Compare commits
19 Commits
danielv2
...
d42af20447
| Author | SHA1 | Date | |
|---|---|---|---|
| d42af20447 | |||
| 1c292e77c7 | |||
| fde0880225 | |||
| e8bf2033ad | |||
| de6e7f2910 | |||
| ef5d615f91 | |||
| 4aca64f61c | |||
| bfcecd42d3 | |||
| 66e76285b2 | |||
| 7b923f31ca | |||
| d3bbbb7f2b | |||
| 1e87410d7b | |||
|
a7d1c18c56 | ||
| d5a3457be2 | |||
| 554204b6d4 | |||
| d586e3b4df | |||
| 2f5d4638ec | |||
| 1642e161c5 | |||
| 46a565c2c8 |
@@ -52,7 +52,7 @@ public class AutoClose_V3 extends LinearOpMode {
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int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
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int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
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int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
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public static double holdTurrPow = 0.01; // power to hold turret in place
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public static double holdTurrPow = 0.1; // power to hold turret in place
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public Action initShooter(int vel) {
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return new Action() {
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@@ -103,17 +103,17 @@ public class AutoClose_V3 extends LinearOpMode {
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if (gpp || pgp || ppg) {
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if (redAlliance){
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robot.limelight.pipelineSwitch(3);
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double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
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double turretPID = turret_redClose;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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return false;
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} else {
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robot.limelight.pipelineSwitch(2);
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double turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_blueClose, robot.turr1Pos.getCurrentPosition());
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double turretPID = turret_blueClose;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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return false;
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}
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} else {
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return true;
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@@ -132,7 +132,7 @@ public class AutoClose_V3 extends LinearOpMode {
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
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spinPID = servo.setSpinPos(spindexer);
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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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TELE.addData("Velocity", velo);
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@@ -142,7 +142,7 @@ public class AutoClose_V3 extends LinearOpMode {
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
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if (servo.spinEqual(spindexer)){
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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return false;
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@@ -188,8 +188,8 @@ public class AutoClose_V3 extends LinearOpMode {
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return true;
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} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
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robot.transferServo.setPosition(transferServo_out);
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robot.turr1.setPower(holdTurrPow);
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robot.turr2.setPower(holdTurrPow);
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robot.turr1.setPosition(holdTurrPow);
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robot.turr2.setPosition(holdTurrPow);
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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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@@ -222,27 +222,27 @@ public class AutoClose_V3 extends LinearOpMode {
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
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double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
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if (!servo.spinEqual(position)){
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double spinPID = servo.setSpinPos(position);
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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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}
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if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
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if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
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if (s2D > 60){
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if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos2;
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} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos1;
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}
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} else if (s3D > 33){
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if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos1;
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} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos2;
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}
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}
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@@ -411,7 +411,7 @@ public class AutoClose_V3 extends LinearOpMode {
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double turrPID;
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if (redAlliance){
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turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
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turrPID = turret_detectRedClose;
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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@@ -430,7 +430,7 @@ public class AutoClose_V3 extends LinearOpMode {
