Compare commits
4 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 28919e54a8 | |||
| 6dee088300 | |||
| ba251f8a46 | |||
| be14e719e9 |
@@ -1,24 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="SlothLoad" type="GradleRunConfiguration" factoryName="Gradle">
|
||||
<ExternalSystemSettings>
|
||||
<option name="executionName" />
|
||||
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
||||
<option name="externalSystemIdString" value="GRADLE" />
|
||||
<option name="scriptParameters" value="" />
|
||||
<option name="taskDescriptions">
|
||||
<list />
|
||||
</option>
|
||||
<option name="taskNames">
|
||||
<list>
|
||||
<option value="TeamCode:deploySloth" />
|
||||
</list>
|
||||
</option>
|
||||
<option name="vmOptions" />
|
||||
</ExternalSystemSettings>
|
||||
<ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
|
||||
<ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
|
||||
<DebugAllEnabled>false</DebugAllEnabled>
|
||||
<RunAsTest>false</RunAsTest>
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,75 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="TeamCode" type="AndroidRunConfigurationType" factoryName="Android App" activateToolWindowBeforeRun="false">
|
||||
<module name="DecodeFTCMain.TeamCode" />
|
||||
<option name="ANDROID_RUN_CONFIGURATION_SCHEMA_VERSION" value="1" />
|
||||
<option name="DEPLOY" value="true" />
|
||||
<option name="DEPLOY_APK_FROM_BUNDLE" value="false" />
|
||||
<option name="DEPLOY_AS_INSTANT" value="false" />
|
||||
<option name="ARTIFACT_NAME" value="" />
|
||||
<option name="PM_INSTALL_OPTIONS" value="" />
|
||||
<option name="ALL_USERS" value="false" />
|
||||
<option name="ALWAYS_INSTALL_WITH_PM" value="false" />
|
||||
<option name="ALLOW_ASSUME_VERIFIED" value="false" />
|
||||
<option name="CLEAR_APP_STORAGE" value="false" />
|
||||
<option name="DYNAMIC_FEATURES_DISABLED_LIST" value="" />
|
||||
<option name="ACTIVITY_EXTRA_FLAGS" value="" />
|
||||
<option name="MODE" value="default_activity" />
|
||||
<option name="RESTORE_ENABLED" value="false" />
|
||||
<option name="RESTORE_FILE" value="" />
|
||||
<option name="RESTORE_FRESH_INSTALL_ONLY" value="false" />
|
||||
<option name="CLEAR_LOGCAT" value="false" />
|
||||
<option name="SHOW_LOGCAT_AUTOMATICALLY" value="false" />
|
||||
<option name="TARGET_SELECTION_MODE" value="DEVICE_AND_SNAPSHOT_COMBO_BOX" />
|
||||
<option name="SELECTED_CLOUD_MATRIX_CONFIGURATION_ID" value="-1" />
|
||||
<option name="SELECTED_CLOUD_MATRIX_PROJECT_ID" value="" />
|
||||
<option name="DEBUGGER_TYPE" value="Auto" />
|
||||
<Auto>
|
||||
<option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
|
||||
<option name="SHOW_STATIC_VARS" value="true" />
|
||||
<option name="WORKING_DIR" value="" />
|
||||
<option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
|
||||
<option name="SHOW_OPTIMIZED_WARNING" value="true" />
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Auto>
|
||||
<Hybrid>
|
||||
<option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
|
||||
<option name="SHOW_STATIC_VARS" value="true" />
|
||||
<option name="WORKING_DIR" value="" />
|
||||
<option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
|
||||
<option name="SHOW_OPTIMIZED_WARNING" value="true" />
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Hybrid>
|
||||
<Java>
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Java>
|
||||
<Native>
|
||||
<option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
|
||||
<option name="SHOW_STATIC_VARS" value="true" />
|
||||
<option name="WORKING_DIR" value="" />
|
||||
<option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
|
||||
<option name="SHOW_OPTIMIZED_WARNING" value="true" />
|
||||
<option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
|
||||
<option name="DEBUG_SANDBOX_SDK" value="false" />
|
||||
</Native>
|
||||
<Profilers>
|
||||
<option name="ADVANCED_PROFILING_ENABLED" value="false" />
|
||||
<option name="STARTUP_PROFILING_ENABLED" value="false" />
|
||||
<option name="STARTUP_CPU_PROFILING_ENABLED" value="false" />
|
||||
<option name="STARTUP_CPU_PROFILING_CONFIGURATION_NAME" value="Java/Kotlin Method Sample (legacy)" />
|
||||
<option name="STARTUP_NATIVE_MEMORY_PROFILING_ENABLED" value="false" />
|
||||
<option name="NATIVE_MEMORY_SAMPLE_RATE_BYTES" value="2048" />
|
||||
</Profilers>
|
||||
<option name="DEEP_LINK" value="" />
|
||||
<option name="ACTIVITY" value="" />
|
||||
<option name="ACTIVITY_CLASS" value="" />
|
||||
<option name="SEARCH_ACTIVITY_IN_GLOBAL_SCOPE" value="false" />
|
||||
<option name="SKIP_ACTIVITY_VALIDATION" value="false" />
|
||||
<method v="2">
|
||||
<option name="Gradle.BeforeRunTask" enabled="true" tasks="removeSlothRemote" externalProjectPath="$PROJECT_DIR$/TeamCode" vmOptions="" scriptParameters="" />
|
||||
<option name="Android.Gradle.BeforeRunTask" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,8 +1,8 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
xmlns:tools="http://schemas.android.com/tools"
|
||||
android:versionCode="61"
|
||||
android:versionName="11.1">
|
||||
android:versionCode="60"
|
||||
android:versionName="11.0">
|
||||
|
||||
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
|
||||
|
||||
|
||||
@@ -92,22 +92,24 @@ public class ConceptAprilTag extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
|
||||
@@ -88,22 +88,24 @@ public class ConceptAprilTagEasy extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryAprilTag();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
|
||||
@@ -81,25 +81,27 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
|
||||
telemetry.update();
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (opModeIsActive()) {
|
||||
while (opModeIsActive()) {
|
||||
|
||||
telemetryCameraSwitching();
|
||||
telemetryAprilTag();
|
||||
telemetryCameraSwitching();
|
||||
telemetryAprilTag();
|
||||
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
// Push telemetry to the Driver Station.
|
||||
telemetry.update();
|
||||
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
// Save CPU resources; can resume streaming when needed.
|
||||
if (gamepad1.dpad_down) {
|
||||
visionPortal.stopStreaming();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
visionPortal.resumeStreaming();
|
||||
}
|
||||
|
||||
doCameraSwitching();
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
doCameraSwitching();
|
||||
|
||||
// Share the CPU.
|
||||
sleep(20);
|
||||
}
|
||||
|
||||
// Save more CPU resources when camera is no longer needed.
|
||||
|
||||
@@ -83,22 +83,6 @@ public class ConceptGamepadEdgeDetection extends LinearOpMode {
|
||||
telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
|
||||
telemetry.addData("Gamepad 1 Right Bumper Status", gamepad1.right_bumper);
|
||||
|
||||
// Add an empty line to separate the buttons in telemetry
|
||||
telemetry.addLine();
|
||||
|
||||
// Add the status of the Gamepad 1 Left trigger
|
||||
telemetry.addData("Gamepad 1 Left Trigger Pressed", gamepad1.leftTriggerWasPressed());
|
||||
telemetry.addData("Gamepad 1 Left Trigger Released", gamepad1.leftTriggerWasReleased());
|
||||
telemetry.addData("Gamepad 1 Left Trigger Status", gamepad1.left_trigger_pressed);
|
||||
|
||||
// Add an empty line to separate the buttons in telemetry
|
||||
telemetry.addLine();
|
||||
|
||||
// Add the status of the Gamepad 1 Right trigger
|
||||
telemetry.addData("Gamepad 1 Right Trigger Pressed", gamepad1.rightTriggerWasPressed());
|
||||
telemetry.addData("Gamepad 1 Right Trigger Released", gamepad1.rightTriggerWasReleased());
|
||||
telemetry.addData("Gamepad 1 Right Trigger Status", gamepad1.right_trigger_pressed);
|
||||
|
||||
// Add a note that the telemetry is only updated every 2 seconds
|
||||
telemetry.addLine("\nTelemetry is updated every 2 seconds.");
|
||||
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples;
|
||||
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
|
||||
package org.firstinspires.ftc.robotcontroller.external.samples;
|
||||
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
17
README.md
17
README.md
@@ -1,5 +1,3 @@
|
||||
Farewell, this is the last commit for the team 23344...to any who may use this repository, please feel free to contact us (keshavanandofficial@gmail.com), and we hope our code is of use to you and your team.
