
|
||||
robot.spin2.setPower(spinHoldPow);
|
||||
} else {
|
||||
robot.spin1.setPower(spindexPow);
|
||||
robot.spin2.setPower(-spindexPow);
|
||||
}
|
||||
if (turretPos != 0.501 && !servo.turretEqual(turretPos)){
|
||||
double pos = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(pos);
|
||||
robot.turr2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.turr1.setPower(turrHoldPow);
|
||||
robot.turr2.setPower(turrHoldPow);
|
||||
} else {
|
||||
robot.turr1.setPower(turretPow);
|
||||
robot.turr2.setPower(-turretPow);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
}
|
||||
if (hoodPos != 0.501){
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
// To check configuration of spindexer:
|
||||
// Set "mode" to 1 and spindexPow to 0.1
|
||||
// If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
|
||||
// Do the previous test again to confirm
|
||||
// Set "mode" to 0 but keep spindexPos at 0.501
|
||||
// Manually turn the spindexer until "spindexer pos" is set close to 0
|
||||
// Check each spindexer voltage:
|
||||
// If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
|
||||
// If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
|
||||
//TODO: @KeshavAnandCode do the above please
|
||||
|
||||
TELE.addData("spindexer pos", servo.getSpinPos());
|
||||
TELE.addData("turret pos", servo.getTurrPos());
|
||||
TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
|
||||
TELE.addData("hood pos", robot.hood.getPosition());
|
||||
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
|
||||
TELE.addData("spindexer pow", robot.spin1.getPower());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,117 +1,59 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
|
||||
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.IMU;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
public class Robot {
|
||||
|
||||
//Initialize Public Components
|
||||
|
||||
public DcMotorEx frontLeft;
|
||||
public DcMotorEx frontRight;
|
||||
public DcMotorEx backLeft;
|
||||
public DcMotorEx backRight;
|
||||
public DcMotorEx intake;
|
||||
public DcMotorEx transfer;
|
||||
public Limelight3A limelight3A;
|
||||
|
||||
public IMU imu;
|
||||
|
||||
public DcMotorEx shooter1;
|
||||
|
||||
public DcMotorEx shooter2;
|
||||
|
||||
public Servo hood;
|
||||
public Servo transferServo;
|
||||
public CRServo turr1;
|
||||
public CRServo turr2;
|
||||
public CRServo spin1;
|
||||
public CRServo spin2;
|
||||
public AnalogInput spin1Pos;
|
||||
public AnalogInput spin2Pos;
|
||||
public DcMotorEx turr1Pos;
|
||||
public AnalogInput transferServoPos;
|
||||
public AprilTagProcessor aprilTagProcessor;
|
||||
public WebcamName webcam;
|
||||
public RevColorSensorV3 color1;
|
||||
public RevColorSensorV3 color2;
|
||||
public RevColorSensorV3 color3;
|
||||
public Limelight3A limelight;
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
|
||||
public static boolean usingCamera = true;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
public Robot (HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
//TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
|
||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
backRight = hardwareMap.get(DcMotorEx.class, "br");
|
||||
frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
|
||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
||||
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
||||
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
||||
//TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "s1");
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
shooter2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(CRServo.class, "t1");
|
||||
|
||||
turr2 = hardwareMap.get(CRServo.class, "t2");
|
||||
|
||||
turr1Pos = intake; // 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");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(CRServo.class, "spin2");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
|
||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
||||
|
||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight){
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
} else if (usingCamera){
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
if (USING_LL) {
|
||||
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
limelight3A.start(); // This tells Limelight to start looking!