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shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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} else {
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turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
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turrPID = turret_detectBlueClose;
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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@@ -450,16 +450,16 @@ public class AutoClose_V3 extends LinearOpMode {
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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}
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robot.turr1.setPower(turrPID);
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robot.turr2.setPower(-turrPID);
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robot.turr1.setPosition(turrPID);
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robot.turr2.setPosition(-turrPID);
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robot.hood.setPosition(hoodAuto);
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robot.transferServo.setPosition(transferServo_out);
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TELE.addData("Velocity", velo);
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TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
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TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
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TELE.addData("Turret Pos", servo.getTurrPos());
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TELE.addData("Spin Pos", servo.getSpinPos());
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TELE.update();
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}
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@@ -565,10 +565,10 @@ public class AutoClose_V3 extends LinearOpMode {
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bearing = result.getTx();
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}
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}
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double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
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double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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double turretPos = servo.getTurrPos() - (bearing / 1300);
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double turretPID = turretPos;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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}
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public void shootingSequence() {
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@@ -52,7 +52,7 @@ public class AutoFar_V1 extends LinearOpMode {
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int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
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int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
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int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
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public static double holdTurrPow = 0.01; // power to hold turret in place
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public static double holdTurrPow = 0.1; // power to hold turret in place
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public Action initShooter(int vel) {
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return new Action() {
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@@ -103,18 +103,18 @@ public class AutoFar_V1 extends LinearOpMode {
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if (gpp || pgp || ppg) {
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if (redAlliance){
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robot.limelight.pipelineSwitch(3);
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double turretPID = servo.setTurrPos(turret_redFar, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_redFar, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPosition(turret_redFar);
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robot.turr2.setPosition(-turret_redFar);
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} else {
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robot.limelight.pipelineSwitch(2);
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double turretPID = servo.setTurrPos(turret_blueFar, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_blueFar, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPosition(turret_blueFar);
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robot.turr2.setPosition(-turret_blueFar);
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}
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return false;
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} else {
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return true;
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}
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@@ -132,7 +132,7 @@ public class AutoFar_V1 extends LinearOpMode {
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
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spinPID = servo.setSpinPos(spindexer);
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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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TELE.addData("Velocity", velo);
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@@ -142,7 +142,7 @@ public class AutoFar_V1 extends LinearOpMode {
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
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if (servo.spinEqual(spindexer)){
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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return false;
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@@ -188,8 +188,8 @@ public class AutoFar_V1 extends LinearOpMode {
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return true;
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} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
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robot.transferServo.setPosition(transferServo_out);
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robot.turr1.setPower(holdTurrPow);
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robot.turr2.setPower(holdTurrPow);
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robot.turr1.setPosition(holdTurrPow);
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robot.turr2.setPosition(holdTurrPow);
