Compare commits
2 Commits
ef5d615f91
...
e8bf2033ad
| Author | SHA1 | Date | |
|---|---|---|---|
| e8bf2033ad | |||
| de6e7f2910 |
@@ -103,17 +103,17 @@ public class AutoClose_V3 extends LinearOpMode {
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if (gpp || pgp || ppg) {
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if (redAlliance){
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robot.limelight.pipelineSwitch(3);
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double turretPID = servo.setTurrPos(turret_redClose);
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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);
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double turretPID = turret_redClose;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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return false;
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} else {
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robot.limelight.pipelineSwitch(2);
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double turretPID = servo.setTurrPos(turret_blueClose);
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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);
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double turretPID = turret_blueClose;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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return false;
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}
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} else {
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return true;
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@@ -188,8 +188,8 @@ public class AutoClose_V3 extends LinearOpMode {
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return true;
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} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
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robot.transferServo.setPosition(transferServo_out);
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robot.turr1.setPower(holdTurrPow);
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robot.turr2.setPower(holdTurrPow);
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robot.turr1.setPosition(holdTurrPow);
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robot.turr2.setPosition(holdTurrPow);
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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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@@ -411,7 +411,7 @@ public class AutoClose_V3 extends LinearOpMode {
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double turrPID;
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if (redAlliance){
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turrPID = servo.setTurrPos(turret_detectRedClose);
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turrPID = turret_detectRedClose;
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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@@ -430,7 +430,7 @@ public class AutoClose_V3 extends LinearOpMode {
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shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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} else {
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turrPID = servo.setTurrPos(turret_detectBlueClose);
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turrPID = turret_detectBlueClose;
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shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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@@ -450,8 +450,8 @@ public class AutoClose_V3 extends LinearOpMode {
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.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
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}
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robot.turr1.setPower(turrPID);
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robot.turr2.setPower(-turrPID);
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robot.turr1.setPosition(turrPID);
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robot.turr2.setPosition(-turrPID);
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robot.hood.setPosition(hoodAuto);
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@@ -566,9 +566,9 @@ public class AutoClose_V3 extends LinearOpMode {
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}
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}
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double turretPos = servo.getTurrPos() - (bearing / 1300);
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double turretPID = servo.setTurrPos(turretPos);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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double turretPID = turretPos;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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}
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public void shootingSequence() {
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@@ -103,18 +103,18 @@ public class AutoFar_V1 extends LinearOpMode {
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if (gpp || pgp || ppg) {
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if (redAlliance){
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robot.limelight.pipelineSwitch(3);
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double turretPID = servo.setTurrPos(turret_redFar);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_redFar);
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robot.turr1.setPosition(turret_redFar);
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robot.turr2.setPosition(-turret_redFar);
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} else {
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robot.limelight.pipelineSwitch(2);
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double turretPID = servo.setTurrPos(turret_blueFar);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_blueFar);
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robot.turr1.setPosition(turret_blueFar);
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robot.turr2.setPosition(-turret_blueFar);
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}
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return false;
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} else {
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return true;
