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4 Commits
danielv2
...
d586e3b4df
| Author | SHA1 | Date | |
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| d586e3b4df | |||
| 2f5d4638ec | |||
| 1642e161c5 | |||
| 46a565c2c8 |
@@ -1,751 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Color.*;
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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.ShooterVars.*;
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import androidx.annotation.NonNull;
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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.hardware.limelightvision.LLResult;
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import com.qualcomm.hardware.limelightvision.LLResultTypes;
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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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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.FlywheelV2;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import java.util.List;
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@Config
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class AutoClose_V3 extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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FlywheelV2 flywheel;
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Servos servo;
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double velo = 0.0;
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public static double intake1Time = 2.7;
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public static double intake2Time = 3.0;
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public static double colorDetect = 3.0;
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boolean gpp = false;
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boolean pgp = false;
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boolean ppg = false;
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double powPID = 0.0;
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double bearing = 0.0;
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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 Action initShooter(int vel) {
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return new Action() {
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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TELE.addData("Velocity", velo);
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TELE.update();
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return !flywheel.getSteady();
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}
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};
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}
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public Action Obelisk() {
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return new Action() {
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int id = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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LLResult result = robot.limelight.getLatestResult();
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if (result != null && result.isValid()) {
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List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
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for (LLResultTypes.FiducialResult fiducial : fiducials) {
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id = fiducial.getFiducialId();
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TELE.addData("ID", id);
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TELE.update();
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}
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}
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if (id == 21){
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gpp = true;
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} else if (id == 22){
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pgp = true;
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} else if (id == 23){
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ppg = true;
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}
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TELE.addData("Velocity", velo);
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TELE.addData("21", gpp);
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TELE.addData("22", pgp);
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TELE.addData("23", ppg);
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TELE.update();
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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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} 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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}
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} else {
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return true;
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}
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}
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};
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}
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public Action spindex(double spindexer, int vel) {
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return new Action() {
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double spinPID = 0.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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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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robot.spin1.setPower(spinPID);
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robot.spin2.setPower(-spinPID);
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TELE.addData("Velocity", velo);
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TELE.addLine("spindex");
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TELE.update();
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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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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action Shoot(int vel) {
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return new Action() {
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double transferStamp = 0.0;
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int ticker = 1;
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boolean transferIn = false;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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TELE.addData("Velocity", velo);
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TELE.addLine("shooting");
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TELE.update();
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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drive.updatePoseEstimate();
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detectTag();
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teleStart = drive.localizer.getPose();
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if (ticker == 1) {
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transferStamp = getRuntime();
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ticker++;
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}
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if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
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robot.transferServo.setPosition(transferServo_in);
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TELE.addData("Velocity", velo);
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TELE.addData("ticker", ticker);
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TELE.update();
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transferIn = true;
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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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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action intake(double intakeTime) {
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return new Action() {
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double position = spindexer_intakePos1;
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double stamp = 0.0;
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int ticker = 0;