|
||||
|
||||
## NOTICE
|
||||
|
||||
This repository contains the public FTC SDK for the DECODE (2025-2026) competition season.
|
||||
@@ -61,21 +59,6 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
|
||||
|
||||
# Release Information
|
||||
|
||||
## Version 11.1 (20251231-104637)
|
||||
|
||||
### Enhancements
|
||||
|
||||
* Gamepad triggers can now be accessed as booleans and have edge detection supported.
|
||||
* GoBildaPinpointDriver now supports Pinpoint v2 functionality
|
||||
* Adds webcam calibrations for goBILDA's USB camera.
|
||||
|
||||
### Bug Fixes
|
||||
* Fixes issue [1654](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1654) in GoBildaPinpointDriver that caused error if resolution was set in other than MM
|
||||
* Fixes issue [1628](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1628) Blocks editor displays incorrect Java code for gamepad edge detection blocks.
|
||||
* Fixes possible race condition issue [1884](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1884) on Driver Station startup when Driver Station name doesn't match the Robot Controller name.
|
||||
* Fixes issue [1863](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1863) - Incorrect package paths in samples.
|
||||
* Fixes an issue where an OnBotJava filename that begins with a lowercase character would fail to properly rename the file if the user tried to rename it so that it begins with an uppercase character.
|
||||
|
||||
## Version 11.0 (20250827-105138)
|
||||
|
||||
### Enhancements
|
||||
|
||||
@@ -12,25 +12,8 @@
|
||||
// Custom definitions may go here
|
||||
|
||||
// Include common definitions from above.
|
||||
|
||||
buildscript {
|
||||
repositories {
|
||||
mavenCentral()
|
||||
maven {
|
||||
url "https://repo.dairy.foundation/releases"
|
||||
}
|
||||
}
|
||||
dependencies {
|
||||
classpath "dev.frozenmilk:Load:0.2.4"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
apply from: '../build.common.gradle'
|
||||
apply from: '../build.dependencies.gradle'
|
||||
// there should be 2 or 3 more lines that start with 'apply plugin:' here
|
||||
apply plugin: 'dev.frozenmilk.sinister.sloth.load'
|
||||
|
||||
|
||||
android {
|
||||
namespace = 'org.firstinspires.ftc.teamcode'
|
||||
@@ -45,32 +28,14 @@ repositories {
|
||||
maven {
|
||||
url = 'https://maven.brott.dev/'
|
||||
}
|
||||
// Dairy releases repository
|
||||
maven {
|
||||
url = "https://repo.dairy.foundation/releases"
|
||||
}
|
||||
// Dairy snapshots repository
|
||||
maven {
|
||||
url = "https://repo.dairy.foundation/snapshots"
|
||||
}
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation project(':FtcRobotController')
|
||||
implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
|
||||
implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
|
||||
implementation "com.acmerobotics.roadrunner:core:1.0.1"
|
||||
implementation "com.acmerobotics.roadrunner:actions:1.0.1"
|
||||
implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
|
||||
implementation 'org.ftclib.ftclib:core:2.1.1' // core
|
||||
implementation("com.acmerobotics.roadrunner:ftc:0.1.25") {
|
||||
exclude group: "com.acmerobotics.dashboard"
|
||||
}
|
||||
implementation("com.acmerobotics.roadrunner:actions:1.0.1") {
|
||||
exclude group: "com.acmerobotics.dashboard"
|
||||
}
|
||||
implementation("com.acmerobotics.roadrunner:core:1.0.1") {
|
||||
exclude group: "com.acmerobotics.dashboard"
|
||||
}
|
||||
|
||||
implementation("com.acmerobotics.slothboard:dashboard:0.2.4+0.5.1") //Slothdashboard
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,392 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.BezierCurve;
|
||||
import com.pedropathing.geometry.BezierLine;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.pedropathing.paths.PathChain;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.Turret;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
public class Auto12BallPedroPathing extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
// Flywheel flywheel;
|
||||
// Targeting targeting;
|
||||
// Targeting.Settings targetingSettings;
|
||||
Follower follower;
|
||||
// Turret turret;
|
||||
// Spindexer spindexer;
|
||||
// Servos servos;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
|
||||
// Wait Times
|
||||
public static double shootTime = 2;
|
||||
|
||||
// Extra Variables
|
||||
public static double intakePower = 0.3;
|
||||
double shootX, shootY, shootH;
|
||||
|
||||
// Initialize path state machine
|
||||
private enum PathState {
|
||||
DRIVE_SHOOT0, WAIT_SHOOT0,
|
||||
DRIVE_PICKUP1, PICKUP1, DRIVE_SHOOT1, WAIT_SHOOT1,
|
||||
DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
|
||||
DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
|
||||
}
|
||||
PathState pathState = PathState.DRIVE_SHOOT0;
|
||||
|
||||
// Poses
|
||||
public static double startPoseX = 112, startPoseY = 132.5, startPoseH = -90;
|
||||
public static double shoot0X = 106, shoot0Y = 106, shoot0H = -40;
|
||||
public static double drivePickup1X = 102, drivePickup1Y = 82, drivePickup1H = 0;
|
||||
public static double pickup1X = 126, pickup1Y = 82, pickup1H = 0;
|
||||
public static double shoot1X = 86, shoot1Y = 82, shoot1H = -80;
|
||||
public static double drivePickup2ControlX = 91.69828844730904, drivePickup2ControlY = 66.724457099909;
|
||||
public static double drivePickup2X = 102, drivePickup2Y = 58.5, drivePickup2H = 0;
|
||||
public static double pickup2X = 132, pickup2Y = 57, pickup2H = 0;
|
||||
public static double shoot2ControlX = 86, shoot2ControlY = 57;
|
||||
public static double shoot2X = 86, shoot2Y = 82, shoot2H = -90;
|
||||
public static double drivePickup3ControlX = 97.97800291788306, drivePickup3ControlY = 50.10765863138859;
|
||||
public static double drivePickup3X = 102, drivePickup3Y = 34.5, drivePickup3H = 0;
|
||||
public static double pickup3X = 132, pickup3Y = 34.5, pickup3H = 0;
|
||||
public static double shoot3ControlX = 86, shoot3ControlY = 34.5;
|
||||
public static double shoot3X = 84, shoot3Y = 102, shoot3H = -90;
|
||||
Pose startPose, shoot0,
|
||||
drivePickup1, pickup1, shoot1,
|
||||
drivePickup2Control, drivePickup2, pickup2, shoot2Control, shoot2,
|
||||
drivePickup3Control, drivePickup3, pickup3, shoot3Control, shoot3;
|
||||
private void initializePoses(){
|
||||
startPose = new Pose(startPoseX, startPoseY, Math.toRadians(startPoseH));
|
||||
shoot0 = new Pose(shoot0X, shoot0Y, Math.toRadians(shoot0H));
|
||||
drivePickup1 = new Pose(drivePickup1X, drivePickup1Y, Math.toRadians(drivePickup1H));
|
||||
pickup1 = new Pose(pickup1X, pickup1Y, Math.toRadians(pickup1H));
|
||||
shoot1 = new Pose(shoot1X, shoot1Y, Math.toRadians(shoot1H));
|
||||
drivePickup2Control = new Pose(drivePickup2ControlX, drivePickup2ControlY);
|
||||
drivePickup2 = new Pose(drivePickup2X, drivePickup2Y, Math.toRadians(drivePickup2H));
|
||||
pickup2 = new Pose(pickup2X, pickup2Y, Math.toRadians(pickup2H));
|
||||
shoot2Control = new Pose(shoot2ControlX, shoot2ControlY);
|
||||
shoot2 = new Pose(shoot2X, shoot2Y, Math.toRadians(shoot2H));
|
||||
drivePickup3Control = new Pose(drivePickup3ControlX, drivePickup3ControlY);
|
||||
drivePickup3 = new Pose(drivePickup3X, drivePickup3Y, Math.toRadians(drivePickup3H));
|
||||
pickup3 = new Pose(pickup3X, pickup3Y, Math.toRadians(pickup3H));
|
||||
shoot3Control = new Pose(shoot3ControlX, shoot3ControlY);
|
||||
shoot3 = new Pose(shoot3X, shoot3Y, Math.toRadians(shoot3H));
|
||||
} // add poses to void
|
||||
|
||||
//Building Paths
|
||||
PathChain startPose_shoot0,
|
||||
shoot0_drivePickup1, drivePickup1_pickup1, pickup1_shoot1,
|
||||
shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
|
||||
shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
|
||||
private void buildPaths(){