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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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@@ -222,27 +222,27 @@ public class AutoFar_V1 extends LinearOpMode {
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
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double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
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if (!servo.spinEqual(position)){
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double spinPID = servo.setSpinPos(position);
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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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}
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if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
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if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
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if (s2D > 60){
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if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos2;
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} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos1;
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}
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} else if (s3D > 33){
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if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
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if (servo.spinEqual(spindexer_intakePos1)){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos2)){
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position = spindexer_intakePos1;
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} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
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} else if (servo.spinEqual(spindexer_intakePos3)){
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position = spindexer_intakePos2;
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}
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}
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@@ -399,21 +399,21 @@ public class AutoFar_V1 extends LinearOpMode {
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double turrPID;
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if (redAlliance){
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turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
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turrPID = turret_detectRedClose;
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} else {
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turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
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turrPID = turret_detectBlueClose;
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}
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robot.turr1.setPower(turrPID);
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robot.turr2.setPower(-turrPID);
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robot.turr1.setPosition(turrPID);
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robot.turr2.setPosition(-turrPID);
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robot.hood.setPosition(hoodAutoFar);
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robot.transferServo.setPosition(transferServo_out);
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TELE.addData("Velocity", velo);
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TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
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TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
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TELE.addData("Turret Pos", servo.getTurrPos());
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TELE.addData("Spin Pos", servo.getSpinPos());
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TELE.update();
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}
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@@ -466,10 +466,10 @@ public class AutoFar_V1 extends LinearOpMode {
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bearing = result.getTx();
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}
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}
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double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
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double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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double turretPos = servo.getTurrPos() - (bearing / 1300);
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double turretPID = turretPos;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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}
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public void shootingSequence() {
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@@ -1,839 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
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import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
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|
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import androidx.annotation.NonNull;
|
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|
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
|
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
|
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import com.acmerobotics.roadrunner.SequentialAction;
|
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.Vector2d;
|
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
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|
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
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import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
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import org.firstinspires.ftc.teamcode.utils.Robot;
|
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|
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@Config
|
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@Autonomous(preselectTeleOp = "TeleopV2")
|
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public class Blue_V2 extends LinearOpMode {
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|
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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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,9 +1,59 @@
|
||||