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double pow = 1.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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robot.intake.setPower(pow);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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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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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 (s2D > 60){
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if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
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position = spindexer_intakePos2;
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} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
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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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position = spindexer_intakePos3;
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} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
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position = spindexer_intakePos1;
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} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
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position = spindexer_intakePos2;
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}
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}
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stamp = getRuntime();
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Intaking");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(1);
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if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
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robot.spin1.setPower(0);
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robot.spin2.setPower(0);
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if (getRuntime() - stamp - intakeTime < 1){
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pow = -2*(getRuntime() - stamp - intakeTime);
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return true;
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} else {
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robot.intake.setPower(0);
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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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}
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}
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};
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}
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public Action ColorDetect(int vel) {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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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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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (s1D < 43) {
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double green = robot.color1.getNormalizedColors().green;
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double red = robot.color1.getNormalizedColors().red;
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double blue = robot.color1.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b1 = 2;
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} else {
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b1 = 1;
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}
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}
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if (s2D < 60) {
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double green = robot.color2.getNormalizedColors().green;
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double red = robot.color2.getNormalizedColors().red;
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double blue = robot.color2.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b2 = 2;
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} else {
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b2 = 1;
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}
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}
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if (s3D < 33) {
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double green = robot.color3.getNormalizedColors().green;
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double red = robot.color3.getNormalizedColors().red;
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double blue = robot.color3.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b3 = 2;
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} else {
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b3 = 1;
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}
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Detecting");
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TELE.addData("Distance 1", s1D);
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TELE.addData("Distance 2", s2D);
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TELE.addData("Distance 3", s3D);
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TELE.addData("B1", b1);
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TELE.addData("B2", b2);
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TELE.addData("B3", b3);
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TELE.update();
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return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
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}
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};
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}
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@Override
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public void runOpMode() throws InterruptedException {
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robot = new Robot(hardwareMap);
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flywheel = new FlywheelV2();
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TELE = new MultipleTelemetry(
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telemetry, FtcDashboard.getInstance().getTelemetry()
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);
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drive = new MecanumDrive(hardwareMap, new Pose2d(
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0, 0, 0
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));
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robot.limelight.pipelineSwitch(1);
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robot.limelight.start();
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TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
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.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
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TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
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.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
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TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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while (opModeInInit()) {
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if (gamepad2.dpadUpWasPressed()) {
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hoodAuto -= 0.01;
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}
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if (gamepad2.dpadDownWasPressed()) {
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hoodAuto += 0.01;
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}
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if (gamepad2.crossWasPressed()){
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redAlliance = !redAlliance;
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}
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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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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
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.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
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shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
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.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