|
||||
startPose_shoot0 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(startPose, shoot0))
|
||||
.setLinearHeadingInterpolation(startPose.getHeading(), shoot0.getHeading())
|
||||
.build();
|
||||
|
||||
shoot0_drivePickup1 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shoot0, drivePickup1))
|
||||
.setLinearHeadingInterpolation(shoot0.getHeading(), drivePickup1.getHeading())
|
||||
.build();
|
||||
|
||||
drivePickup1_pickup1 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(drivePickup1, pickup1))
|
||||
.setTangentHeadingInterpolation()
|
||||
.build();
|
||||
|
||||
pickup1_shoot1 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(pickup1, shoot1))
|
||||
.setLinearHeadingInterpolation(pickup1.getHeading(), shoot1.getHeading())
|
||||
.build();
|
||||
|
||||
shoot1_drivePickup2 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shoot1, drivePickup2Control, drivePickup2))
|
||||
.setLinearHeadingInterpolation(shoot1.getHeading(), drivePickup2.getHeading())
|
||||
.build();
|
||||
|
||||
drivePickup2_pickup2 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(drivePickup2, pickup2))
|
||||
.setConstantHeadingInterpolation(pickup2.getHeading())
|
||||
.build();
|
||||
|
||||
pickup2_shoot2 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup2, shoot2Control, shoot2))
|
||||
.setLinearHeadingInterpolation(pickup2.getHeading(), shoot2.getHeading())
|
||||
.build();
|
||||
|
||||
shoot2_drivePickup3 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shoot2, drivePickup3Control, drivePickup3))
|
||||
.setLinearHeadingInterpolation(shoot2.getHeading(), drivePickup3.getHeading())
|
||||
.build();
|
||||
|
||||
drivePickup3_pickup3 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(drivePickup3, pickup3))
|
||||
.setTangentHeadingInterpolation()
|
||||
.build();
|
||||
|
||||
pickup3_shoot3 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup3, shoot3Control, shoot3))
|
||||
.setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
|
||||
.build();
|
||||
}
|
||||
|
||||
//Path State Machine
|
||||
private boolean startAuto = true;
|
||||
private double timeStamp = 0;
|
||||
private void pathStateMachine(){
|
||||
double currentTime = (double) System.currentTimeMillis() / 1000;
|
||||
switch(pathState){
|
||||
case DRIVE_SHOOT0:
|
||||
if (startAuto){
|
||||
follower.followPath(startPose_shoot0, true);
|
||||
startAuto = false;
|
||||
shootX = shoot0X;
|
||||
shootY = shoot0Y;
|
||||
shootH = shoot0H;
|
||||
}
|
||||
driveShoot(PathState.WAIT_SHOOT0, currentTime);
|
||||
break;
|
||||
case WAIT_SHOOT0:
|
||||
waitShoot(PathState.DRIVE_PICKUP1, shoot0_drivePickup1, currentTime);
|
||||
break;
|
||||
case DRIVE_PICKUP1:
|
||||
drivePickup(PathState.PICKUP1, drivePickup1_pickup1);
|
||||
break;
|
||||
case PICKUP1:
|
||||
pickup(PathState.DRIVE_SHOOT1, pickup1_shoot1);
|
||||
shootX = shoot1X;
|
||||
shootY = shoot1Y;
|
||||
shootH = shoot1H;
|
||||
break;
|
||||
case DRIVE_SHOOT1:
|
||||
intakePowerDown(timeStamp, currentTime);
|
||||
driveShoot(PathState.WAIT_SHOOT1, currentTime);
|
||||
break;
|
||||
case WAIT_SHOOT1:
|
||||
waitShoot(PathState.DRIVE_PICKUP2, shoot1_drivePickup2, currentTime);
|
||||
break;
|
||||
case DRIVE_PICKUP2:
|
||||
drivePickup(PathState.PICKUP2, drivePickup2_pickup2);
|
||||
break;
|
||||
case PICKUP2:
|
||||
pickup(PathState.DRIVE_SHOOT2, pickup2_shoot2);
|
||||
shootX = shoot2X;
|
||||
shootY = shoot2Y;
|
||||
shootH = shoot2H;
|
||||
break;
|
||||
case DRIVE_SHOOT2:
|
||||
intakePowerDown(timeStamp, currentTime);
|
||||
driveShoot(PathState.WAIT_SHOOT2, currentTime);
|
||||
break;
|
||||
case WAIT_SHOOT2:
|
||||
waitShoot(PathState.DRIVE_PICKUP3, shoot2_drivePickup3, currentTime);
|
||||
break;
|
||||
case DRIVE_PICKUP3:
|
||||
drivePickup(PathState.PICKUP3, drivePickup3_pickup3);
|
||||
break;
|
||||
case PICKUP3:
|
||||
pickup(PathState.DRIVE_SHOOT3, pickup3_shoot3);
|
||||
shootX = shoot3X;
|
||||
shootY = shoot3Y;
|
||||
shootH = shoot3H;
|
||||
break;
|
||||
case DRIVE_SHOOT3:
|
||||
intakePowerDown(timeStamp, currentTime);
|
||||
driveShoot(PathState.WAIT_SHOOT3, currentTime);
|
||||
break;
|
||||
case WAIT_SHOOT3:
|
||||
// if (spindexer.shootAllComplete()){
|
||||
// spindexer.resetSpindexer();
|
||||
// TELE.addLine("Done Auto");
|
||||
// }
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
TELE.update(); // use for debugging
|
||||
}
|
||||
|
||||
// Voids for State Machine
|
||||
private void intakePowerDown(double stamp, double currentTime) {
|
||||
double pow = (stamp - currentTime) / 2; // adjust denominator to see how much time to adjust
|
||||
if (pow < -1) {pow = 0;}
|
||||
// spindexer.setIntakePower(pow);
|
||||
}
|
||||
private void driveShoot(PathState nextState, double currentTime){
|
||||
if (!follower.isBusy()){
|
||||
pathState = nextState;
|
||||
timeStamp = currentTime;
|
||||
// spindexer.prepareShootAllContinous();
|
||||
}
|
||||
}
|
||||
private void waitShoot(PathState nextState, PathChain nextPath, double currentTime) {
|
||||
if (currentTime - timeStamp > shootTime) { // spindexer.shootAllComplete() ||
|
||||
// spindexer.resetSpindexer();
|
||||
pathState = nextState;
|
||||
follower.followPath(nextPath, true);
|
||||
// spindexer.setIntakePower(1);
|
||||
}
|
||||
}
|
||||
private void drivePickup(PathState nextState, PathChain nextPath) {
|
||||
if (!follower.isBusy()) {
|
||||
pathState = nextState;
|
||||
follower.followPath(nextPath, intakePower, false);
|
||||
}
|
||||
}
|
||||
private void pickup(PathState nextState, PathChain nextPath) {
|
||||
if (!follower.isBusy()) {
|
||||
pathState = nextState;
|
||||
follower.followPath(nextPath, true);
|
||||
}
|
||||
}
|
||||
|
||||
// Helps manage spindexer
|
||||
private boolean driveToShoot(){
|
||||
return pathState == PathState.DRIVE_SHOOT0 ||
|
||||
pathState == PathState.DRIVE_SHOOT1 ||
|
||||
pathState == PathState.DRIVE_SHOOT2 ||
|
||||
pathState == PathState.DRIVE_SHOOT3;
|
||||
}
|
||||
|
||||
// Used for changing alliance
|
||||
private double adjustXPoseBasedOnAlliance(double pose) {return (144-pose);}
|
||||
private double adjustHeadingBasedOnAlliance(double heading){
|
||||
heading = 180 - heading;
|
||||
while (heading > 180) {heading-=360;}
|
||||
while (heading <= -180) {heading+=360;}
|
||||
return heading;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Robot.resetInstance();
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
// flywheel = new Flywheel(hardwareMap);
|
||||
// targeting = new Targeting();
|
||||
// targetingSettings = new Targeting.Settings(0,0);
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
follower.setStartingPose(new Pose(72,72,0));
|
||||
// turret = new Turret(robot, TELE, robot.limelight);
|
||||
// spindexer = new Spindexer(hardwareMap);
|
||||
// servos = new Servos(hardwareMap);
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
|
||||
// robot.light.setPosition(Color.LightRed);
|
||||
|
||||
boolean initializeRobot = false;
|
||||
while (opModeInInit()){
|
||||
follower.update();
|
||||
|
||||
if (gamepad1.crossWasPressed() && !initializeRobot){
|
||||
Color.redAlliance = !Color.redAlliance;
|
||||
// if (Color.redAlliance){
|
||||
// robot.light.setPosition(Color.LightRed);
|
||||
// } else {
|
||||
// robot.light.setPosition(Color.LightBlue);
|
||||
// }
|
||||
|
||||
double[] xPoses = {startPoseX, shoot0X,
|
||||
drivePickup1X, pickup1X, shoot1X,
|
||||
drivePickup2ControlX, drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
|
||||
drivePickup3ControlX, drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
|
||||
|
||||
double[] headings = {startPoseH, shoot0H,
|
||||
drivePickup1H, pickup1H, shoot1H,
|
||||
drivePickup2H, pickup2H, shoot2H,
|
||||
drivePickup3H, pickup3H, shoot3H};
|
||||
|
||||