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 static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
|
||||
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
@@ -16,6 +66,7 @@ import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
@@ -34,25 +85,26 @@ import java.util.List;
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
public static double slowSpeed = 30.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
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;
|
||||
public static double spinUnjamTime = 0.6;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
@@ -73,6 +125,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
@@ -86,11 +139,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
if (id == 21) {
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
} else if (id == 22) {
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
} else if (id == 23) {
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
@@ -101,19 +154,18 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPosition(turret_redClose);
|
||||
robot.turr2.setPosition(1 - turret_redClose);
|
||||
return false;
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
double turretPID = turret_blueClose;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
@@ -125,6 +177,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
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());
|
||||
@@ -132,7 +185,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
@@ -142,9 +195,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
|
||||
if (servo.spinEqual(spindexer)) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
@@ -162,6 +216,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
boolean zeroPassed = false;
|
||||
double currentPos = 0.0;
|
||||
double prevPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
@@ -174,64 +229,79 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1){
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
initPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
finalPos = initPos + 0.6;
|
||||
|
||||
if (finalPos > 1.0){
|
||||
finalPos = finalPos - 1;
|
||||
zeroNeeded = true;
|
||||
} else if (finalPos > 0.95){
|
||||
finalPos = 0.0;
|
||||
zeroNeeded = true;
|
||||
}
|
||||
currentPos = initPos;
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker > 16){
|
||||
robot.spin1.setPower(0.08);
|
||||
robot.spin2.setPower(-0.08);
|
||||
}
|
||||
robot.intake.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 2.7) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
|
||||
robot.spin1.setPower(-spinPow);
|
||||
robot.spin2.setPower(spinPow);
|
||||
return true;
|
||||
|
||||
prevPos = currentPos;
|
||||
currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
if (zeroNeeded){
|
||||
if (currentPos - prevPos < -0.5){
|
||||
zeroPassed = true;
|
||||
}
|
||||
if (zeroPassed){
|
||||
if (currentPos > finalPos){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
} else {
|
||||
if (currentPos > finalPos){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindexUnjam(double jamTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
|
||||
|
||||
ticker++;
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
if (ticker % 12 < 6) {
|
||||
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
|
||||
} else {
|
||||
robot.spin1.setPower(1);
|
||||
robot.spin2.setPower(-1);
|
||||
}
|
||||
|
||||
if (getRuntime() - stamp > jamTime+0.4) {
|
||||
|
||||
robot.intake.setPower(0.5);
|
||||
|
||||
return false;
|
||||
}
|
||||
else if (getRuntime() - stamp > jamTime) {
|
||||
|
||||
robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
else {
|
||||
robot.intake.setPower(1);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
@@ -251,24 +321,29 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker % 12 < 3) {
|
||||
if (ticker % 60 < 12) {
|
||||
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
|
||||
} else if (reverse) {
|
||||
} else if (ticker % 60 < 30) {
|
||||
robot.spin1.setPower(-0.5);
|
||||
robot.spin2.setPower(0.5);
|
||||
}
|
||||
else if (ticker % 60 < 42) {
|
||||
robot.spin1.setPower(1);
|
||||
robot.spin2.setPower(-1);
|
||||
} else {
|
||||
robot.spin1.setPower(-0.15);
|
||||
robot.spin2.setPower(0.15);
|
||||
}
|
||||
else {
|
||||
robot.spin1.setPower(0.5);
|
||||
robot.spin2.setPower(-0.5);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
|
||||
if (getRuntime() - stamp > intakeTime){
|
||||
if (reverse){
|
||||
if (getRuntime() - stamp > intakeTime) {
|
||||
if (reverse) {
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
} else {
|
||||
@@ -278,10 +353,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
return false;
|
||||
} else {
|
||||
if (ticker % 4 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.02;
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -292,6 +368,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
@@ -387,7 +464,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
servo = new Servos();
|
||||
servo = new Servos(hardwareMap);
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
@@ -397,18 +474,30 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
//
|
||||
// TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
@@ -419,54 +508,76 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
|
||||
}
|
||||
|
||||
|
||||
double turretPID;
|
||||
if (redAlliance){
|
||||
turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
if (redAlliance) {
|
||||
turretPID = turret_redClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
// lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
|
||||
.strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
} else {
|
||||
turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
turretPID = turret_blueClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
@@ -513,8 +624,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build()
|
||||
new SequentialAction(
|
||||
shoot1.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
@@ -544,7 +657,36 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build()
|
||||
shoot2.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
@@ -567,6 +709,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
@@ -575,10 +718,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
|
||||
@@ -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.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
} 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, robot.spin1Pos.getVoltage());
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
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(robot.turr1Pos.getCurrentPosition()));
|
||||