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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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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
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.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
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.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
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||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos(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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,651 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoFar_V1 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redFar, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redFar, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = servo.setTurrPos(turret_blueFar, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueFar, robot.turr1Pos.getCurrentPosition());
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
|
||||
double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
//TODO: add positions to develop auto
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
|
||||
.strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAutoFar);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
initShooter(AUTO_FAR_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(park.build());
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos(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_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -3,9 +3,8 @@ package org.firstinspires.ftc.teamcode.autonomous;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
@@ -30,7 +29,7 @@ import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
@Autonomous
|
||||
public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
@@ -45,9 +44,9 @@ public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
double velo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
public static double intake1Time = 6.5;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
public static double intake2Time = 6.5;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
@@ -178,8 +177,8 @@ public class Blue_V2 extends LinearOpMode {
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
robot.turr1.setPower(turret_blueClose);
|
||||
robot.turr2.setPower(1 - turret_blueClose);
|
||||
robot.turr1.setPosition(turret_blue);
|
||||
robot.turr2.setPosition(1 - turret_blue);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
@@ -188,39 +187,6 @@ public class Blue_V2 extends LinearOpMode {
|
||||
};
|
||||
}
|
||||
|
||||
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;
|
||||
@@ -264,8 +230,8 @@ public class Blue_V2 extends LinearOpMode {
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
@@ -380,8 +346,8 @@ public class Blue_V2 extends LinearOpMode {
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
@@ -393,6 +359,7 @@ public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
@@ -418,8 +385,8 @@ public class Blue_V2 extends LinearOpMode {
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
@@ -541,13 +508,13 @@ public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPower(turret_detectBlueClose);
|
||||
robot.turr2.setPower(1 - turret_detectBlueClose);
|
||||
robot.turr1.setPosition(turret_detectBlue);
|
||||
robot.turr2.setPosition(1 - turret_detectBlue);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
@@ -600,8 +567,7 @@ public class Blue_V2 extends LinearOpMode {
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
@@ -633,8 +599,7 @@ public class Blue_V2 extends LinearOpMode {
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
@@ -1,668 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
} 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());
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
double initPos = 0.0;
|
||||
double finalPos = 0.0;
|
||||
boolean zeroNeeded = false;
|
||||
boolean zeroPassed = false;
|
||||
double currentPos = 0.0;
|
||||
double prevPos = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
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());
|
||||
|
||||
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;
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker > 16){
|
||||
robot.spin1.setPower(0.08);
|
||||
robot.spin2.setPower(-0.08);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double spinCurrentPos = 0.0;
|
||||
double spinInitPos = 0.0;
|
||||
boolean reverse = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker % 12 < 3) {
|
||||
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
|
||||
} else if (reverse) {
|
||||
robot.spin1.setPower(1);
|
||||
robot.spin2.setPower(-1);
|
||||
} else {
|
||||
robot.spin1.setPower(-0.15);
|
||||
robot.spin2.setPower(0.15);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
|
||||
if (getRuntime() - stamp > intakeTime){
|
||||
if (reverse){
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
} else {
|
||||
robot.spin1.setPower(1);
|
||||
robot.spin2.setPower(-1);
|
||||
}
|
||||
return false;
|
||||
} else {
|
||||
if (ticker % 4 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.02;
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
servo = new Servos();
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
|
||||
double turretPID;
|
||||
if (redAlliance){
|
||||
turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
} else {
|
||||
turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build()
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos(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.addLine("Shooting");
|
||||
TELE.update();
|
||||
Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
|
||||
}
|
||||
|
||||
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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -3,6 +3,7 @@ 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 static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
@@ -25,11 +26,9 @@ 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")
|
||||
@Autonomous
|
||||
public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
@@ -42,12 +41,11 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 6.5;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
public static double intake2Time = 6.5;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
@@ -59,33 +57,42 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
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
|
||||
|
||||
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(vel, robot.shooter1.getCurrentPosition());
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
@@ -114,7 +121,7 @@ public class Red_V2 extends LinearOpMode {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
@@ -123,7 +130,7 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
detectTag();
|
||||
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
@@ -169,10 +176,9 @@ public class Red_V2 extends LinearOpMode {
|
||||
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());
|
||||
robot.turr1.setPosition(turret_red);
|
||||
robot.turr2.setPosition(1 - turret_red);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
@@ -180,17 +186,51 @@ public class Red_V2 extends LinearOpMode {
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, int vel){
|
||||
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;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
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);
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
@@ -199,32 +239,65 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !servo.spinEqual(spindexer, robot.spin1Pos.getVoltage());
|
||||
return !spindexPosEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
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();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
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();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
@@ -272,8 +345,8 @@ public class Red_V2 extends LinearOpMode {
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
@@ -285,6 +358,7 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
@@ -293,27 +367,6 @@ public class Red_V2 extends LinearOpMode {
|
||||
};
|
||||
}
|
||||
|
||||
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;
|
||||
@@ -331,8 +384,8 @@ public class Red_V2 extends LinearOpMode {
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
@@ -454,14 +507,16 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPosition(turret_detectRed);
|
||||
robot.turr2.setPosition(1 - turret_detectRed);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