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}
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@@ -188,8 +188,8 @@ public class AutoFar_V1 extends LinearOpMode {
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return true;
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} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
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robot.transferServo.setPosition(transferServo_out);
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robot.turr1.setPower(holdTurrPow);
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robot.turr2.setPower(holdTurrPow);
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robot.turr1.setPosition(holdTurrPow);
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robot.turr2.setPosition(holdTurrPow);
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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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@@ -399,13 +399,13 @@ public class AutoFar_V1 extends LinearOpMode {
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double turrPID;
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if (redAlliance){
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turrPID = servo.setTurrPos(turret_detectRedClose);
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turrPID = turret_detectRedClose;
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} else {
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turrPID = servo.setTurrPos(turret_detectBlueClose);
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turrPID = turret_detectBlueClose;
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}
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robot.turr1.setPower(turrPID);
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robot.turr2.setPower(-turrPID);
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robot.turr1.setPosition(turrPID);
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robot.turr2.setPosition(-turrPID);
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robot.hood.setPosition(hoodAutoFar);
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@@ -467,9 +467,9 @@ public class AutoFar_V1 extends LinearOpMode {
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}
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}
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double turretPos = servo.getTurrPos() - (bearing / 1300);
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double turretPID = servo.setTurrPos(turretPos);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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double turretPID = turretPos;
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robot.turr1.setPosition(turretPID);
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robot.turr2.setPosition(-turretPID);
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}
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public void shootingSequence() {
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@@ -1,839 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
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import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
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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.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.AprilTagWebcam;
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import org.firstinspires.ftc.teamcode.utils.Flywheel;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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@Config
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@Autonomous(preselectTeleOp = "TeleopV2")
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public class Blue_V2 extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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AprilTagWebcam aprilTag;
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Flywheel flywheel;
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double velo = 0.0;
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double targetVelocity = 0.0;
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public static double intake1Time = 2.9;
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public static double intake2Time = 2.9;
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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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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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boolean spindexPosEqual(double spindexer) {
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TELE.addData("Velocity", velo);
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TELE.addLine("spindex equal");
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TELE.update();
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return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
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scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
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}
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public Action initShooter(int vel) {
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return new Action() {
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double initPos = 0.0;
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double stamp = 0.0;
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double stamp1 = 0.0;
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double ticker = 0.0;
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double stamp2 = 0.0;
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double currentPos = 0.0;
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boolean steady = false;
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp2 = getRuntime();
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}
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targetVelocity = (double) vel;
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ticker++;
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if (ticker % 16 == 0) {
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stamp = getRuntime();
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stamp1 = stamp;
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}
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powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.transfer.setPower(1);