|
||||
}
|
||||
|
||||
imu = hardwareMap.get(IMU.class, "imu");
|
||||
|
||||
RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
|
||||
|
||||
RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
|
||||
|
||||
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoFacingDirection, usbFacingDirection);
|
||||
|
||||
imu.initialize(new IMU.Parameters(orientationOnRobot));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,60 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
@Config
|
||||
public class Servos {
|
||||
Robot robot;
|
||||
|
||||
PIDFController spinPID;
|
||||
|
||||
PIDFController turretPID;
|
||||
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
|
||||
public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
|
||||
|
||||
public static double spin_scalar = 1.0086;
|
||||
public static double spin_restPos = 0.0;
|
||||
public static double turret_scalar = 1.009;
|
||||
public static double turret_restPos = 0.0;
|
||||
|
||||
public Servos(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
||||
}
|
||||
|
||||
// In the code below, encoder = robot.servo.getVoltage()
|
||||
|
||||
public double getSpinPos() {
|
||||
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
|
||||
}
|
||||
//TODO: PID warp so 0 and 1 are usable positions
|
||||
public double setSpinPos(double pos) {
|
||||
spinPID.setPIDF(spinP, spinI, spinD, spinF);
|
||||
|
||||
return spinPID.calculate(this.getSpinPos(), pos);
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos) {
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.02;
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return robot.turr1Pos.getCurrentPosition();
|
||||
}
|
||||
|
||||
public double setTurrPos(double pos) {
|
||||
turretPID.setPIDF(turrP, turrI, turrD, turrF);
|
||||
|
||||
return spinPID.calculate(this.getTurrPos(), pos);
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos) {
|
||||
return Math.abs(pos - this.getTurrPos()) < 0.01;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
public interface Subsystem {
|
||||
|
||||
public void update();
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,224 @@
|
||||
package org.firstinspires.ftc.teamcode.utils.subsystems;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.LLStatus;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.robotcore.hardware.IMU;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.Position;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
||||
import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Subsystem;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
import java.util.Objects;
|
||||
|
||||
public class Limelight implements Subsystem {
|
||||
|
||||
private final Limelight3A limelight;
|
||||
private final MultipleTelemetry telemetry;
|
||||
|
||||
private LLResult result;
|
||||
private LLStatus status;
|
||||
|
||||
private boolean telemetryOn = false;
|
||||
private String mode = "AT";
|
||||
|
||||
// ✅ Internal cached data
|
||||
private Pose3D botpose;
|
||||
|
||||
private double captureLatency = 0.0;
|
||||
private double targetingLatency = 0.0;
|
||||
private double parseLatency = 0.0;
|
||||
private double[] pythonOutput = new double[0];
|
||||
|
||||
private double tx = 0.0;
|
||||
private double txnc = 0.0;
|
||||
private double ty = 0.0;
|
||||
private double tync = 0.0;
|
||||
|
||||
private double ta = 0.0;
|
||||
|
||||
private List<LLResultTypes.BarcodeResult> barcodeResults = new ArrayList<>();
|
||||
private List<LLResultTypes.ClassifierResult> classifierResults = new ArrayList<>();
|
||||
private List<LLResultTypes.DetectorResult> detectorResults = new ArrayList<>();
|
||||
private List<LLResultTypes.FiducialResult> fiducialResults = new ArrayList<>();
|
||||
private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
|
||||
|
||||
private IMU imu;
|
||||
|
||||
public Limelight(Robot robot, MultipleTelemetry tele) {
|
||||
|
||||
HardwareConfig.USING_LL= true;
|
||||
|
||||
this.limelight = robot.limelight3A;
|
||||
this.telemetry = tele;
|
||||
limelight.pipelineSwitch(1);
|
||||
|
||||
this.imu = robot.imu;
|
||||
|
||||
this.imu.resetYaw();
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void setPipeline(int pipeline) {limelight.pipelineSwitch(pipeline);}
|
||||
|
||||
public void setTelemetryOn(boolean state) { telemetryOn = state; }
|
||||
|
||||
public void setMode(String newMode) { this.mode = newMode; }
|
||||
|
||||
|
||||
|
||||
/** ✅ MAIN UPDATE LOOP */
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
|
||||
|
||||
result = limelight.getLatestResult();
|
||||
status = limelight.getStatus();
|
||||
|
||||
|
||||
|
||||
if (result != null && (Objects.equals(status.getPipelineType(), "pipe_python") || result.isValid())){
|
||||
// Refresh all cached values
|
||||
botpose = result.getBotpose();
|
||||
captureLatency = result.getCaptureLatency();
|
||||
targetingLatency= result.getTargetingLatency();
|
||||
parseLatency = result.getParseLatency();
|
||||
pythonOutput = result.getPythonOutput();
|
||||
tx = result.getTx();
|
||||
txnc = result.getTxNC();
|