@@ -485,7 +540,7 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
@@ -512,8 +567,7 @@ public class Red_V2 extends LinearOpMode {
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
@@ -521,7 +575,7 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
@@ -545,13 +599,11 @@ public class Red_V2 extends LinearOpMode {
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
@@ -572,25 +624,6 @@ public class Red_V2 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
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) {
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class Color {
|
||||
public static boolean redAlliance = true;
|
||||
}
|
||||
|
||||
@@ -12,22 +12,40 @@ public class Poses {
|
||||
|
||||
public static double relativeGoalHeight = goalHeight - turretHeight;
|
||||
|
||||
public static double x1 = 50, y1 = 0, h1 = 0;
|
||||
|
||||
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
|
||||
|
||||
public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
|
||||
|
||||
public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
|
||||
|
||||
public static double tx = 0, ty = 0, th = 0;
|
||||
|
||||
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
|
||||
|
||||
public static double rx1 = 40, ry1 = -7, rh1 = 0;
|
||||
|
||||
|
||||
public static double rx1 = 46, ry1 = -4, rh1 = 0;
|
||||
|
||||
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
|
||||
|
||||
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
|
||||
|
||||
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
|
||||
|
||||
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 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 bx1 = 46, by1 = 4, bh1 = 0;
|
||||
|
||||
public static double bx2a = 45, by2a = -5, bh2a = Math.toRadians(-140);
|
||||
|
||||
public static double bx2b = 31, by2b = -32, bh2b = Math.toRadians(-140);
|
||||
|
||||
public static double bx3a = 58, by3a = -42, bh3a = Math.toRadians(-140);
|
||||
|
||||
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
|
||||
public static Pose2d teleStart = new Pose2d(rx1, 10, 0);
|
||||
|
||||
}
|
||||
|
||||
@@ -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 = 0.665;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.5;
|
||||
public static double spindexer_intakePos3 = 0.29;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.66;
|
||||
public static double spindexer_intakePos2 = 0.99;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.42;
|
||||
public static double spindexer_outtakeBall3 = 0.845;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.74;
|
||||
public static double spindexer_outtakeBall1 = 0.58;
|
||||
public static double spindexer_outtakeBall2 = 0.48;
|
||||
public static double spindexer_outtakeBall1 = 0.1;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
@@ -24,22 +24,18 @@ public class ServoPositions {
|
||||
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double hoodAuto = 0.22;
|
||||
public static double hoodAuto = 0.59;
|
||||
|
||||
public static double hoodAutoFar = 0.5; //TODO: change this;
|
||||
public static double hoodHigh = 0.21;
|
||||
|
||||
public static double hoodHigh = 0.21; //TODO: change this;
|
||||
public static double hoodLow = 1.0;
|
||||
|
||||
public static double hoodLow = 1.0; //TODO: change this;
|
||||
public static double turret_red = 0.4;
|
||||
public static double turret_blue = 0.38;
|
||||
|
||||
public static double turret_redClose = 0.42;
|
||||
public static double turret_blueClose = 0.38;
|
||||
public static double turret_redFar = 0.5; //TODO: change this
|
||||
public static double turret_blueFar = 0.5; // TODO: change this
|
||||
public static double turret_detectRed = 0.2;
|
||||
|
||||
public static double turret_detectRedClose = 0.2;
|
||||
|
||||
public static double turret_detectBlueClose = 0.6;
|
||||
public static double turret_detectBlue = 0.6;
|
||||
public static double turrDefault = 0.40;
|
||||
|
||||
}
|
||||
|
||||
@@ -19,6 +19,5 @@ 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_FAR_VEL = 4000; //TODO: test this
|
||||
public static int AUTO_CLOSE_VEL = 3025; //3300;
|
||||
}
|
||||
@@ -73,13 +73,13 @@ public final class MecanumDrive {
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
public double maxWheelVel = 120;
|
||||
public double minProfileAccel = -30;
|
||||
public double maxProfileAccel = 120;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4* Math.PI; // shared with path
|
||||
public double maxAngAccel = 4* Math.PI;
|
||||
public double maxAngVel = 2* Math.PI; // shared with path
|
||||
public double maxAngAccel = 2* Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
@@ -185,19 +185,19 @@ public final class MecanumDrive {
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
|
||||
@@ -1,9 +1,19 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.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.turrDefault;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
|
||||
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
|
||||
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
|
||||
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
|
||||
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
@@ -16,9 +26,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
import java.util.ArrayList;
|
||||
@@ -27,8 +35,7 @@ import java.util.List;
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TeleopV2 extends LinearOpMode {
|
||||
Servos servo;
|
||||
Flywheel flywheel;
|
||||
|
||||
public static double manualVel = 3000;
|
||||
public static double hood = 0.5;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
@@ -36,6 +43,7 @@ public class TeleopV2 extends LinearOpMode {
|
||||
public static double velMultiplier = 20;
|
||||
public static double shootStamp2 = 0.0;
|
||||
|
||||
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
@@ -56,7 +64,6 @@ public class TeleopV2 extends LinearOpMode {
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
int camTicker = 0;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
@@ -82,6 +89,7 @@ public class TeleopV2 extends LinearOpMode {
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
|
||||
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean emergency = false;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
@@ -92,11 +100,6 @@ public class TeleopV2 extends LinearOpMode {
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double spindexPID = 0.0;
|
||||
double spindexPos = spindexer_intakePos1;
|
||||
double error = 0.0;
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
@@ -128,8 +131,6 @@ public class TeleopV2 extends LinearOpMode {
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
servo = new Servos();
|
||||
flywheel = new Flywheel();
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
@@ -137,6 +138,9 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
robot.turr1.setPosition(0.4);
|
||||
robot.turr2.setPosition(1 - 0.4);
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()) {
|
||||
@@ -158,21 +162,6 @@ 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());
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
} else{
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
}
|
||||
|
||||
//INTAKE:
|
||||
|
||||
if (gamepad1.rightBumperWasPressed()) {
|
||||
@@ -182,11 +171,15 @@ public class TeleopV2 extends LinearOpMode {
|
||||
emergency = false;
|
||||
overrideTurr = false;
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()) {
|
||||
intake = false;
|
||||
emergency = !emergency;
|
||||
reject = true;
|
||||
shootAll = false;
|
||||
overrideTurr = false;
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -196,15 +189,22 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
double position;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
spindexPos = spindexer_intakePos1 + 0.015;
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
spindexPos = spindexer_intakePos1 - 0.015;
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
} else if (reject) {
|
||||
robot.intake.setPower(-1);
|
||||
spindexPos = spindexer_intakePos1;
|
||||
double position = spindexer_intakePos1;
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
@@ -286,7 +286,46 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
|
||||
double penguin = 0;
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
penguin = (double) robot.shooterEncoder.getCurrentPosition() / 2048;
|
||||
double stamp = getRuntime();
|
||||
velo1 = -60 * ((penguin - initPos) / (stamp - stamp1));
|
||||
initPos = penguin;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