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TELE.addData("Velocity", velo);
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TELE.update();
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if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
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steady = true;
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stamp2 = getRuntime();
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return true;
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} else if (steady && getRuntime() - stamp2 > 1.5){
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TELE.addData("Velocity", velo);
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TELE.addLine("finished init");
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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 steadyShooter(int vel, boolean last) {
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return new Action() {
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double stamp = 0.0;
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boolean steady = false;
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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steady = flywheel.getSteady();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.transfer.setPower(1);
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TELE.addData("Velocity", velo);
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TELE.update();
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if (last && !steady){
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stamp = getRuntime();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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return false;
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} else if (steady) {
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stamp = getRuntime();
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return true;
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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 Obelisk() {
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return new Action() {
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double stamp = getRuntime();
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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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if (aprilTag.getTagById(21) != null) {
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gpp = true;
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} else if (aprilTag.getTagById(22) != null) {
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pgp = true;
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} else if (aprilTag.getTagById(23) != null) {
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ppg = true;
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}
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aprilTag.update();
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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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robot.turr1.setPower(turret_blueClose);
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robot.turr2.setPower(1 - turret_blueClose);
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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 intakeReject() {
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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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double position = 0.0;
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if ((getRuntime() % 0.3) > 0.15) {
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position = spindexer_intakePos1 + 0.02;
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} else {
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position = spindexer_intakePos1 - 0.02;
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}
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robot.spin1.setPower(position);
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robot.spin2.setPower(1 - position);
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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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if (getRuntime() - stamp < 0.3){
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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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}
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};
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}
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public Action spindex (double spindexer, double vel){
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return new Action() {
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double currentPos = 0.0;
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double stamp = 0.0;
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double initPos = 0.0;
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double stamp1 = 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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ticker++;
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if (ticker % 8 == 0) {
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currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
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stamp = getRuntime();
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velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
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initPos = currentPos;
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stamp1 = stamp;
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}
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if (vel - velo > 500 && ticker > 16) {
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powPID = 1.0;
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} else if (velo - vel > 500 && ticker > 16){
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powPID = 0.0;
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} else if (Math.abs(vel - velo) < 100 && ticker > 16){
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double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
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// --- PROPORTIONAL CORRECTION ---
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double error = vel - velo;
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double correction = kP * error;