||||
ty = result.getTy();
|
||||
tync = result.getTyNC();
|
||||
ta = result.getTa();
|
||||
barcodeResults = result.getBarcodeResults();
|
||||
classifierResults = result.getClassifierResults();
|
||||
detectorResults = result.getDetectorResults();
|
||||
fiducialResults = result.getFiducialResults();
|
||||
colorResults = result.getColorResults();
|
||||
}
|
||||
|
||||
if (telemetryOn) telemetryUpdate();
|
||||
}
|
||||
|
||||
/** ✅ Telemetry Output */
|
||||
private void telemetryUpdate() {
|
||||
// ✅ Use getters instead of directly accessing 'status' or cached fields
|
||||
telemetry.addData("Name", "%s", getStatus().getName());
|
||||
telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
|
||||
getStatus().getTemp(),
|
||||
getStatus().getCpu(),
|
||||
(int) getStatus().getFps());
|
||||
telemetry.addData("Pipeline", "Index: %d, Type: %s",
|
||||
getStatus().getPipelineIndex(),
|
||||
getStatus().getPipelineType());
|
||||
telemetry.addData("ResultNull", result == null);
|
||||
telemetry.addData("ResultValid", result.isValid());
|
||||
|
||||
|
||||
|
||||
|
||||
if (result != null && result.isValid()) {
|
||||
telemetry.addData("LL Latency", getTotalLatency());
|
||||
telemetry.addData("Capture Latency", getCaptureLatency());
|
||||
telemetry.addData("Targeting Latency", getTargetingLatency());
|
||||
telemetry.addData("Parse Latency", getParseLatency());
|
||||
telemetry.addData("PythonOutput", java.util.Arrays.toString(getPythonOutput()));
|
||||
telemetry.addData("tx", getTx());
|
||||
telemetry.addData("txnc", getTxNC());
|
||||
telemetry.addData("ty", getTy());
|
||||
telemetry.addData("tync", getTyNC());
|
||||
telemetry.addData("ta", getTa());
|
||||
|
||||
|
||||
|
||||
|
||||
telemetry.addData("BotX", getBotX());
|
||||
|
||||
telemetry.addData("BotY", getBotY());
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (Objects.equals(mode, "BR"))
|
||||
for (LLResultTypes.BarcodeResult br : getBarcodeResults())
|
||||
telemetry.addData("Barcode", "Data: %s", br.getData());
|
||||
|
||||
if (Objects.equals(mode, "CL"))
|
||||
for (LLResultTypes.ClassifierResult cr : getClassifierResults())
|
||||
telemetry.addData("Classifier", "Class: %s, Confidence: %.2f",
|
||||
cr.getClassName(), cr.getConfidence());
|
||||
|
||||
if (Objects.equals(mode, "DE"))
|
||||
for (LLResultTypes.DetectorResult dr : getDetectorResults())
|
||||
telemetry.addData("Detector", "Class: %s, Area: %.2f",
|
||||
dr.getClassName(), dr.getTargetArea());
|
||||
|
||||
if (Objects.equals(mode, "FI"))
|
||||
for (LLResultTypes.FiducialResult fr : getFiducialResults())
|
||||
telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f",
|
||||
fr.getFiducialId(), fr.getFamily(),
|
||||
fr.getTargetXDegrees(), fr.getTargetYDegrees());
|
||||
|
||||
if (Objects.equals(mode, "CO"))
|
||||
for (LLResultTypes.ColorResult cr : getColorResults())
|
||||
telemetry.addData("Color", "X: %.2f, Y: %.2f",
|
||||
cr.getTargetXDegrees(), cr.getTargetYDegrees());
|
||||
} else {
|
||||
telemetry.addData("Limelight", "No data available");
|
||||
}
|
||||
}
|
||||
|
||||
// ✅ Getter methods (for use anywhere else in your code)
|
||||
|
||||
public Pose3D getBotPose() {
|
||||
if (botpose == null) {
|
||||
botpose = new Pose3D(
|
||||
new Position(),
|
||||
new YawPitchRollAngles(AngleUnit.DEGREES, 0.0, 0.0, 0.0, 0L)
|
||||
);
|
||||
}
|
||||
return botpose;
|
||||
}
|
||||
|
||||
public double getCaptureLatency() { return captureLatency; }
|
||||
public double getTargetingLatency() { return targetingLatency; }
|
||||
public double getTotalLatency() { return captureLatency + targetingLatency; }
|
||||
public double getParseLatency() { return parseLatency; }
|
||||
public double[] getPythonOutput() { return pythonOutput; }
|
||||
|
||||
public double getTx() { return tx; }
|
||||
public double getTxNC() { return txnc; }
|
||||
public double getTy() { return ty; }
|
||||
public double getTyNC() { return tync;}
|
||||
|
||||
public double getTa() {return ta;}
|
||||
|
||||
public double getBotX() {return getBotPose().getPosition().x;}
|
||||
|
||||
public double getBotY() {return getBotPose().getPosition().y;}
|
||||
|
||||
|
||||
|
||||
|
||||
public List<LLResultTypes.BarcodeResult> getBarcodeResults() { return barcodeResults; }
|
||||
public List<LLResultTypes.ClassifierResult> getClassifierResults() { return classifierResults; }
|
||||
public List<LLResultTypes.DetectorResult> getDetectorResults() { return detectorResults; }
|
||||
public List<LLResultTypes.FiducialResult> getFiducialResults() { return fiducialResults; }
|
||||
public List<LLResultTypes.ColorResult> getColorResults() { return colorResults; }
|
||||
|
||||
public LLStatus getStatus() { return status; }
|
||||
public LLResult getRawResult() { return result; }
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
package org.firstinspires.ftc.teamcode.variables;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class HardwareConfig {
|
||||
|
||||
public static boolean USING_LL = false;
|
||||
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user