velo = velo1;
|
||||
|
||||
double feed = vel / 4500;
|
||||
|
||||
if (vel > 500) {
|
||||
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
}
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo1;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
double powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
|
||||
if (vel - velo > 1000) {
|
||||
powPID = 1;
|
||||
} else if (velo - vel > 1000) {
|
||||
powPID = 0;
|
||||
}
|
||||
|
||||
TELE.addData("PIDPower", powPID);
|
||||
|
||||
TELE.addData("vel", velo1);
|
||||
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
@@ -297,11 +336,8 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
double offset;
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotX = robX - xOffset;
|
||||
double robotY = robY - yOffset;
|
||||
double robotX = drive.localizer.getPose().position.x - xOffset;
|
||||
double robotY = drive.localizer.getPose().position.y - xOffset;
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -10;
|
||||
@@ -322,8 +358,7 @@ public class TeleopV2 extends LinearOpMode {
|
||||
offset -= 360;
|
||||
}
|
||||
|
||||
//TODO: test the camera teleop code
|
||||
double pos = turrDefault + (error/8); // adds the overall error to the default
|
||||
double pos = turrDefault;
|
||||
|
||||
TELE.addData("offset", offset);
|
||||
|
||||
@@ -335,51 +370,14 @@ public class TeleopV2 extends LinearOpMode {
|
||||
pos = 0.97;
|
||||
}
|
||||
|
||||
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
|
||||
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
|
||||
|
||||
double bearing = 0.0;
|
||||
if (d20 != null || d24 != null){
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
}
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
}
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing/1300);
|
||||
TELE.addData("Bear", bearing);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
|
||||
|
||||
// deadband: ignore tiny noise
|
||||
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
|
||||
// only accumulate if bearing direction is consistent
|
||||
if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
|
||||
error += bearingCorrection;
|
||||
}
|
||||
}
|
||||
|
||||
camTicker++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
|
||||
robot.turr1.setPosition(pos);
|
||||
robot.turr2.setPosition(1 - pos);
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
@@ -433,11 +431,13 @@ public class TeleopV2 extends LinearOpMode {
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualTurret = true;
|
||||
manualOffset = 0;
|
||||
manualTurret = false;
|
||||
autoHoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
|
||||
sleep(1200);
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -457,15 +457,23 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
if (emergency) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
reject = false;
|
||||
|
||||
if (getRuntime() % 3 > 1.5) {
|
||||
spindexPos = 1;
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(1);
|
||||
} else {
|
||||
spindexPos = 0;
|
||||
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(0);
|
||||
}
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
if (getRuntime() % 1 < 0.5) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
}
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
@@ -480,14 +488,42 @@ public class TeleopV2 extends LinearOpMode {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
|
||||
|
||||
if (d20 != null) {
|
||||
overrideTurr = true;
|
||||
double bearing = d20.ftcPose.bearing;
|
||||
double finalPos =robot.turr1.getPosition() - (bearing/1300);
|
||||
robot.turr1.setPosition(finalPos);
|
||||
robot.turr2.setPosition(1-finalPos);
|
||||
|
||||
TELE.addData("Bear", bearing);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (d24 != null) {
|
||||
overrideTurr = true;
|
||||
|
||||
double bearing = d24.ftcPose.bearing;
|
||||
double finalPos = turretPos() + (bearing/720);
|
||||
robot.turr1.setPosition(finalPos);
|
||||
robot.turr2.setPosition(1-finalPos);
|
||||
|
||||
}
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1, robot.spin1Pos.getVoltage()));
|
||||
outtake1 = (spindexPosEqual(spindexer_outtakeBall1));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2, robot.spin1Pos.getVoltage()));
|
||||
outtake2 = (spindexPosEqual(spindexer_outtakeBall2));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3, robot.spin1Pos.getVoltage()));
|
||||
outtake3 = (spindexPosEqual(spindexer_outtakeBall3));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
@@ -530,7 +566,8 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
} else {
|
||||
// Finished shooting all balls
|
||||
spindexPos = spindexer_intakePos1;
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
@@ -540,9 +577,10 @@ public class TeleopV2 extends LinearOpMode {
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -622,17 +660,17 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
if (ballIn(3)){
|
||||
shootOrder.add(3);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
if (ballIn(2)){
|
||||
shootOrder.add(2);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
if (ballIn(1)){
|
||||
shootOrder.add(1);
|
||||
|
||||
}
|
||||
@@ -652,44 +690,41 @@ public class TeleopV2 extends LinearOpMode {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
// // Right bumper shoots all balls fastest, ignoring colors
|
||||
// if (gamepad2.leftBumperWasPressed()) {
|
||||
// shootOrder.clear();
|
||||
// shootStamp = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// // Fastest order (example: slot 3 → 2 → 1)
|
||||
//
|
||||
// if (ballIn(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
// if (ballIn(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
// shootAll = true;
|
||||
// shootPos = drive.localizer.getPose();
|
||||
//
|
||||
// }
|
||||
//
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = true;
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
}
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
emergency = false;
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = !emergency;
|
||||
|
||||
}
|
||||
|
||||
//MISC:
|
||||
@@ -743,9 +778,15 @@ public class TeleopV2 extends LinearOpMode {
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
boolean spindexPosEqual(double spindexer) {
|
||||
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
|
||||
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1 - spindexer);
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
@@ -900,4 +941,9 @@ public class TeleopV2 extends LinearOpMode {
|
||||
}
|
||||
return true; // default
|
||||
}
|
||||
|
||||
public double turretPos() {
|
||||
return (scalar*((robot.turr1Pos.getVoltage()-restPos) /3.3 ));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -1,800 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class TeleopV3 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
FlywheelV2 flywheel;
|
||||
MecanumDrive drive;
|
||||
|
||||
public static double manualVel = 3000;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
public static double desiredTurretAngle = 180;
|
||||
public static double shootStamp2 = 0.0;
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
public boolean autoHood = true;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
public double shootStamp = 0.0;
|
||||
public boolean circle = false;
|
||||
public boolean square = false;
|
||||
public boolean triangle = false;
|
||||
double autoHoodOffset = 0.0;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
int camTicker = 0;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
boolean oddBallColor = false;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean outtake1 = false;
|
||||
boolean outtake2 = false;
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
private boolean shootAll = false;
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double spindexPID = 0.0;
|
||||
double spindexPos = spindexer_intakePos1;
|
||||
double error = 0.0;
|
||||
double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0, spinningPow = 0.15;
|
||||
boolean reverse = false;
|
||||
int intakeTicker = 0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos();
|
||||
flywheel = new FlywheelV2();
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()) {
|
||||
//DRIVETRAIN:
|
||||
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
if (!servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage()) && !gamepad1.right_bumper) {
|
||||
spindexPID = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
} else {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