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|
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// limit how fast power changes (prevents oscillation)
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correction = Math.max(-maxStep, Math.min(maxStep, correction));
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// --- FINAL MOTOR POWER ---
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powPID = feed + correction;
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// clamp to allowed range
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powPID = Math.max(0, Math.min(1, powPID));
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}
|
||||
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powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.spin1.setPower(spindexer);
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robot.spin2.setPower(1-spindexer);
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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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return !spindexPosEqual(spindexer);
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}
|
||||
};
|
||||
}
|
||||
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public Action Shoot(double vel) {
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return new Action() {
|
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double transferStamp = 0.0;
|
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int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
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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");
|
||||
TELE.update();
|
||||
|
||||
if (ticker % 8 == 0) {
|
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currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPower(turret_detectBlueClose);
|
||||
robot.turr2.setPower(1 - turret_detectBlueClose);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,754 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2c;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
|
||||
|
||||
import 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 {
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
double velo = 0.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
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);
|
||||
robot.turr1.setPosition(turret_redClose);
|
||||
robot.turr2.setPosition(1 - turret_redClose);
|
||||
return false;
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = turret_blueClose;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
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);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
initPos = servo.getSpinPos();
|
||||
|
||||
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();
|
||||
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();
|
||||
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(hardwareMap);
|
||||
|
||||
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 lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
|
||||
.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);
|
||||
|
||||
TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b);
|
||||
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.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 = turret_redClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2c, ry2c, rh2c))
|
||||
.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);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(rx1,ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
|
||||
.strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b);
|
||||
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
} else {
|
||||
turretPID = turret_blueClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
|
||||
.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.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - 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 SequentialAction(
|
||||
lever.build(),
|
||||
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();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.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 = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
}
|
||||
|
||||
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)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,771 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
double bearing = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
detectTag();
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
double turretPID = servo.setTurrPos(turret_redClose);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose);
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, int vel){
|
||||
return new Action() {
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !servo.spinEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void detectTag(){
|
||||
AprilTagDetection d20 = aprilTag.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTag.getTagById(24);
|
||||
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,4 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -17,15 +17,25 @@ public class Poses {
|
||||
public static double rx1 = 45, ry1 = -7, rh1 = 0;
|
||||
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
|
||||
|
||||
public static double rx2c = 34, ry2c = 50, rh2c = 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 rx4a = 71, ry4a = 60, rh4a = Math.toRadians(140);
|
||||
public static double rx4b = 79, ry4b = 79, rh4b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 45, by1 = 6, bh1 = 0;
|
||||
public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
|
||||
public static double bx2c = 40, by2c = -50, bh2c = Math.toRadians(-140);
|
||||
|
||||
public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double bx4a = 69, by4a = -60, bh4a = Math.toRadians(-140);
|
||||
public static double bx4b = 75, by4b = -79, bh4b = Math.toRadians(-140);
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
|
||||
|
||||
@@ -40,6 +40,6 @@ public class ServoPositions {
|
||||
public static double turret_detectRedClose = 0.2;
|
||||
|
||||
public static double turret_detectBlueClose = 0.6;
|
||||
public static double turrDefault = 0.40;
|
||||
public static double turrDefault = 0.4;
|
||||
|
||||
}
|
||||
|
||||
@@ -5,7 +5,9 @@ import androidx.annotation.NonNull;
|
||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.*;
|
||||
import com.acmerobotics.roadrunner.AccelConstraint;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.Actions;
|
||||
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