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(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,4 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -15,17 +15,27 @@ public class Poses {
|
||||
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
|
||||
|
||||
public static double rx1 = 40, 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 rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 40, 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 rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
|
||||
|
||||
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
|
||||
public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
|
||||
public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 40, by1 = 7, bh1 = 0;
|
||||
public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
|
||||
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
|
||||
|
||||
public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
|
||||
public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
|
||||
|
||||
@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos1 = 0.34;
|
||||
public static double spindexer_intakePos1 = 0.39;
|
||||
|
||||
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_outtakeBall3 = 0.47;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.74;
|
||||
public static double spindexer_outtakeBall1 = 0.58;
|
||||
public static double spindexer_outtakeBall2 = 0.31;
|
||||
public static double spindexer_outtakeBall1 = 0.15;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
@@ -24,7 +24,7 @@ public class ServoPositions {
|
||||
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double hoodAuto = 0.22;
|
||||
public static double hoodAuto = 0.27;
|
||||
|
||||
public static double hoodAutoFar = 0.5; //TODO: change this;
|
||||
|
||||
@@ -40,6 +40,6 @@ public class ServoPositions {
|
||||
public static double turret_detectRedClose = 0.2;
|
||||
|
||||
public static double turret_detectBlueClose = 0.6;
|
||||
public static double turrDefault = 0.40;
|
||||
public static double turrDefault = 0.4;
|
||||
|
||||
}
|
||||
|
||||
@@ -19,6 +19,6 @@ public class ShooterVars {
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3000; //3300;
|
||||
public static int AUTO_CLOSE_VEL = 3175; //3300;
|
||||
public static int AUTO_FAR_VEL = 4000; //TODO: test this
|
||||
}
|
||||
@@ -5,7 +5,9 @@ import androidx.annotation.NonNull;
|
||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.*;
|
||||
import com.acmerobotics.roadrunner.AccelConstraint;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.Actions;
|
||||
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
||||
import com.acmerobotics.roadrunner.DualNum;
|
||||
import com.acmerobotics.roadrunner.HolonomicController;
|
||||
@@ -14,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
|
||||
import com.acmerobotics.roadrunner.MotorFeedforward;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.Pose2dDual;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2d;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2dDual;
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.ProfileParams;
|
||||
import com.acmerobotics.roadrunner.Rotation2d;
|
||||
import com.acmerobotics.roadrunner.Time;
|
||||
import com.acmerobotics.roadrunner.TimeTrajectory;
|
||||
import com.acmerobotics.roadrunner.TimeTurn;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
|
||||
import com.acmerobotics.roadrunner.TurnConstraints;
|
||||
import com.acmerobotics.roadrunner.Twist2d;
|
||||
import com.acmerobotics.roadrunner.Twist2dDual;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.VelConstraint;
|
||||
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
|
||||
import com.acmerobotics.roadrunner.ftc.Encoder;
|
||||
@@ -46,56 +56,15 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
|
||||
|
||||
import java.lang.Math;
|
||||
import java.util.Arrays;
|
||||
import java.util.LinkedList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
public final class MecanumDrive {
|
||||
public static class Params {
|
||||
// IMU orientation
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4* Math.PI; // shared with path
|
||||
public double maxAngAccel = 4* Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
public double headingVelGain = 0.0; // shared with turn
|
||||
}
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
|
||||
public final MecanumKinematics kinematics = new MecanumKinematics(
|
||||
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
||||
|
||||
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
||||
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
||||
public final VelConstraint defaultVelConstraint =
|
||||
@@ -105,117 +74,15 @@ public final class MecanumDrive {
|
||||
));
|
||||
public final AccelConstraint defaultAccelConstraint =
|
||||
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
||||
|
||||
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
||||
|
||||
public final VoltageSensor voltageSensor;
|
||||
|
||||
public final LazyImu lazyImu;
|
||||
|
||||
public final Localizer localizer;
|
||||
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
||||
|
||||
private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
|
||||
private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
|
||||
private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
|
||||
private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
|
||||
|
||||
public class DriveLocalizer implements Localizer {
|
||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||
public final IMU imu;
|
||||
|
||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
||||
private Rotation2d lastHeading;
|
||||
private boolean initialized;
|
||||
private Pose2d pose;
|
||||
|
||||
public DriveLocalizer(Pose2d pose) {
|
||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
||||
|
||||
imu = lazyImu.get();
|
||||
|
||||
// TODO: reverse encoders if needed
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PoseVelocity2d update() {
|
||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
||||
|
||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
||||
|
||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
||||
|
||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
||||
|
||||
if (!initialized) {
|
||||
initialized = true;
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
|
||||
}
|
||||
|
||||
double headingDelta = heading.minus(lastHeading);
|
||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
pose = pose.plus(new Twist2d(
|
||||
twist.line.value(),
|
||||
headingDelta
|
||||
));
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
|
||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
||||