for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
|
||||
for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
initializeRobot = true;
|
||||
initializePoses();
|
||||
follower.setPose(startPose);
|
||||
buildPaths();
|
||||
// turret.switchPipeline(Turret.PipelineMode.OBELISK);
|
||||
robot.limelight.start();
|
||||
sleep(2000);
|
||||
|
||||
// turret.setTurret(turrDefault);
|
||||
// servos.setSpinPos(spinStartPos);
|
||||
}
|
||||
|
||||
TELE.addData("Red Alliance?", Color.redAlliance);
|
||||
TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
|
||||
TELE.addData("Start Pose", follower.getPose());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
// robot.transfer.setPower(1);
|
||||
limelightUsed = false;
|
||||
|
||||
while (opModeIsActive()){
|
||||
follower.update();
|
||||
pathStateMachine();
|
||||
Pose currentPose = follower.getPose();
|
||||
// teleStartPoseX = currentPose.getX();
|
||||
// teleStartPoseY = currentPose.getY();
|
||||
// teleStartPoseH = Math.toDegrees(currentPose.getHeading());
|
||||
//
|
||||
// turret.trackGoal(new Pose(shootX, shootY, Math.toRadians(shootH)));
|
||||
// targetingSettings = targeting.calculateSettings(shootX, shootY, Math.toRadians(shootH), 0, turretInterpolate);
|
||||
//
|
||||
// double voltage = robot.voltage.getVoltage();
|
||||
// flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
||||
// flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
// servos.setHoodPos(targetingSettings.hoodAngle);
|
||||
//
|
||||
// if (driveToShoot()){servos.setSpinPos(spinStartPos);}
|
||||
// else {spindexer.processIntake();}
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
loopTimes.loop();
|
||||
|
||||
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
|
||||
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
|
||||
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
|
||||
TELE.addData("X:", currentPose.getX());
|
||||
TELE.addData("Y:", currentPose.getY());
|
||||
TELE.addData("H:", currentPose.getHeading());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,424 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.BezierCurve;
|
||||
import com.pedropathing.geometry.BezierLine;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.pedropathing.paths.PathChain;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
|
||||
import org.firstinspires.ftc.teamcode.tests.NewShooterTest;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.*;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous (preselectTeleOp = "TeleopV4")
|
||||
public class Auto12Ball_Back_Sorted extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Follower follower;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
Shooter shooter;
|
||||
Turret turret;
|
||||
Flywheel flywheel;
|
||||
VelocityCommander commander;
|
||||
SpindexerTransferIntake spindexer;
|
||||
|
||||
// Wait Times
|
||||
public static double sortedShootTime = 2.6;
|
||||
public static double rapidWaitTime = 0.5;
|
||||
public static double rapidShootTime = 0.8;
|
||||
public static double openGateTime = 2.5;
|
||||
public static double pushTime = 2;
|
||||
|
||||
// Extra Variables
|
||||
public static double intakePower = 0.5;
|
||||
double shootX, shootY, shootH;
|
||||
|
||||
// Initialize path state machine
|
||||
private enum PathState {
|
||||
PUSHBOT, DRIVE_SHOOT0, WAIT_SHOOT0,
|
||||
PICKUP1, OPENGATE, DRIVE_SHOOT1, WAIT_SHOOT1,
|
||||
DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
|
||||
DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
|
||||
}
|
||||
PathState pathState = PathState.PUSHBOT;
|
||||
|
||||
// Poses
|
||||
public static double startPoseX = 12, startPoseY = -64, startPoseH = 90;
|
||||
public static double pushBotX = 19, pushBotY = -63, pushBotH = 100;
|
||||
public static double shoot0ControlX = 16.29667812142038, shoot0ControlY = -19.67493699885454;
|
||||
public static double shoot0X = 19, shoot0Y = 10, shoot0H = 0;
|
||||
public static double pickup1X = 54, pickup1Y = 10, pickup1H = 0;
|
||||
public static double openGateControlX = 37.184421534937, openGateControlY = 2.24455899198165;
|
||||
public static double openGateX = 59, openGateY = 2, openGateH = 0;
|
||||
public static double shoot1ControlX = 40, shoot1ControlY = 3;
|
||||
public static double shoot1X = 19, shoot1Y = 10, shoot1H = 0;
|
||||
public static double drivePickup2X = 26, drivePickup2Y = -14, drivePickup2H = 0;
|
||||
public static double pickup2X = 61, pickup2Y = -14.5, pickup2H = 0;
|
||||
public static double shoot2ControlX = 30, shoot2ControlY = -9;
|
||||
public static double shoot2X = 19, shoot2Y = 10, shoot2H = 0;
|
||||
public static double drivePickup3X = 26, drivePickup3Y = -37.5, drivePickup3H = 0;
|
||||
public static double pickup3X = 61, pickup3Y = -37.5, pickup3H = 0;
|
||||
public static double shoot3ControlX = 25.62371134020621, shoot3ControlY = -38.813287514318446;
|
||||
public static double shoot3X = 12, shoot3Y = 40, shoot3H = -90;
|
||||
double[] xPoses = {startPoseX, pushBotX, shoot0ControlX, shoot0X,
|
||||
pickup1X, openGateControlX, openGateX, shoot1ControlX, shoot1X,
|
||||
drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
|
||||
drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
|
||||
double[] yPoses = {startPoseY, pushBotY, shoot0ControlY, shoot0Y,
|
||||
pickup1Y, openGateControlY, openGateY, shoot1ControlY, shoot1Y,
|
||||
drivePickup2Y, pickup2Y, shoot2ControlY, shoot2Y,
|
||||
drivePickup3Y, pickup3Y, shoot3ControlY, shoot3Y};
|
||||
double[] headings = {startPoseH, pushBotH, 0, shoot0H,
|
||||
pickup1H, 0, openGateH, 0, shoot1H,
|
||||
drivePickup2H, pickup2H, 0, shoot2H,
|
||||
drivePickup3H, pickup3H, 0, shoot3H};
|
||||
Pose startPose, pushBot, shoot0Control, shoot0,
|
||||
pickup1, openGateControl, openGate, shoot1Control, shoot1,
|
||||
drivePickup2, pickup2, shoot2Control, shoot2,
|
||||
drivePickup3, pickup3, shoot3Control, shoot3;
|
||||
private void initializePoses(){
|
||||
startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
|
||||
pushBot = new Pose(xPoses[1], yPoses[1], Math.toRadians(headings[1]));
|
||||
shoot0Control = new Pose(xPoses[2], yPoses[2]);
|
||||
shoot0 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
|
||||
pickup1 = new Pose(xPoses[4], yPoses[4], Math.toRadians(headings[4]));
|
||||
openGateControl = new Pose(xPoses[5], yPoses[5]);
|
||||
openGate = new Pose(xPoses[6], yPoses[6], Math.toRadians(headings[6]));
|
||||
shoot1Control = new Pose(xPoses[7], yPoses[7]);
|
||||
shoot1 = new Pose(xPoses[8], yPoses[8], Math.toRadians(headings[8]));
|
||||
drivePickup2 = new Pose(xPoses[9], yPoses[9], Math.toRadians(headings[9]));
|
||||
pickup2 = new Pose(xPoses[10], yPoses[10], Math.toRadians(headings[10]));
|
||||
shoot2Control = new Pose(xPoses[11], yPoses[11]);
|
||||
shoot2 = new Pose(xPoses[12], yPoses[12], Math.toRadians(headings[12]));
|
||||
drivePickup3 = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
|
||||
pickup3 = new Pose(xPoses[14], yPoses[14], Math.toRadians(headings[14]));
|
||||
shoot3Control = new Pose(xPoses[15], yPoses[15]);
|
||||
shoot3 = new Pose(xPoses[16], yPoses[16], Math.toRadians(headings[16]));
|
||||
}
|
||||
|
||||
//Building Paths
|
||||
PathChain startPose_pushBot, pushBot_shoot0,
|
||||
shoot0_pickup1, pickup1_openGate, openGate_shoot1,
|
||||
shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
|
||||
shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
|
||||
private void buildPaths(){
|
||||
startPose_pushBot = follower.pathBuilder()
|
||||
.addPath(new BezierLine(startPose, pushBot))
|
||||
.setLinearHeadingInterpolation(startPose.getHeading(), pushBot.getHeading())
|
||||
.build();
|
||||
|
||||
pushBot_shoot0 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pushBot, shoot0Control, shoot0))