}
|
||||
|
||||
// INTAKE
|
||||
if (gamepad1.right_bumper) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
intakeTicker++;
|
||||
if (intakeTicker % 16 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
if (Math.abs(spinCurrentPos - spinInitPos) == 0.0) {
|
||||
reverse = !reverse;
|
||||
}
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
if (reverse) {
|
||||
robot.spin1.setPower(spinningPow);
|
||||
robot.spin2.setPower(-spinningPow);
|
||||
} else {
|
||||
robot.spin1.setPower(-spinningPow);
|
||||
robot.spin2.setPower(spinningPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
intakeStamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else if (gamepad1.left_bumper) {
|
||||
robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
|
||||
spindexPos = spindexer_intakePos2;
|
||||
intakeTicker = 0;
|
||||
} else {
|
||||
if (getRuntime() - intakeStamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
intakeTicker = 0;
|
||||
}
|
||||
|
||||
//COLOR:
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s3G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s3.add(true);
|
||||
} else {
|
||||
s3.add(false);
|
||||
}
|
||||
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (!s1.isEmpty()) {
|
||||
green1 = checkGreen(s1, s1T);
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
double offset;
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotX = robX - xOffset;
|
||||
double robotY = robY - yOffset;
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -10;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = goalX - robotX; // delta x from robot to goal
|
||||
double dy = goalY - robotY; // delta y from robot to goal
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
|
||||
|
||||
desiredTurretAngle += manualOffset;
|
||||
|
||||
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
|
||||
|
||||
if (offset > 135) {
|
||||
offset -= 360;
|
||||
}
|
||||
|
||||
//TODO: test the camera teleop code
|
||||
double pos = turrDefault + (error / 8); // adds the overall error to the default
|
||||
|
||||
TELE.addData("offset", offset);
|
||||
|
||||
pos -= offset * (0.9 / 360);
|
||||
|
||||
if (pos < 0.02) {
|
||||
pos = 0.02;
|
||||
} else if (pos > 0.97) {
|
||||
pos = 0.97;
|
||||
}
|
||||
|
||||
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1) { //not moving
|
||||
double bearing;
|
||||
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
|
||||
// deadband: ignore tiny noise
|
||||
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
|
||||
// only accumulate if bearing direction is consistent
|
||||
if (Math.signum(bearingCorrection) == Math.signum(error) ||
|
||||
error == 0) {
|
||||
error += bearingCorrection;
|
||||
}
|
||||
}
|
||||
camTicker++;
|
||||
TELE.addData("tx", bearing);
|
||||
TELE.addData("ty", result.getTy());
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
}
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
|
||||
if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4100;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
|
||||
}
|
||||
|
||||
//TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualOffset = 0;
|
||||
manualTurret = false;
|
||||
if (gamepad2.left_bumper) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
|
||||
sleep(1200);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y < -0.5) {
|
||||
autoHood = true;
|
||||
} else if (gamepad2.left_stick_y > 0.5) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
if (shootAll) {
|
||||
|
||||
TELE.addData("100% works", shootOrder);
|
||||
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1, robot.spin1Pos.getVoltage()));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2, robot.spin1Pos.getVoltage()));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3, robot.spin1Pos.getVoltage()));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
case 1:
|
||||
shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
|
||||
TELE.addData("shootA", shootA);
|
||||
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootA;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
|
||||
TELE.addData("shootB", shootB);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootB;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
|
||||
TELE.addData("shootC", shootC);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootC;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// Remove from the list only if shooting is complete
|
||||
if (shootingDone) {
|
||||
shootOrder.remove(0);
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
// Finished shooting all balls
|
||||
spindexPos = spindexer_intakePos1;
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad1.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
|
||||
shootOrder.clear();
|
||||
|
||||
// Determine shooting order based on button pressed
|
||||
// square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad1.crossWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
}
|
||||
|
||||
//EXTRA STUFFINESS:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
TELE.addData("distanceToGoal", distanceToGoal);
|
||||
TELE.addData("hood", robot.hood.getPosition());
|
||||
TELE.addData("targetVel", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// Returns color of ball in slot i (1-based)
|
||||
boolean getBallColor(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
return green1;
|
||||
case 2:
|
||||
return green2;
|
||||
case 3:
|
||||
return green3;
|
||||
}
|
||||
return false; // default
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
List<Double> times =
|
||||
slot == 1 ? s1T :
|
||||
slot == 2 ? s2T :
|
||||
slot == 3 ? s3T : null;
|
||||
|
||||
if (times == null || times.isEmpty()) return false;
|
||||
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
}
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
// linear interpolation between 40->2650 and 120->3600
|
||||
double slope = (3700.0 - 2750.0) / (100.0 - 30);
|
||||
return (int) Math.round(2750 + slope * (distance - 30));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ColorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,223 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class IntakeTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
public static int mode = 0; // 0 for teleop, 1 for auto
|
||||
public static double manualPow = 0.15;
|
||||
double stamp = 0;
|
||||
int ticker = 0;
|
||||
boolean steadySpin = false;
|
||||
double powPID = 0.0;
|
||||
boolean intake = true;
|
||||
double spindexerPos = spindexer_intakePos1;
|
||||
boolean wasMoving = false;
|
||||
double currentPos = 0.0;
|
||||
double initPos = 0.0;
|
||||
boolean reverse = false;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
robot = new Robot(hardwareMap);
|
||||
servo = new Servos();
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (mode == 0) {
|
||||
if (gamepad1.right_bumper) {
|
||||
ticker++;
|
||||
if (ticker % 16 == 0){
|
||||
currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
if (Math.abs(currentPos - initPos) == 0.0){
|
||||
reverse = !reverse;
|
||||
}
|
||||
initPos = currentPos;
|
||||
}
|
||||
if (reverse){
|
||||
robot.spin1.setPower(manualPow);
|
||||
robot.spin2.setPower(-manualPow);
|
||||
} else {
|
||||
robot.spin1.setPower(-manualPow);
|
||||
robot.spin2.setPower(manualPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
stamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
ticker = 0;
|
||||
}
|
||||
} else if (mode == 1) {
|
||||
|
||||
if (gamepad1.right_bumper && intake){
|
||||
robot.intake.setPower(1);
|
||||
} else if (gamepad1.left_bumper){
|
||||
robot.intake.setPower(-1);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
colorDetect();
|
||||
spindexer();
|
||||
|
||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
||||
if (!ballIn(2)){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
}
|
||||
} else if (!ballIn(3)){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if (mode == 2){ // switch to this mode before switching modes or to reset balls
|
||||
powPID = 0;
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
stamp = getRuntime();
|
||||
ticker = 0;
|
||||
spindexer();
|
||||
intake = true;
|
||||
}
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
TELE.addData("Manual Power", manualPow);
|
||||
TELE.addData("PID Power", powPID);
|
||||
TELE.addData("B1", ballIn(1));
|
||||
TELE.addData("B2", ballIn(2));
|
||||
TELE.addData("B3", ballIn(3));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
public void colorDetect() {
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