|
||||
@@ -268,11 +135,190 @@ public final class MecanumDrive {
|
||||
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
||||
}
|
||||
|
||||
public PoseVelocity2d updatePoseEstimate() {
|
||||
PoseVelocity2d vel = localizer.update();
|
||||
poseHistory.add(localizer.getPose());
|
||||
|
||||
while (poseHistory.size() > 100) {
|
||||
poseHistory.removeFirst();
|
||||
}
|
||||
|
||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
||||
|
||||
return vel;
|
||||
}
|
||||
|
||||
private void drawPoseHistory(Canvas c) {
|
||||
double[] xPoints = new double[poseHistory.size()];
|
||||
double[] yPoints = new double[poseHistory.size()];
|
||||
|
||||
int i = 0;
|
||||
for (Pose2d t : poseHistory) {
|
||||
xPoints[i] = t.position.x;
|
||||
yPoints[i] = t.position.y;
|
||||
|
||||
i++;
|
||||
}
|
||||
|
||||
c.setStrokeWidth(1);
|
||||
c.setStroke("#3F51B5");
|
||||
c.strokePolyline(xPoints, yPoints);
|
||||
}
|
||||
|
||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||
return new TrajectoryActionBuilder(
|
||||
TurnAction::new,
|
||||
FollowTrajectoryAction::new,
|
||||
new TrajectoryBuilderParams(
|
||||
1e-6,
|
||||
new ProfileParams(
|
||||
0.25, 0.1, 1e-2
|
||||
)
|
||||
),
|
||||
beginPose, 0.0,
|
||||
defaultTurnConstraints,
|
||||
defaultVelConstraint, defaultAccelConstraint
|
||||
);
|
||||
}
|
||||
|
||||
public static class Params {
|
||||
// IMU orientation
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4 * Math.PI; // shared with path
|
||||
public double maxAngAccel = 4 * Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
public double headingVelGain = 0.0; // shared with turn
|
||||
}
|
||||
|
||||
public class DriveLocalizer implements Localizer {
|
||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||
public final IMU imu;
|
||||
|
||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
||||
private Rotation2d lastHeading;
|
||||
private boolean initialized;
|
||||
private Pose2d pose;
|
||||
|
||||
public DriveLocalizer(Pose2d pose) {
|
||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
||||
|
||||
imu = lazyImu.get();
|
||||
|
||||
// TODO: reverse encoders if needed
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PoseVelocity2d update() {
|
||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
||||
|
||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
||||
|
||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
||||
|
||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
||||
|
||||
if (!initialized) {
|
||||
initialized = true;
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
|
||||
}
|
||||
|
||||
double headingDelta = heading.minus(lastHeading);
|
||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
pose = pose.plus(new Twist2d(
|
||||
twist.line.value(),
|
||||
headingDelta
|
||||
));
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
|
||||
public final class FollowTrajectoryAction implements Action {
|
||||
public final TimeTrajectory timeTrajectory;
|
||||
private double beginTs = -1;
|
||||
|
||||
private final double[] xPoints, yPoints;
|
||||
private double beginTs = -1;
|
||||
|
||||
public FollowTrajectoryAction(TimeTrajectory t) {
|
||||
timeTrajectory = t;
|
||||
@@ -450,51 +496,4 @@ public final class MecanumDrive {
|
||||
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
||||
}
|
||||
}
|
||||
|
||||
public PoseVelocity2d updatePoseEstimate() {
|
||||
PoseVelocity2d vel = localizer.update();
|
||||
poseHistory.add(localizer.getPose());
|
||||
|
||||
while (poseHistory.size() > 100) {
|
||||
poseHistory.removeFirst();
|
||||
}
|
||||
|
||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
||||
|
||||
|
||||
return vel;
|
||||
}
|
||||
|
||||
private void drawPoseHistory(Canvas c) {
|
||||
double[] xPoints = new double[poseHistory.size()];
|
||||
double[] yPoints = new double[poseHistory.size()];
|
||||
|
||||
int i = 0;
|
||||
for (Pose2d t : poseHistory) {
|
||||
xPoints[i] = t.position.x;
|
||||
yPoints[i] = t.position.y;
|
||||
|
||||
i++;
|
||||
}
|
||||
|
||||
c.setStrokeWidth(1);
|
||||
c.setStroke("#3F51B5");
|
||||
c.strokePolyline(xPoints, yPoints);
|
||||
}
|
||||
|
||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||
return new TrajectoryActionBuilder(
|
||||
TurnAction::new,
|
||||
FollowTrajectoryAction::new,
|
||||
new TrajectoryBuilderParams(
|
||||
1e-6,
|
||||
new ProfileParams(
|
||||
0.25, 0.1, 1e-2
|
||||
)
|
||||
),
|
||||
beginPose, 0.0,
|
||||
defaultTurnConstraints,
|
||||
defaultVelConstraint, defaultAccelConstraint
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -128,7 +128,7 @@ public class TeleopV2 extends LinearOpMode {
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
servo = new Servos();
|
||||
servo = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel();
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
@@ -158,14 +158,10 @@ public class TeleopV2 extends LinearOpMode {
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
//TODO: make sure changing position works throughout opmode
|
||||
if (!servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage())){
|
||||
spindexPID = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
|
||||
if (!servo.spinEqual(spindexPos)){
|
||||
spindexPID = servo.setSpinPos(spindexPos);
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
} else{
|
||||
@@ -348,7 +344,7 @@ public class TeleopV2 extends LinearOpMode {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
}
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing/1300);
|
||||
turretPos = servo.getTurrPos() - (bearing/1300);
|
||||
TELE.addData("Bear", bearing);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
@@ -481,13 +477,13 @@ public class TeleopV2 extends LinearOpMode {
|
||||
boolean shootingDone = false;
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1, robot.spin1Pos.getVoltage()));
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2, robot.spin1Pos.getVoltage()));
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3, robot.spin1Pos.getVoltage()));
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -53,7 +53,7 @@ public class IntakeTest extends LinearOpMode {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
robot = new Robot(hardwareMap);
|
||||
servo = new Servos();
|
||||
servo = new Servos(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
@@ -65,7 +65,7 @@ public class IntakeTest extends LinearOpMode {
|
||||
if (gamepad1.right_bumper) {
|
||||
ticker++;
|
||||
if (ticker % 16 == 0){
|
||||
currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
currentPos = servo.getSpinPos();
|
||||
if (Math.abs(currentPos - initPos) == 0.0){
|
||||
reverse = !reverse;