|
||||
.setLinearHeadingInterpolation(pushBot.getHeading(), shoot0.getHeading())
|
||||
.build();
|
||||
|
||||
shoot0_pickup1 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shoot0, pickup1))
|
||||
.setLinearHeadingInterpolation(shoot0.getHeading(), pickup1.getHeading())
|
||||
.build();
|
||||
|
||||
pickup1_openGate = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup1, openGateControl, openGate))
|
||||
.setLinearHeadingInterpolation(pickup1.getHeading(), openGate.getHeading())
|
||||
.build();
|
||||
|
||||
openGate_shoot1 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(openGate, shoot1Control, shoot1))
|
||||
.setLinearHeadingInterpolation(openGate.getHeading(), shoot1.getHeading())
|
||||
.build();
|
||||
|
||||
shoot1_drivePickup2 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shoot1, drivePickup2))
|
||||
.setLinearHeadingInterpolation(shoot1.getHeading(), drivePickup2.getHeading())
|
||||
.build();
|
||||
|
||||
drivePickup2_pickup2 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(drivePickup2, pickup2))
|
||||
.setLinearHeadingInterpolation(drivePickup2.getHeading(), pickup2.getHeading())
|
||||
.build();
|
||||
|
||||
pickup2_shoot2 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup2, shoot2Control, shoot2))
|
||||
.setLinearHeadingInterpolation(pickup2.getHeading(), shoot2.getHeading())
|
||||
.build();
|
||||
|
||||
shoot2_drivePickup3 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shoot2, drivePickup3))
|
||||
.setLinearHeadingInterpolation(shoot2.getHeading(), drivePickup3.getHeading())
|
||||
.build();
|
||||
|
||||
drivePickup3_pickup3 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(drivePickup3, pickup3))
|
||||
.setLinearHeadingInterpolation(drivePickup3.getHeading(), pickup3.getHeading())
|
||||
.build();
|
||||
|
||||
pickup3_shoot3 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup3, shoot3Control, shoot3))
|
||||
.setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
|
||||
.build();
|
||||
}
|
||||
|
||||
//Path State Machine
|
||||
private boolean startAuto = true;
|
||||
private double timeStamp = 0;
|
||||
private void pathStateMachine(){
|
||||
double currentTime = (double) System.currentTimeMillis() / 1000;
|
||||
switch(pathState){
|
||||
case PUSHBOT:
|
||||
spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
shooter.setFlywheelVelocity(2400);
|
||||
robot.setHoodPos(0.64);
|
||||
if (startAuto){
|
||||
follower.followPath(startPose_pushBot, false);
|
||||
startAuto = false;
|
||||
timeStamp = currentTime;
|
||||
shootX = shoot0X;
|
||||
shootY = shoot0Y;
|
||||
shootH = shoot0H;
|
||||
}
|
||||
if (!follower.isBusy() || currentTime - timeStamp > pushTime){
|
||||
follower.followPath(pushBot_shoot0, true);
|
||||
pathState = PathState.DRIVE_SHOOT0;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT0:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTime){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT0;
|
||||
spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT0:
|
||||
if (currentTime - timeStamp > rapidShootTime ||
|
||||
(spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
|
||||
spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
|
||||
follower.followPath(shoot0_pickup1, intakePower, false);
|
||||
pathState = PathState.PICKUP1;
|
||||
spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SORTED);
|
||||
}
|
||||
break;
|
||||
case PICKUP1:
|
||||
if (!follower.isBusy()){
|
||||
follower.followPath(pickup1_openGate, false);
|
||||
pathState = PathState.OPENGATE;
|
||||
shootX = shoot1X;
|
||||
shootY = shoot1Y;
|
||||
shootH = shoot1H;
|
||||
timeStamp = currentTime;
|
||||
shooter.setFlywheelVelocity(2300);
|
||||
robot.setHoodPos(0.68);
|
||||
}
|
||||
break;
|
||||
case OPENGATE:
|
||||
robot.setIntakePower(0);
|
||||
if (currentTime - timeStamp > openGateTime){
|
||||
follower.followPath(openGate_shoot1, true);
|
||||
pathState = PathState.DRIVE_SHOOT1;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT1:
|
||||
if (!follower.isBusy()){
|
||||
pathState = PathState.WAIT_SHOOT1;
|
||||
timeStamp = currentTime;
|
||||
spindexer.startSortedShoot();
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT1:
|
||||
if (currentTime - timeStamp > sortedShootTime){
|
||||
follower.followPath(shoot1_drivePickup2, true);
|
||||
pathState = PathState.DRIVE_PICKUP2;
|
||||
}
|
||||
break;
|
||||
case DRIVE_PICKUP2:
|
||||
if (!follower.isBusy()) {
|
||||
follower.followPath(drivePickup2_pickup2, intakePower, false);
|
||||
pathState = PathState.PICKUP2;
|
||||
}
|
||||
break;
|
||||
case PICKUP2:
|
||||
if (!follower.isBusy()){
|
||||
follower.followPath(pickup2_shoot2, true);
|
||||
pathState = PathState.DRIVE_SHOOT2;
|
||||
}
|
||||
shootX = shoot2X;
|
||||
shootY = shoot2Y;
|
||||
shootH = shoot2H;
|
||||
break;
|
||||
case DRIVE_SHOOT2:
|
||||
if (!follower.isBusy()){
|
||||
pathState = PathState.WAIT_SHOOT2;
|
||||
timeStamp = currentTime;
|
||||
spindexer.startSortedShoot();
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT2:
|
||||
if (currentTime - timeStamp > sortedShootTime){
|
||||
follower.followPath(shoot2_drivePickup3, true);
|
||||
pathState = PathState.DRIVE_PICKUP3;
|
||||
}
|
||||
break;
|
||||
case DRIVE_PICKUP3:
|
||||
if (!follower.isBusy()){
|
||||
shooter.setFlywheelVelocity(2250);
|
||||
robot.setHoodPos(0.75);
|
||||
follower.followPath(drivePickup3_pickup3, intakePower, false);
|
||||
pathState = PathState.PICKUP3;
|
||||
}
|
||||
break;
|
||||
case PICKUP3:
|
||||
if (!follower.isBusy()){
|
||||
follower.followPath(pickup3_shoot3, true);
|
||||
pathState = PathState.DRIVE_SHOOT3;
|
||||
}
|
||||
shootX = shoot3X;
|
||||
shootY = shoot3Y;
|
||||
shootH = shoot3H;
|
||||
break;
|
||||
case DRIVE_SHOOT3:
|
||||
if (!follower.isBusy()){
|
||||
pathState = PathState.WAIT_SHOOT3;
|
||||
spindexer.startSortedShoot();
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT3:
|
||||
// add line here to say "done auto"
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
TELE.update(); // use for debugging
|
||||
}
|
||||
|
||||
// Used for changing alliance
|
||||
private double adjustXPoseBasedOnAlliance(double pose) {return -pose;}
|
||||
private double adjustHeadingBasedOnAlliance(double heading){
|
||||
heading = 180 - heading;
|
||||
while (heading > 180) {heading-=360;}
|
||||
while (heading <= -180) {heading+=360;}
|
||||
return heading;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Robot.resetInstance();
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
sleep(1000);
|
||||
follower.setStartingPose(new Pose(0,0,0));
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
turret = new Turret(robot);
|
||||
flywheel = new Flywheel(robot);
|
||||
commander = new VelocityCommander();
|
||||
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
|
||||
spindexer = new SpindexerTransferIntake(robot, TELE, commander);
|
||||
ParkTilter park = new ParkTilter(robot);
|
||||
|
||||
boolean initializeRobot = false;
|
||||
while (opModeInInit()){
|
||||
follower.update();
|
||||
|
||||
if (gamepad1.squareWasPressed()){
|
||||
robot.setSpinPos(ServoPositions.spindexer_A2);
|
||||
robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
|
||||
robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
|
||||
}
|
||||
|
||||
if (gamepad1.crossWasPressed() && !initializeRobot){
|
||||
Color.redAlliance = !Color.redAlliance;
|
||||
shooter.setRedAlliance(Color.redAlliance);
|
||||
}
|
||||
|
||||
if (!initializeRobot){
|
||||
if ((Color.redAlliance && xPoses[0] < 0)
|
||||
|| (!Color.redAlliance && xPoses[0] > 0)){
|
||||
for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
|
||||
for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
initializeRobot = true;
|
||||