||||
import com.acmerobotics.roadrunner.DualNum;
|
||||
import com.acmerobotics.roadrunner.HolonomicController;
|
||||
@@ -14,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
|
||||
import com.acmerobotics.roadrunner.MotorFeedforward;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.Pose2dDual;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2d;
|
||||
import com.acmerobotics.roadrunner.PoseVelocity2dDual;
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.ProfileParams;
|
||||
import com.acmerobotics.roadrunner.Rotation2d;
|
||||
import com.acmerobotics.roadrunner.Time;
|
||||
import com.acmerobotics.roadrunner.TimeTrajectory;
|
||||
import com.acmerobotics.roadrunner.TimeTurn;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
|
||||
import com.acmerobotics.roadrunner.TurnConstraints;
|
||||
import com.acmerobotics.roadrunner.Twist2d;
|
||||
import com.acmerobotics.roadrunner.Twist2dDual;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.VelConstraint;
|
||||
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
|
||||
import com.acmerobotics.roadrunner.ftc.Encoder;
|
||||
@@ -46,56 +56,15 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
|
||||
|
||||
import java.lang.Math;
|
||||
import java.util.Arrays;
|
||||
import java.util.LinkedList;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
public final class MecanumDrive {
|
||||
public static class Params {
|
||||
// IMU orientation
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4* Math.PI; // shared with path
|
||||
public double maxAngAccel = 4* Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
public double headingVelGain = 0.0; // shared with turn
|
||||
}
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
|
||||
public final MecanumKinematics kinematics = new MecanumKinematics(
|
||||
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
||||
|
||||
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
||||
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
||||
public final VelConstraint defaultVelConstraint =
|
||||
@@ -105,117 +74,15 @@ public final class MecanumDrive {
|
||||
));
|
||||
public final AccelConstraint defaultAccelConstraint =
|
||||
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
||||
|
||||
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
||||
|
||||
public final VoltageSensor voltageSensor;
|
||||
|
||||
public final LazyImu lazyImu;
|
||||
|
||||
public final Localizer localizer;
|
||||
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
||||
|
||||
private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
|
||||
private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
|
||||
private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
|
||||
private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
|
||||
|
||||
public class DriveLocalizer implements Localizer {
|
||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||
public final IMU imu;
|
||||
|
||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
||||
private Rotation2d lastHeading;
|
||||
private boolean initialized;
|
||||
private Pose2d pose;
|
||||
|
||||
public DriveLocalizer(Pose2d pose) {
|
||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
||||
|
||||
imu = lazyImu.get();
|
||||
|
||||
// TODO: reverse encoders if needed
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PoseVelocity2d update() {
|
||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
||||
|
||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
||||
|
||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
||||
|
||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
||||
|
||||
if (!initialized) {
|
||||
initialized = true;
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
|
||||
}
|
||||
|
||||
double headingDelta = heading.minus(lastHeading);
|
||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
pose = pose.plus(new Twist2d(
|
||||
twist.line.value(),
|
||||
headingDelta
|
||||
));
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
|
||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
||||
|
||||
@@ -268,11 +135,190 @@ public final class MecanumDrive {
|
||||
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
||||
}
|
||||
|
||||
public PoseVelocity2d updatePoseEstimate() {
|
||||
PoseVelocity2d vel = localizer.update();
|
||||
poseHistory.add(localizer.getPose());
|
||||
|
||||
while (poseHistory.size() > 100) {
|
||||
poseHistory.removeFirst();
|
||||
}
|
||||
|
||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
||||
|
||||
return vel;
|
||||
}
|
||||
|
||||
private void drawPoseHistory(Canvas c) {
|
||||
double[] xPoints = new double[poseHistory.size()];
|
||||
double[] yPoints = new double[poseHistory.size()];
|
||||
|
||||
int i = 0;
|
||||
for (Pose2d t : poseHistory) {
|
||||
xPoints[i] = t.position.x;
|
||||
yPoints[i] = t.position.y;
|
||||
|
||||
i++;
|
||||
}
|
||||
|
||||
c.setStrokeWidth(1);
|
||||
c.setStroke("#3F51B5");
|
||||
c.strokePolyline(xPoints, yPoints);
|
||||
}
|
||||
|
||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||
return new TrajectoryActionBuilder(
|
||||
TurnAction::new,
|
||||
FollowTrajectoryAction::new,
|
||||
new TrajectoryBuilderParams(
|
||||
1e-6,
|
||||
new ProfileParams(
|
||||
0.25, 0.1, 1e-2
|
||||
)
|
||||
),
|
||||
beginPose, 0.0,
|
||||
defaultTurnConstraints,
|
||||
defaultVelConstraint, defaultAccelConstraint
|
||||
);
|
||||
}
|
||||
|
||||
public static class Params {
|
||||
// IMU orientation
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4 * Math.PI; // shared with path
|
||||
public double maxAngAccel = 4 * Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
public double headingVelGain = 0.0; // shared with turn
|
||||
}
|
||||
|
||||
public class DriveLocalizer implements Localizer {
|
||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
||||
public final IMU imu;
|
||||
|
||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
||||
private Rotation2d lastHeading;
|
||||
private boolean initialized;
|
||||
private Pose2d pose;
|
||||
|
||||
public DriveLocalizer(Pose2d pose) {
|
||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
||||
|
||||
imu = lazyImu.get();
|
||||
|
||||
// TODO: reverse encoders if needed
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Pose2d getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PoseVelocity2d update() {
|
||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
||||
|
||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
||||
|
||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