|
||||
}
|
||||
@@ -109,19 +109,19 @@ public class IntakeTest extends LinearOpMode {
|
||||
|
||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
||||
if (!ballIn(2)){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
}
|
||||
} else if (!ballIn(3)){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
@@ -158,7 +158,7 @@ public class IntakeTest extends LinearOpMode {
|
||||
TELE.addData("B1", ballIn(1));
|
||||
TELE.addData("B2", ballIn(2));
|
||||
TELE.addData("B3", ballIn(3));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
@@ -187,10 +187,10 @@ public class IntakeTest extends LinearOpMode {
|
||||
}
|
||||
|
||||
public void spindexer() {
|
||||
boolean atTarget = servo.spinEqual(spindexerPos, robot.spin1Pos.getVoltage());
|
||||
boolean atTarget = servo.spinEqual(spindexerPos);
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos, robot.spin1Pos.getVoltage());
|
||||
powPID = servo.setSpinPos(spindexerPos);
|
||||
robot.spin1.setPower(powPID);
|
||||
robot.spin2.setPower(-powPID);
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@ public class LimelightTest extends LinearOpMode {
|
||||
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
|
||||
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
waitForStart();
|
||||
|
||||
@@ -6,8 +6,6 @@ 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 com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@@ -33,7 +31,7 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0);
|
||||
controller.setTolerance(0.001);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
@@ -44,15 +42,7 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
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) {
|
||||
if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
@@ -71,4 +61,5 @@ public class PIDServoTest extends LinearOpMode {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -60,10 +60,6 @@ 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) {
|
||||
|
||||
@@ -73,12 +73,18 @@ public class FlywheelV2 {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
if (targetVelocity - velo > 4500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500) {
|
||||
} else if (velo - targetVelocity > 4500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
double a = 2539.07863;
|
||||
double c = 1967.6498;
|
||||
double d = -0.289647;
|
||||
double h = -1.1569;
|
||||
|
||||
double feed = Math.log10((a / (targetVelocity + c)) + d) / h;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
|
||||
@@ -29,12 +29,12 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos();
|
||||
servo = new Servos(hardwareMap);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage()) && mode == 0){
|
||||
double pos = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
|
||||
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){
|
||||
@@ -44,16 +44,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
robot.spin1.setPower(spindexPow);
|
||||
robot.spin2.setPower(-spindexPow);
|
||||
}
|
||||
if (turretPos != 0.501 && !servo.turretEqual(turretPos, robot.turr1Pos.getCurrentPosition())){
|
||||
double pos = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
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 (turretPos != 0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1-turretPos);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
@@ -72,8 +65,8 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
// 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(robot.spin1Pos.getVoltage()));
|
||||
TELE.addData("turret pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
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());
|
||||
|
||||
@@ -27,8 +27,8 @@ public class Robot {
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
public Servo transferServo;
|
||||
public CRServo turr1;
|
||||
public CRServo turr2;
|
||||
public Servo turr1;
|
||||
public Servo turr2;
|
||||
public CRServo spin1;
|
||||
public CRServo spin2;
|
||||
public AnalogInput spin1Pos;
|
||||
@@ -74,9 +74,9 @@ public class Robot {
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(CRServo.class, "t1");
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
|
||||
turr2 = hardwareMap.get(CRServo.class, "t2");
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
|
||||
turr1Pos = intake; // Encoder of turret plugged in intake port
|
||||
|
||||
|
||||
@@ -6,54 +6,55 @@ 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 = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
|
||||
public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
|
||||
|
||||
public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
|
||||
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
|
||||
public static double spin_scalar = 1.0086;
|
||||
public static double spin_restPos = 0.0;
|
||||
public static double turret_scalar = 1.009;
|
||||
public static double turret_restPos = 0.0;
|
||||
Robot robot;
|
||||
PIDFController spinPID;
|
||||
PIDFController turretPID;
|
||||
|
||||
public Servos() {
|
||||
public Servos(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
||||
|
||||
turretPID.setTolerance(0.001);
|
||||
}
|
||||
|
||||
// In the code below, encoder = robot.servo.getVoltage()
|
||||
|
||||
public double getSpinPos(double voltage) {
|
||||
return spin_scalar * ((voltage - spin_restPos) / 3.3);
|
||||
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, double voltage) {
|
||||
public double setSpinPos(double pos) {
|
||||
spinPID.setPIDF(spinP, spinI, spinD, spinF);
|
||||
|
||||
return spinPID.calculate(this.getSpinPos(voltage), pos);
|
||||
return spinPID.calculate(this.getSpinPos(), pos);
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos, double voltage) {
|
||||
return Math.abs(pos - this.getSpinPos(voltage)) < 0.02;
|
||||
public boolean spinEqual(double pos) {
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.02;
|
||||
}
|
||||
|
||||
public double getTurrPos(double apos) {
|
||||
return apos;
|
||||
public double getTurrPos() {
|
||||
return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
|
||||
|
||||
}
|
||||
|
||||
public double setTurrPos(double pos, double apos) {
|
||||
public double setTurrPos(double pos) {
|
||||
turretPID.setPIDF(turrP, turrI, turrD, turrF);
|
||||
|
||||
return spinPID.calculate(this.getTurrPos(apos), pos);
|
||||
return spinPID.calculate(this.getTurrPos(), pos);
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos, double apos) {
|
||||
return Math.abs(pos - this.getTurrPos(apos)) < 0.01;
|
||||
public boolean turretEqual(double pos) {
|
||||
return Math.abs(pos - this.getTurrPos()) < 0.01;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user