initializePoses();
|
||||
follower.setPose(startPose);
|
||||
buildPaths();
|
||||
sleep(2000);
|
||||
turret.switchPipeline(Turret.PipelineMode.OBELISK);
|
||||
robot.limelight.start();
|
||||
limelightUsed = true;
|
||||
park.unpark();
|
||||
}
|
||||
|
||||
NewShooterTest.transferPower = -0.8;
|
||||
|
||||
if (initializeRobot){
|
||||
//add obelisk read here
|
||||
shooter.setState(Shooter.ShooterState.READ_OBELISK);
|
||||
int ID = turret.getObeliskID();
|
||||
spindexer.setDesiredPatternAuto(ID);
|
||||
TELE.addData("ID", ID);
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
}
|
||||
|
||||
TELE.addData("Red Alliance?", Color.redAlliance);
|
||||
TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
|
||||
TELE.addData("Start Pose", follower.getPose());
|
||||
TELE.addData("Current LL Pipeline", turret.pipeline());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
park.unpark();
|
||||
|
||||
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
|
||||
if (!isStopRequested()){
|
||||
follower.update();
|
||||
}
|
||||
pathStateMachine();
|
||||
TeleopV4.teleStart = follower.getPose();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
loopTimes.loop();
|
||||
|
||||
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
|
||||
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
|
||||
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
|
||||
TELE.addData("X:", TeleopV4.teleStart.getX());
|
||||
TELE.addData("Y:", TeleopV4.teleStart.getY());
|
||||
TELE.addData("H:", TeleopV4.teleStart.getHeading());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,356 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.BezierCurve;
|
||||
import com.pedropathing.geometry.BezierLine;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.pedropathing.paths.PathChain;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
|
||||
import org.firstinspires.ftc.teamcode.tests.NewShooterTest;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.*;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous (preselectTeleOp = "TeleopV4")
|
||||
public class Auto15Ball_Back extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Follower follower;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
Shooter shooter;
|
||||
Turret turret;
|
||||
Flywheel flywheel;
|
||||
VelocityCommander commander;
|
||||
SpindexerTransferIntake spindexer;
|
||||
|
||||
// Wait Times
|
||||
public static double rapidWaitTime = 0.7;
|
||||
public static double rapidShootTime = 2.6;
|
||||
public static double loadPickupTime = 3;
|
||||
|
||||
// Initialize path state machine
|
||||
private enum PathState {
|
||||
WAIT_VELOCITY, WAIT_SHOOT0,
|
||||
PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3,
|
||||
PICKUP_LOAD, DRIVE_SHOOT_LOAD, WAIT_SHOOT_LOAD,
|
||||
INTAKE_GATE, DRIVE_SHOOT_GATE, WAIT_SHOOT_GATE, LEAVE
|
||||
}
|
||||
PathState pathState = PathState.WAIT_VELOCITY;
|
||||
|
||||
// Poses
|
||||
public static double startPoseX = 16, startPoseY = -64, startPoseH = 90;
|
||||
public static double pickup3ControlX = 12, pickup3ControlY = -37;
|
||||
public static double pickup3X = 61, pickup3Y = -37, pickup3H = 0;
|
||||
public static double shoot3X = 16, shoot3Y = -55, shoot3H = 0;
|
||||
public static double pickupLoadControlX = 21.23654066437572, pickupLoadControlY = -62.311626575028637;
|
||||
public static double pickupLoadX = 63, pickupLoadY = -63, pickupLoadH = 0;
|
||||
public static double shootLoadControlX = 21.23654066437572, shootLoadControlY = -62.311626575028637;
|
||||
public static double shootLoadX = 16, shootLoadY = -55, shootLoadH = 0;
|
||||
public static double intakeGateControl1X = 51.9656357388316, intakeGateControl1Y = -65.506277205040073;
|
||||
public static double intakeGateControl2X = 60.13459335624285, intakeGateControl2Y = -67.300458190148911;
|
||||
public static double intakeGateX = 63, intakeGateY = -35, intakeGateH = 90;
|
||||
public static double shootGateControlX = 53.8705612829324, shootGateControlY = -35.14501718213059;
|
||||
public static double shootGateX = 16, shootGateY = -55, shootGateH = 0;
|
||||
public static double leaveX = 36, leaveY = -58, leaveH = 0;
|
||||
double[] xPoses = {startPoseX, pickup3ControlX, pickup3X, shoot3X,
|
||||
pickupLoadControlX, pickupLoadX, shootLoadControlX, shootLoadX,
|
||||
intakeGateControl1X, intakeGateControl2X, intakeGateX, shootGateControlX, shootGateX, leaveX};
|
||||
double[] yPoses = {startPoseY, pickup3ControlY, pickup3Y, shoot3Y,
|
||||
pickupLoadControlY, pickupLoadY, shootLoadControlY, shootLoadY,
|
||||
intakeGateControl1Y, intakeGateControl2Y, intakeGateY, shootGateControlY, shootGateY, leaveY};
|
||||
double[] headings = {startPoseH, 0, pickup3H, shoot3H,
|
||||
0, pickupLoadH, 0, shootLoadH,
|
||||
0, 0, intakeGateH, 0, shootGateH, leaveH};
|
||||
Pose startPose, pickup3Control, pickup3, shoot3,
|
||||
pickupLoadControl, pickupLoad, shootLoadControl, shootLoad,
|
||||
intakeGateControl1, intakeGateControl2, intakeGate, shootGateControl, shootGate, leave;
|
||||
private void initializePoses(){
|
||||
startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
|
||||
pickup3Control = new Pose(xPoses[1], yPoses[1]);
|
||||
pickup3 = new Pose(xPoses[2], yPoses[2], Math.toRadians(headings[2]));
|
||||
shoot3 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
|
||||
pickupLoadControl = new Pose(xPoses[4], yPoses[4]);
|
||||
pickupLoad = new Pose(xPoses[5], yPoses[5], Math.toRadians(headings[5]));
|
||||
shootLoadControl = new Pose(xPoses[6], yPoses[6]);
|
||||
shootLoad = new Pose(xPoses[7], yPoses[7], Math.toRadians(headings[7]));
|
||||
intakeGateControl1 = new Pose(xPoses[8], yPoses[8]);
|
||||
intakeGateControl2 = new Pose(xPoses[9], yPoses[9]);
|
||||
intakeGate = new Pose(xPoses[10], yPoses[10], Math.toRadians(headings[10]));
|
||||
shootGateControl = new Pose(xPoses[11], yPoses[11]);
|
||||
shootGate = new Pose(xPoses[12], yPoses[12], Math.toRadians(headings[12]));
|
||||
leave = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
|
||||
}
|
||||
|
||||
//Building Paths
|
||||
PathChain startPose_pickup3, pickup3_shoot3, shoot3_pickupLoad, pickupLoad_shootLoad,
|
||||
shootLoad_intakeGate, intakeGate_shootGate, shootGate_intakeGate, shootGate_leave;
|
||||
private void buildPaths(){
|
||||
startPose_pickup3 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(startPose, pickup3Control, pickup3))
|
||||
.setTangentHeadingInterpolation()
|
||||
.build();
|
||||
|
||||
pickup3_shoot3 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(pickup3, shoot3))
|
||||
.setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
|
||||
.build();
|
||||
|
||||
shoot3_pickupLoad = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shoot3, pickupLoadControl, pickupLoad))
|
||||
.setLinearHeadingInterpolation(shoot3.getHeading(), pickupLoad.getHeading())
|
||||
.build();
|
||||
|
||||
pickupLoad_shootLoad = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickupLoad, shootLoadControl, shootLoad))
|
||||
.setLinearHeadingInterpolation(pickupLoad.getHeading(), shootLoad.getHeading())
|
||||
.build();
|
||||
|
||||
shootLoad_intakeGate = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shootLoad, intakeGateControl1, intakeGateControl2, intakeGate))
|
||||
.setTangentHeadingInterpolation()
|
||||
.build();
|
||||
|
||||
intakeGate_shootGate = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(intakeGate, shootGateControl, shootGate))
|
||||
.setLinearHeadingInterpolation(intakeGate.getHeading(), shootGate.getHeading())
|
||||
.build();
|
||||
|
||||
shootGate_intakeGate = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shootGate, intakeGateControl1, intakeGateControl2, intakeGate))
|
||||
.setTangentHeadingInterpolation()
|
||||
.build();
|
||||
|