||||
|
||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
||||
|
||||
if (!initialized) {
|
||||
initialized = true;
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
|
||||
}
|
||||
|
||||
double headingDelta = heading.minus(lastHeading);
|
||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
||||
leftFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(leftBackPosVel.position - lastLeftBackPos),
|
||||
leftBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightBackPosVel.position - lastRightBackPos),
|
||||
rightBackPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick),
|
||||
new DualNum<Time>(new double[]{
|
||||
(rightFrontPosVel.position - lastRightFrontPos),
|
||||
rightFrontPosVel.velocity,
|
||||
}).times(PARAMS.inPerTick)
|
||||
));
|
||||
|
||||
lastLeftFrontPos = leftFrontPosVel.position;
|
||||
lastLeftBackPos = leftBackPosVel.position;
|
||||
lastRightBackPos = rightBackPosVel.position;
|
||||
lastRightFrontPos = rightFrontPosVel.position;
|
||||
|
||||
lastHeading = heading;
|
||||
|
||||
pose = pose.plus(new Twist2d(
|
||||
twist.line.value(),
|
||||
headingDelta
|
||||
));
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
|
||||
public final class FollowTrajectoryAction implements Action {
|
||||
public final TimeTrajectory timeTrajectory;
|
||||
private double beginTs = -1;
|
||||
|
||||
private final double[] xPoints, yPoints;
|
||||
private double beginTs = -1;
|
||||
|
||||
public FollowTrajectoryAction(TimeTrajectory t) {
|
||||
timeTrajectory = t;
|
||||
@@ -450,51 +496,4 @@ public final class MecanumDrive {
|
||||
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
||||
}
|
||||
}
|
||||
|
||||
public PoseVelocity2d updatePoseEstimate() {
|
||||
PoseVelocity2d vel = localizer.update();
|
||||
poseHistory.add(localizer.getPose());
|
||||
|
||||
while (poseHistory.size() > 100) {
|
||||
poseHistory.removeFirst();
|
||||
}
|
||||
|
||||
estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
|
||||
|
||||
|
||||
return vel;
|
||||
}
|
||||
|
||||
private void drawPoseHistory(Canvas c) {
|
||||
double[] xPoints = new double[poseHistory.size()];
|
||||
double[] yPoints = new double[poseHistory.size()];
|
||||
|
||||
int i = 0;
|
||||
for (Pose2d t : poseHistory) {
|
||||
xPoints[i] = t.position.x;
|
||||
yPoints[i] = t.position.y;
|
||||
|
||||
i++;
|
||||
}
|
||||
|
||||
c.setStrokeWidth(1);
|
||||
c.setStroke("#3F51B5");
|
||||
c.strokePolyline(xPoints, yPoints);
|
||||
}
|
||||
|
||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||
return new TrajectoryActionBuilder(
|
||||
TurnAction::new,
|
||||
FollowTrajectoryAction::new,
|
||||
new TrajectoryBuilderParams(
|
||||
1e-6,
|
||||
new ProfileParams(
|
||||
0.25, 0.1, 1e-2
|
||||
)
|
||||
),
|
||||
beginPose, 0.0,
|
||||
defaultTurnConstraints,
|
||||
defaultVelConstraint, defaultAccelConstraint
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -158,10 +158,6 @@ public class TeleopV2 extends LinearOpMode {
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
//TODO: make sure changing position works throughout opmode
|
||||
if (!servo.spinEqual(spindexPos)){
|
||||
|
||||
@@ -21,7 +21,6 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
@@ -47,6 +46,9 @@ public class TeleopV3 extends LinearOpMode {
|
||||
public static double spinningPow = 0.2;
|
||||
public static double spindexPos = spindexer_intakePos1;
|
||||
public static double spinPow = 0.08;
|
||||
public static double bMult = -1, bDiv = 130000;
|
||||
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
|
||||
public static boolean manualTurret = false;
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
@@ -60,6 +62,7 @@ public class TeleopV3 extends LinearOpMode {
|
||||
public boolean triangle = false;
|
||||
public TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
|
||||
public ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
|
||||
boolean fixedTurret = false;
|
||||
PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@@ -67,6 +70,8 @@ public class TeleopV3 extends LinearOpMode {
|
||||
FlywheelV2 flywheel;
|
||||
MecanumDrive drive;
|
||||
double autoHoodOffset = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
@@ -88,7 +93,6 @@ public class TeleopV3 extends LinearOpMode {
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
boolean autoSpintake = true;
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean outtake1 = false;
|
||||
@@ -96,7 +100,7 @@ public class TeleopV3 extends LinearOpMode {
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double turretPos = 0;
|
||||
double spindexPID = 0.0;
|
||||
double error = 0.0;
|
||||
double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0;
|
||||
@@ -113,8 +117,8 @@ public class TeleopV3 extends LinearOpMode {
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
if (distance > 120) {
|
||||
return 4500;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
@@ -138,6 +142,12 @@ public class TeleopV3 extends LinearOpMode {
|
||||
flywheel = new FlywheelV2();
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
PIDFController tController = new PIDFController(tp, ti, td, tf);
|
||||
|
||||
tController.setTolerance(0.001);
|
||||
|
||||
|
||||
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
} else {
|
||||
@@ -148,6 +158,9 @@ public class TeleopV3 extends LinearOpMode {
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
//DRIVETRAIN:
|
||||
|
||||
@@ -205,11 +218,6 @@ public class TeleopV3 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
//TODO: Use color sensors to switch between positions...switch after ball detected in
|
||||
|
||||
if (autoSpintake) {
|
||||
@@ -225,6 +233,8 @@ public class TeleopV3 extends LinearOpMode {
|
||||
}
|
||||
|
||||
if (gamepad1.right_bumper) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
intakeTicker++;
|
||||
|
||||
if (intakeTicker % 4 == 0) {
|
||||
@@ -384,6 +394,19 @@ public class TeleopV3 extends LinearOpMode {
|
||||
offset -= 360;
|
||||
}
|
||||
|
||||
double pos = turrDefault;
|
||||
|
||||
TELE.addData("offset", offset);
|
||||
|
||||
pos -= offset * ((double) 1 / 360);
|
||||
|
||||
if (pos < 0.13) {
|
||||
pos = 0.13;
|
||||
} else if (pos > 0.83) {
|
||||
pos = 0.83;
|
||||
}
|
||||
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
@@ -416,49 +439,46 @@ public class TeleopV3 extends LinearOpMode {
|
||||
}
|
||||
|
||||
//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);
|
||||
TELE.addData("posS2", pos);
|
||||
|
||||
if (pos < 0.02) {
|
||||
pos = 0.02;
|
||||
} else if (pos > 0.97) {
|
||||
pos = 0.97;
|