TELE.addData("Color 1 Distance", s1D);
|
||||
TELE.addData("Color 2 Distance", s2D);
|
||||
TELE.addData("Color 3 Distance", s3D);
|
||||
TELE.update();
|
||||
|
||||
if (s1D < 43) {
|
||||
s1T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
}
|
||||
|
||||
public void spindexer() {
|
||||
boolean atTarget = servo.spinEqual(spindexerPos, robot.spin1Pos.getVoltage());
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(powPID);
|
||||
robot.spin2.setPower(-powPID);
|
||||
|
||||
steadySpin = false;
|
||||
wasMoving = true; // remember we were moving
|
||||
stamp = getRuntime();
|
||||
} else {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
steadySpin = true;
|
||||
wasMoving = false;
|
||||
}
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
List<Double> times;
|
||||
|
||||
if (slot == 1) {times = s1T;}
|
||||
else if (slot == 2) {times = s2T;}
|
||||
else if (slot == 3) {times = s3T;}
|
||||
else return false;
|
||||
|
||||
if (!times.isEmpty()){
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,77 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
//TODO: fix to get the apriltag that it is reading
|
||||
public class LimelightTest extends LinearOpMode {
|
||||
MultipleTelemetry TELE;
|
||||
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
|
||||
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");
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
limelight.start();
|
||||
while (opModeIsActive()){
|
||||
if (mode == 0){
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else if (mode == 1){
|
||||
limelight.pipelineSwitch(1);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
int id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
} else if (mode == 2){
|
||||
limelight.pipelineSwitch(4);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else if (mode == 3){
|
||||
limelight.pipelineSwitch(5);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else {
|
||||
limelight.pipelineSwitch(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,74 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
public static double p = 2, i = 0, d = 0, f = 0;
|
||||
|
||||
public static double target = 0.5;
|
||||
|
||||
public static int mode = 0; //0 is for turret, 1 is for spindexer
|
||||
|
||||
public static double scalar = 1.01;
|
||||
public static double restPos = 0.0;
|
||||
|
||||
Robot robot;
|
||||
|
||||
double pos = 0.0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
|
||||
if (mode == 0) {
|
||||
pos = robot.turr1Pos.getCurrentPosition();
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.turr1.setPower(pid);
|
||||
robot.turr2.setPower(-pid);
|
||||
} else if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.spin1.setPower(pid);
|
||||
robot.spin2.setPower(-pid);
|
||||
}
|
||||
|
||||
telemetry.addData("pos", pos);
|
||||
telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
|
||||
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
|
||||
telemetry.addData("target", target);
|
||||
telemetry.addData("Mode", mode);
|
||||
telemetry.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
@@ -9,7 +7,6 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@@ -19,14 +16,18 @@ public class ShooterTest extends LinearOpMode {
|
||||
public static int mode = 0;
|
||||
public static double parameter = 0.0;
|
||||
// --- CONSTANTS YOU TUNE ---
|
||||
public static double MAX_RPM = 4500; // your measured max RPM
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
|
||||
public static double transferPower = 1.0;
|
||||
public static double transferPower = 0.0;
|
||||
public static double hoodPos = 0.501;
|
||||
|
||||
public static double turretPos = 0.501;
|
||||
public static boolean shoot = false;
|
||||
Robot robot;
|
||||
FlywheelV2 flywheel;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
private double lastTimeStamp = 0.0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
@@ -34,7 +35,7 @@ public class ShooterTest extends LinearOpMode {
|
||||
robot = new Robot(hardwareMap);
|
||||
DcMotorEx leftShooter = robot.shooter1;
|
||||
DcMotorEx rightShooter = robot.shooter2;
|
||||
flywheel = new FlywheelV2();
|
||||
DcMotorEx encoder = robot.shooter1;
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
@@ -46,37 +47,60 @@ public class ShooterTest extends LinearOpMode {
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
double kF = 1.0 / MAX_RPM; // baseline feedforward
|
||||
|
||||
double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
|
||||
|
||||
double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
|
||||
|
||||
TELE.addLine("Mode: 0 = Manual, 1 = Vel, 2 = Pos");
|
||||
TELE.addLine("Parameter = pow, vel, or pos");
|
||||
TELE.addData("leftShooterPower", leftShooter.getPower());
|
||||
TELE.addData("rightShooterPower", rightShooter.getPower());
|
||||
TELE.addData("shaftEncoderPos", encoderRevolutions);
|
||||
TELE.addData("shaftEncoderVel", velocity);
|
||||
|
||||
double velPID;
|
||||
|
||||
if (mode == 0) {
|
||||
rightShooter.setPower(parameter);
|
||||
leftShooter.setPower(parameter);
|
||||
} else if (mode == 1) {
|
||||
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
rightShooter.setPower(powPID);
|
||||
leftShooter.setPower(powPID);
|
||||
TELE.addData("PIDPower", powPID);
|
||||
|
||||
// --- FEEDFORWARD BASE POWER ---
|
||||
double feed = kF * parameter; // Example: vel=2500 → feed=0.5
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = parameter - velocity;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
velPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
velPID = Math.max(0, Math.min(1, velPID));
|
||||
|
||||
rightShooter.setPower(velPID);
|
||||
leftShooter.setPower(velPID);
|
||||
|
||||
}
|
||||
|
||||
lastTimeStamp = getRuntime();
|
||||
lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
|
||||
|
||||
if (hoodPos != 0.501) {
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (turretPos != 0.501) {
|
||||
robot.turr1.setPower(turretPos);
|
||||
robot.turr2.setPower(turretPos);
|
||||
if (turretPos!=0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(turretPos);
|
||||
}
|
||||
|
||||
robot.transfer.setPower(transferPower);
|
||||
if (shoot) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
|
||||
TELE.addData("Velocity 1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity 2", flywheel.getVelo2());
|
||||
TELE.addData("Power", robot.shooter1.getPower());
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.addData("Position", robot.shooter1.getCurrentPosition());
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
@@ -7,22 +7,21 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
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 prevSteady = false;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double prevVelo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public Flywheel () {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
@@ -42,22 +41,15 @@ public class Flywheel {
|
||||
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
targetVelocity = (double) commandedVelocity;
|
||||
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = shooter1CurPos / 2048;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
|
||||
velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
|
||||
}
|
||||
// Flywheel control code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
@@ -82,12 +74,19 @@ public class Flywheel {
|
||||
}
|
||||
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
|
||||
{
|
||||
steady = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
steady = false;
|
||||
}
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
}
|
||||
}
|
||||
};
|
||||
};
|
||||
@@ -1,104 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class FlywheelV2 {
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
double initPos1 = 0.0;
|
||||
double initPos2 = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos1 = 0.0;
|
||||
double currentPos2 = 0.0;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo1a = 0.0;
|
||||
double velo1b = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public FlywheelV2() {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
currentPos1 = shooter1CurPos / 28;
|
||||
currentPos2 = shooter2CurPos / 28;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
|
||||
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
|
||||
initPos1 = currentPos1;
|
||||
initPos2 = currentPos2;
|
||||
stamp1 = stamp;
|
||||
|
||||
if (velo1a < 200){
|
||||
velo1 = velo1b;
|
||||
} else if (velo1b < 200){
|
||||
velo1 = velo1a;
|
||||
} else {
|
||||
velo1 = (velo1a + velo1b) / 2;
|