||||
shootGate_leave = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shootGate, leave))
|
||||
.setLinearHeadingInterpolation(shootGate.getHeading(), leave.getHeading())
|
||||
.build();
|
||||
}
|
||||
|
||||
//Path State Machine
|
||||
private int startAuto = 0;
|
||||
private double timeStamp = 0;
|
||||
private void pathStateMachine(){
|
||||
double currentTime = (double) System.currentTimeMillis() / 1000;
|
||||
switch(pathState){
|
||||
case WAIT_VELOCITY:
|
||||
shooter.setFlywheelVelocity(3250);
|
||||
robot.setHoodPos(0.65);
|
||||
if (flywheel.getSteady()){
|
||||
startAuto++;
|
||||
}
|
||||
if (startAuto > 6){
|
||||
spindexer.startBackShooting();
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT0;
|
||||
}
|
||||
timeStamp = currentTime;
|
||||
break;
|
||||
case WAIT_SHOOT0:
|
||||
if (currentTime - timeStamp > rapidShootTime){
|
||||
follower.followPath(startPose_pickup3, false);
|
||||
pathState = PathState.PICKUP3;
|
||||
}
|
||||
break;
|
||||
case PICKUP3:
|
||||
if (!follower.isBusy()){
|
||||
follower.followPath(pickup3_shoot3, true);
|
||||
pathState = PathState.DRIVE_SHOOT3;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT3:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTime){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT3;
|
||||
spindexer.startBackShooting();
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT3:
|
||||
if (currentTime - timeStamp > rapidShootTime){
|
||||
follower.followPath(shoot3_pickupLoad, false);
|
||||
pathState = PathState.PICKUP_LOAD;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case PICKUP_LOAD:
|
||||
if (currentTime - timeStamp > loadPickupTime){
|
||||
follower.followPath(pickupLoad_shootLoad, true);
|
||||
pathState = PathState.DRIVE_SHOOT_LOAD;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT_LOAD:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTime){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT_LOAD;
|
||||
spindexer.startBackShooting();
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT_LOAD:
|
||||
if (currentTime - timeStamp > rapidShootTime){
|
||||
follower.followPath(shootLoad_intakeGate, false);
|
||||
pathState = PathState.INTAKE_GATE;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case INTAKE_GATE:
|
||||
if (!follower.isBusy()){
|
||||
follower.followPath(intakeGate_shootGate, true);
|
||||
pathState = PathState.DRIVE_SHOOT_GATE;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT_GATE:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTime){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT_GATE;
|
||||
spindexer.startBackShooting();
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT_GATE:
|
||||
if (currentTime - timeStamp > rapidShootTime){
|
||||
// follower.followPath(shootGate_intakeGate, false);
|
||||
follower.followPath(shootGate_leave, true);
|
||||
pathState = PathState.LEAVE;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case LEAVE:
|
||||
// add line here to say "done auto"
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
TELE.update(); // use for debugging
|
||||
}
|
||||
|
||||
// Used for changing alliance
|
||||
private double adjustXPoseBasedOnAlliance(double pose) {return -pose;}
|
||||
private double adjustHeadingBasedOnAlliance(double heading){
|
||||
heading = 180 - heading;
|
||||
while (heading > 180) {heading-=360;}
|
||||
while (heading <= -180) {heading+=360;}
|
||||
return heading;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Robot.resetInstance();
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
sleep(1000);
|
||||
follower.setStartingPose(new Pose(0,0,0));
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
turret = new Turret(robot);
|
||||
flywheel = new Flywheel(robot);
|
||||
commander = new VelocityCommander();
|
||||
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
|
||||
spindexer = new SpindexerTransferIntake(robot, TELE, commander);
|
||||
ParkTilter park = new ParkTilter(robot);
|
||||
|
||||
boolean initializeRobot = false;
|
||||
while (opModeInInit()){
|
||||
|
||||
park.unpark();
|
||||
|
||||
follower.update();
|
||||
|
||||
if (gamepad1.squareWasPressed()){
|
||||
robot.setSpinPos(ServoPositions.spindexer_A2);
|
||||
robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Open);
|
||||
robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Closed);
|
||||
robot.setTurretPos(Turret.neutralPosition);
|
||||
}
|
||||
|
||||
if (gamepad1.crossWasPressed() && !initializeRobot){
|
||||
Color.redAlliance = !Color.redAlliance;
|
||||
shooter.setRedAlliance(Color.redAlliance);
|
||||
}
|
||||
|
||||
if (!initializeRobot){
|
||||
if ((Color.redAlliance && xPoses[0] < 0)
|
||||
|| (!Color.redAlliance && xPoses[0] > 0)){
|
||||
for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
|
||||
for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
initializeRobot = true;
|
||||
initializePoses();
|
||||
follower.setPose(startPose);
|
||||
buildPaths();
|
||||
sleep(2000);
|
||||
turret.switchPipeline(Turret.PipelineMode.TRACKING);
|
||||
robot.limelight.start();
|
||||
limelightUsed = true;
|
||||
park.unpark();
|
||||
}
|
||||
|
||||
NewShooterTest.transferPower = -0.6;
|
||||
|
||||
TELE.addData("Red Alliance?", Color.redAlliance);
|
||||
TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
|
||||
TELE.addData("Start Pose", follower.getPose());
|
||||
TELE.addData("Current LL Pipeline", turret.pipeline());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
|
||||
if (!isStopRequested()){
|
||||
follower.update();
|
||||
}
|
||||
|
||||
pathStateMachine();
|
||||
TeleopV4.teleStart = follower.getPose();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
loopTimes.loop();
|
||||
|
||||
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
|
||||
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
|
||||
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
|
||||
TELE.addData("X:", TeleopV4.teleStart.getX());
|
||||
TELE.addData("Y:", TeleopV4.teleStart.getY());
|
||||
TELE.addData("H:", TeleopV4.teleStart.getHeading());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,478 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.BezierCurve;
|
||||
import com.pedropathing.geometry.BezierLine;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.pedropathing.paths.PathChain;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
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.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
|
||||
import org.firstinspires.ftc.teamcode.tests.NewShooterTest;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.*;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous (preselectTeleOp = "TeleopV4")
|
||||
public class Auto21Ball_Front_Gate extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Follower follower;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
Shooter shooter;
|
||||
Turret turret;
|
||||
Flywheel flywheel;
|
||||
VelocityCommander commander;
|
||||
SpindexerTransferIntake spindexer;
|
||||
double runtime = 0;
|
||||
|
||||
// Wait Times
|
||||
public static double rapidWaitTimeShoot0 = 0.2;
|
||||
public static double rapidWaitTimeShoot1 = 0.2;
|
||||
public static double rapidWaitTimeShoot2 = 0.2;
|
||||
public static double rapidWaitTimeShootGate = 0.4;
|
||||
public static double rapidShootTime = 0.4;
|
||||
public static double openGate1Time = 1.8;
|
||||
public static double openGate2Time = 1;
|
||||
public static double openGateWaitTimeMax = 3;
|
||||
public static int maxLoopCycles = 4;
|
||||
|
||||
// Initialize path state machine
|
||||
private enum PathState {
|
||||
DRIVE_SHOOT0, WAIT_SHOOT0,
|
||||
PICKUP1, OPENGATE1, DRIVE_SHOOT1, WAIT_SHOOT1,
|
||||
PICKUP2, OPENGATE2, DRIVE_SHOOT2, WAIT_SHOOT2,
|
||||