||||
// if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
|
||||
// double bearing;
|
||||
//
|
||||
// LLResult result = robot.limelight.getLatestResult();
|
||||
// if (result != null) {
|
||||
// if (result.isValid()) {
|
||||
// bearing = result.getTx() * bMult;
|
||||
// overrideTurr = true;
|
||||
//
|
||||
// double bearingCorrection = bearing / bDiv;
|
||||
//
|
||||
// // deadband: ignore tiny noise
|
||||
// if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
//
|
||||
// error += bearingCorrection;
|
||||
//
|
||||
// }
|
||||
// camTicker++;
|
||||
// TELE.addData("tx", bearing);
|
||||
// TELE.addData("ty", result.getTy());
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// } else {
|
||||
// camTicker = 0;
|
||||
// overrideTurr = false;
|
||||
// }
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
|
||||
double bearing;
|
||||
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
|
||||
// deadband: ignore tiny noise
|
||||
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
|
||||
// only accumulate if bearing direction is consistent
|
||||
if (Math.signum(bearingCorrection) == Math.signum(error) ||
|
||||
error == 0) {
|
||||
error += bearingCorrection;
|
||||
}
|
||||
}
|
||||
camTicker++;
|
||||
TELE.addData("tx", bearing);
|
||||
TELE.addData("ty", result.getTy());
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
}
|
||||
TELE.addData("posS3", turretPos);
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
@@ -468,12 +488,15 @@ public class TeleopV3 extends LinearOpMode {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
if (gamepad2.dpad_right || gamepad1.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
} else if (gamepad2.dpad_left || gamepad1.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
robot.turr1.setPosition(pos);
|
||||
robot.turr2.setPosition(1-pos);
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
@@ -482,27 +505,40 @@ public class TeleopV3 extends LinearOpMode {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
if (gamepad2.dpadUpWasPressed() || gamepad1.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
} else if (gamepad2.dpadDownWasPressed() || gamepad1.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.cross) {
|
||||
manualOffset = 0;
|
||||
fixedTurret = true;
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(20, 0, 0));
|
||||
sleep(1500);
|
||||
}
|
||||
|
||||
if (gamepad2.triangle) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
|
||||
autoHood = true;
|
||||
fixedTurret = false;
|
||||
}
|
||||
//
|
||||
// if (gamepad2.left_stick_y < -0.5) {
|
||||
// autoHood = true;
|
||||
@@ -531,6 +567,8 @@ public class TeleopV3 extends LinearOpMode {
|
||||
shootStamp = getRuntime();
|
||||
shootAll = true;
|
||||
spindexPos = spindexer_intakePos1;
|
||||
|
||||
shooterTicker = 0;
|
||||
}
|
||||
|
||||
if (shootAll) {
|
||||
@@ -540,9 +578,11 @@ public class TeleopV3 extends LinearOpMode {
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
shooterTicker++;
|
||||
|
||||
spindexPos = spindexer_intakePos1;
|
||||
|
||||
if (getRuntime() - shootStamp < 2.5) {
|
||||
if (getRuntime() - shootStamp < 3.5) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
|
||||
@@ -760,20 +800,19 @@ public class TeleopV3 extends LinearOpMode {
|
||||
// }
|
||||
//
|
||||
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 a = 1.44304;
|
||||
double b = 0.0313707;
|
||||
double c = 0.0931136;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
double result = a * Math.exp(-b * x) + c;
|
||||
|
||||
// Clamp between min and max
|
||||
if (result < 0.1) {
|
||||
return 0.1;
|
||||
} else if (result > 0.96) {
|
||||
return 0.96;
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -42,17 +42,7 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
|
||||
if (mode == 0) {
|
||||
pos = (double) ((double)robot.turr1Pos.getCurrentPosition() /1024.0) * ((double) 44.0 /(double)77.0);
|
||||
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.turr1.setPower(pid);
|
||||
robot.turr2.setPower(-pid);
|
||||
|
||||
} else if (mode == 1) {
|
||||
if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
@@ -60,10 +60,6 @@ public class ShooterTest extends LinearOpMode {
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (turretPos != 0.501) {
|
||||
robot.turr1.setPower(turretPos);
|
||||
robot.turr2.setPower(turretPos);
|
||||
}
|
||||
|
||||
robot.transfer.setPower(transferPower);
|
||||
if (shoot) {
|
||||
|
||||
@@ -44,16 +44,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
robot.spin1.setPower(spindexPow);
|
||||
robot.spin2.setPower(-spindexPow);
|
||||
}
|
||||
if (turretPos != 0.501 && !servo.turretEqual(turretPos)){
|
||||
double pos = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(pos);
|
||||
robot.turr2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.turr1.setPower(turrHoldPow);
|
||||
robot.turr2.setPower(turrHoldPow);
|
||||
} else {
|
||||
robot.turr1.setPower(turretPow);
|
||||
robot.turr2.setPower(-turretPow);
|
||||
if (turretPos != 0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1-turretPos);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
|
||||
@@ -27,8 +27,8 @@ public class Robot {
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
public Servo transferServo;
|
||||
public CRServo turr1;
|
||||
public CRServo turr2;
|
||||
public Servo turr1;
|
||||
public Servo turr2;
|
||||
public CRServo spin1;
|
||||
public CRServo spin2;
|
||||
public AnalogInput spin1Pos;
|
||||
@@ -74,9 +74,9 @@ public class Robot {
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(CRServo.class, "t1");
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
|
||||
turr2 = hardwareMap.get(CRServo.class, "t2");
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
|
||||
turr1Pos = intake; // Encoder of turret plugged in intake port
|
||||
|
||||
|
||||
@@ -9,7 +9,7 @@ public class Servos {
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
|
||||
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0.01;
|
||||
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
|
||||
public static double spin_scalar = 1.0086;
|
||||
public static double spin_restPos = 0.0;
|
||||
public static double turret_scalar = 1.009;
|
||||
@@ -44,7 +44,8 @@ public class Servos {
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return robot.turr1Pos.getCurrentPosition();
|
||||
return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
|
||||
|
||||
}
|
||||
|
||||
public double setTurrPos(double pos) {
|
||||
|
||||
Reference in New Issue
Block a user