||||
}
|
||||
}
|
||||
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||
}
|
||||
|
||||
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds() {
|
||||
return (double) System.currentTimeMillis() / 1000.0;
|
||||
}
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update() {
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
@@ -13,47 +11,27 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
public class PositionalServoProgrammer extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
|
||||
public static double spindexPos = 0.501;
|
||||
public static double spindexPow = 0.0;
|
||||
public static double spinHoldPow = 0.0;
|
||||
public static double turretPos = 0.501;
|
||||
public static double turretPow = 0.0;
|
||||
public static double turrHoldPow = 0.0;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static int mode = 0; //0 for positional, 1 for power
|
||||
|
||||
public static double scalar = 1.112;
|
||||
public static double restPos = 0.15;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos();
|
||||
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());
|
||||
robot.spin1.setPower(pos);
|
||||
robot.spin2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.spin1.setPower(spinHoldPow);
|
||||
robot.spin2.setPower(spinHoldPow);
|
||||
} else {
|
||||
robot.spin1.setPower(spindexPow);
|
||||
robot.spin2.setPower(-spindexPow);
|
||||
if (spindexPos != 0.501){
|
||||
robot.spin1.setPosition(spindexPos);
|
||||
robot.spin2.setPosition(1-spindexPos);
|
||||
}
|
||||
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);
|
||||
@@ -61,25 +39,14 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
if (hoodPos != 0.501){
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
// To check configuration of spindexer:
|
||||
// Set "mode" to 1 and spindexPow to 0.1
|
||||
// If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
|
||||
// Do the previous test again to confirm
|
||||
// Set "mode" to 0 but keep spindexPos at 0.501
|
||||
// Manually turn the spindexer until "spindexer pos" is set close to 0
|
||||
// Check each spindexer voltage:
|
||||
// If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
|
||||
// If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
|
||||
//TODO: @KeshavAnandCode do the above please
|
||||
|
||||
TELE.addData("spindexer pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.addData("turret pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
|
||||
TELE.addData("hood pos", robot.hood.getPosition());
|
||||
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
|
||||
TELE.addData("spindexer pow", robot.spin1.getPower());
|
||||
TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("hoodA", robot.hoodPos.getVoltage());
|
||||
TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("turretA", robot.turr1Pos.getVoltage());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,12 +1,11 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
@@ -19,37 +18,72 @@ public class Robot {
|
||||
|
||||
public DcMotorEx frontLeft;
|
||||
public DcMotorEx frontRight;
|
||||
|
||||
public DcMotorEx backLeft;
|
||||
|
||||
public DcMotorEx backRight;
|
||||
|
||||
public DcMotorEx intake;
|
||||
|
||||
public DcMotorEx transfer;
|
||||
|
||||
public DcMotorEx shooter1;
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
|
||||
public Servo transferServo;
|
||||
public CRServo turr1;
|
||||
public CRServo turr2;
|
||||
public CRServo spin1;
|
||||
public CRServo spin2;
|
||||
|
||||
public Servo rejecter;
|
||||
|
||||
public Servo turr1;
|
||||
|
||||
public Servo turr2;
|
||||
|
||||
public Servo spin1;
|
||||
|
||||
public Servo spin2;
|
||||
|
||||
public DigitalChannel pin0;
|
||||
|
||||
public DigitalChannel pin1;
|
||||
public DigitalChannel pin2;
|
||||
public DigitalChannel pin3;
|
||||
public DigitalChannel pin4;
|
||||
|
||||
public DigitalChannel pin5;
|
||||
|
||||
public AnalogInput analogInput;
|
||||
|
||||
public AnalogInput analogInput2;
|
||||
|
||||
public AnalogInput spin1Pos;
|
||||
|
||||
public AnalogInput spin2Pos;
|
||||
public DcMotorEx turr1Pos;
|
||||
|
||||
public AnalogInput hoodPos;
|
||||
|
||||
public AnalogInput turr1Pos;
|
||||
|
||||
public AnalogInput turr2Pos;
|
||||
|
||||
public AnalogInput transferServoPos;
|
||||
|
||||
public AprilTagProcessor aprilTagProcessor;
|
||||
|
||||
public WebcamName webcam;
|
||||
|
||||
public DcMotorEx shooterEncoder;
|
||||
|
||||
public RevColorSensorV3 color1;
|
||||
|
||||
public RevColorSensorV3 color2;
|
||||
|
||||
public RevColorSensorV3 color3;
|
||||
public Limelight3A limelight;
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
|
||||
public static boolean usingCamera = true;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
//TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
|
||||
|
||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
@@ -63,34 +97,51 @@ public class Robot {
|
||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
||||
rejecter = hardwareMap.get(Servo.class, "rejecter");
|
||||
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
||||
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
||||
//TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
|
||||
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooterEncoder = shooter1;
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(CRServo.class, "t1");
|
||||
hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
|
||||
|
||||
turr2 = hardwareMap.get(CRServo.class, "t2");
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
|
||||
turr1Pos = intake; // Encoder of turret plugged in intake port
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
|
||||
|
||||
//TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
|
||||
spin1 = hardwareMap.get(CRServo.class, "spin1");
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
|
||||
turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
|
||||
|
||||
spin1 = hardwareMap.get(Servo.class, "spin1");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(CRServo.class, "spin2");
|
||||
spin2 = hardwareMap.get(Servo.class, "spin2");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
|
||||
|
||||
pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
|
||||
|
||||
pin2 = hardwareMap.get(DigitalChannel.class, "pin2");
|
||||
|
||||
pin3 = hardwareMap.get(DigitalChannel.class, "pin3");
|
||||
|
||||
pin4 = hardwareMap.get(DigitalChannel.class, "pin4");
|
||||
|
||||
pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
|
||||
|
||||
analogInput = hardwareMap.get(AnalogInput.class, "analog");
|
||||
|
||||
analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
|
||||
@@ -99,19 +150,15 @@ public class Robot {
|
||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
|
||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight){
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
} else if (usingCamera){
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,59 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
@Config
|
||||
public class Servos {
|
||||
Robot robot;
|
||||
|
||||
PIDFController spinPID;
|
||||
|
||||
PIDFController turretPID;
|
||||
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 3.4, 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 spin_scalar = 1.0086;
|
||||
public static double spin_restPos = 0.0;
|
||||
public static double turret_scalar = 1.009;
|
||||
public static double turret_restPos = 0.0;
|
||||
|
||||
public Servos() {
|
||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
||||
}
|
||||
|
||||
// In the code below, encoder = robot.servo.getVoltage()
|
||||
|
||||
public double getSpinPos(double voltage) {
|
||||
return spin_scalar * ((voltage - spin_restPos) / 3.3);
|
||||
}
|
||||
//TODO: PID warp so 0 and 1 are usable positions
|
||||
public double setSpinPos(double pos, double voltage) {
|
||||
spinPID.setPIDF(spinP, spinI, spinD, spinF);
|
||||
|
||||
return spinPID.calculate(this.getSpinPos(voltage), pos);
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos, double voltage) {
|
||||
return Math.abs(pos - this.getSpinPos(voltage)) < 0.02;
|
||||
}
|
||||
|
||||
public double getTurrPos(double apos) {
|
||||
return apos;
|
||||
}
|
||||
|
||||
public double setTurrPos(double pos, double apos) {
|
||||
turretPID.setPIDF(turrP, turrI, turrD, turrF);
|
||||
|
||||
return spinPID.calculate(this.getTurrPos(apos), pos);
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos, double apos) {
|
||||
return Math.abs(pos - this.getTurrPos(apos)) < 0.01;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user