INTAKE_GATE, DRIVE_SHOOT_GATE, WAIT_SHOOT_GATE, DRIVE_SHOOT_LEAVE, WAIT_SHOOT_LEAVE
|
||||
}
|
||||
PathState pathState = PathState.DRIVE_SHOOT0;
|
||||
|
||||
// Poses
|
||||
public static double startPoseX = 55, startPoseY = 39, startPoseH = 0;
|
||||
public static double shoot0X = 25, shoot0Y = 18, shoot0H = 0;
|
||||
public static double pickup1ControlX = 29.53321878579611, pickup1ControlY = 9.84077892325314;
|
||||
public static double pickup1X = 50, pickup1Y = 10, pickup1H = 0;
|
||||
public static double openGate1ControlX = 43.82989690721648, openGate1ControlY = 3.86540664375714;
|
||||
public static double openGate1X = 59, openGate1Y = 2, openGate1H = 0;
|
||||
public static double shoot1ControlX = 40, shoot1ControlY = 3;
|
||||
public static double shoot1X = 25, shoot1Y = 11, shoot1H = -30;
|
||||
public static double pickup2ControlX = 18, pickup2ControlY = -18;
|
||||
public static double pickup2X = 61, pickup2Y = -14.5, pickup2H = 0;
|
||||
public static double openGate2ControlX = 45.9782359679267, openGate2ControlY = -15.106643757159245;
|
||||
public static double openGate2X = 57, openGate2Y = -8, openGate2H = 0;
|
||||
public static double shoot2ControlX = 57, shoot2ControlY = -8;
|
||||
public static double shoot2X = 16, shoot2Y = 4, shoot2H = -30;
|
||||
public static double intakeGateControlX = 60, intakeGateControlY = -12;
|
||||
public static double toGateX = 60, toGateY = -10;
|
||||
public static double intakeGateX = 62, intakeGateY = -12, intakeGateH = 25;
|
||||
public static double shootGateControlX = 40, shootGateControlY = -5;
|
||||
public static double shootGateX = 16, shootGateY = 4, shootGateH = -30;
|
||||
public static double shootLeaveControlX = 56, shootLeaveControlY = -10;
|
||||
public static double shootLeaveX = 16, shootLeaveY = 36, shootLeaveH = -50;
|
||||
public static double leaveX = 45, leaveY = 10, leaveH = 0;
|
||||
public static double awayFromGateX = 40, awayFromGateY = -12, awayFromGateH = 0;
|
||||
double[] xPoses = {startPoseX, shoot0X,
|
||||
pickup1ControlX, pickup1X, openGate1ControlX, openGate1X, shoot1ControlX, shoot1X,
|
||||
pickup2ControlX, pickup2X, openGate2ControlX, openGate2X, shoot2ControlX, shoot2X,
|
||||
intakeGateControlX, intakeGateX, shootGateControlX, shootGateX,
|
||||
shootLeaveControlX, shootLeaveX, leaveX, awayFromGateX, toGateX};
|
||||
double[] yPoses = {startPoseY, shoot0Y,
|
||||
pickup1ControlY, pickup1Y, openGate1ControlY, openGate1Y, shoot1ControlY, shoot1Y,
|
||||
pickup2ControlY, pickup2Y, openGate2ControlY, openGate2Y, shoot2ControlY, shoot2Y,
|
||||
intakeGateControlY, intakeGateY, shootGateControlY, shootGateY,
|
||||
shootLeaveControlY, shootLeaveY, leaveY, awayFromGateY, toGateY};
|
||||
double[] headings = {startPoseH, shoot0H,
|
||||
0, pickup1H, 0, openGate1H, 0, shoot1H,
|
||||
0, pickup2H, 0, openGate2H, 0, shoot2H,
|
||||
0, intakeGateH, 0, shootGateH,
|
||||
0, shootLeaveH, leaveH, awayFromGateH, 0};
|
||||
Pose startPose, shoot0,
|
||||
pickup1Control, pickup1, openGate1Control, openGate1, shoot1Control, shoot1,
|
||||
pickup2Control, pickup2, openGate2Control, openGate2, shoot2Control, shoot2,
|
||||
intakeGateControl, intakeGate, shootGateControl, shootGate,
|
||||
shootLeaveControl, shootLeave, leave, awayFromGate, toGate;
|
||||
private void initializePoses(){
|
||||
startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
|
||||
shoot0 = new Pose(xPoses[1], yPoses[1], Math.toRadians(headings[1]));
|
||||
pickup1Control = new Pose(xPoses[2], yPoses[2]);
|
||||
pickup1 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
|
||||
openGate1Control = new Pose(xPoses[4], yPoses[4]);
|
||||
openGate1 = new Pose(xPoses[5], yPoses[5], Math.toRadians(headings[5]));
|
||||
shoot1Control = new Pose(xPoses[6], yPoses[6]);
|
||||
shoot1 = new Pose(xPoses[7], yPoses[7], Math.toRadians(headings[7]));
|
||||
pickup2Control = new Pose(xPoses[8], yPoses[8]);
|
||||
pickup2 = new Pose(xPoses[9], yPoses[9], Math.toRadians(headings[9]));
|
||||
openGate2Control = new Pose(xPoses[10], yPoses[10]);
|
||||
openGate2 = new Pose(xPoses[11], yPoses[11], Math.toRadians(headings[11]));
|
||||
shoot2Control = new Pose(xPoses[12], yPoses[12]);
|
||||
shoot2 = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
|
||||
intakeGateControl = new Pose(xPoses[14], yPoses[14]);
|
||||
intakeGate = new Pose(xPoses[15], yPoses[15], Math.toRadians(headings[15]));
|
||||
shootGateControl = new Pose(xPoses[16], yPoses[16]);
|
||||
shootGate = new Pose(xPoses[17], yPoses[17], Math.toRadians(headings[17]));
|
||||
shootLeaveControl = new Pose(xPoses[18], yPoses[18]);
|
||||
shootLeave = new Pose(xPoses[19], yPoses[19], Math.toRadians(headings[19]));
|
||||
leave = new Pose(xPoses[20], yPoses[20], Math.toRadians(headings[20]));
|
||||
awayFromGate = new Pose(xPoses[21], yPoses[21], Math.toRadians(headings[21]));
|
||||
toGate = new Pose(xPoses[22], yPoses[22]);
|
||||
}
|
||||
|
||||
//Building Paths
|
||||
PathChain startPose_shoot0, shoot0_pickup1, pickup1_openGate1, openGate1_shoot1,
|
||||
shoot1_pickup2, pickup2_openGate2, openGate2_shoot2, shootGate_intakeGate,
|
||||
shoot2_intakeGate, intakeGate_shootGate, intakeGate_shootLeave, shootGate_leave, intakeGate_awayFromGate;
|
||||
private void buildPaths(){
|
||||
startPose_shoot0 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(startPose, shoot0))
|
||||
.setLinearHeadingInterpolation(startPose.getHeading(), shoot0.getHeading())
|
||||
.build();
|
||||
|
||||
shoot0_pickup1 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shoot0, pickup1Control, pickup1))
|
||||
.setLinearHeadingInterpolation(shoot0.getHeading(), pickup1.getHeading())
|
||||
.build();
|
||||
|
||||
pickup1_openGate1 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup1, openGate1Control, openGate1))
|
||||
.setLinearHeadingInterpolation(pickup1.getHeading(), openGate1.getHeading())
|
||||
.build();
|
||||
|
||||
openGate1_shoot1 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(openGate1, shoot1Control, shoot1))
|
||||
.setLinearHeadingInterpolation(openGate1.getHeading(), shoot1.getHeading())
|
||||
.build();
|
||||
|
||||
shoot1_pickup2 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shoot1, pickup2Control, pickup2))
|
||||
.setLinearHeadingInterpolation(shoot1.getHeading(), pickup2.getHeading())
|
||||
.build();
|
||||
|
||||
pickup2_openGate2 = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(pickup2, openGate2Control, openGate2))
|
||||
.setLinearHeadingInterpolation(pickup2.getHeading(), openGate2.getHeading())
|
||||
.build();
|
||||
|
||||
openGate2_shoot2 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(openGate2, shoot2))
|
||||
.setTangentHeadingInterpolation()
|
||||
.setReversed()
|
||||
.build();
|
||||
|
||||
shoot2_intakeGate = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(shoot2, intakeGateControl, toGate))
|
||||
.setLinearHeadingInterpolation(shoot2.getHeading(), intakeGate.getHeading())
|
||||
.build();
|
||||
|
||||
intakeGate_shootGate = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(intakeGate, shootGateControl, shootGate))
|
||||
.setTangentHeadingInterpolation()
|
||||
.setReversed()
|
||||
.build();
|
||||
|
||||
shootGate_intakeGate = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shootGate, intakeGate))
|
||||
.setLinearHeadingInterpolation(shootGate.getHeading(), intakeGate.getHeading())
|
||||
.build();
|
||||
|
||||
intakeGate_shootLeave = follower.pathBuilder()
|
||||
.addPath(new BezierCurve(intakeGate, pickup2Control, shootLeave))
|
||||
.setLinearHeadingInterpolation(intakeGate.getHeading(), shootLeave.getHeading())
|
||||
.build();
|
||||
|
||||
shootGate_leave = follower.pathBuilder()
|
||||
.addPath(new BezierLine(shootGate, leave))
|
||||
.setLinearHeadingInterpolation(shootGate.getHeading(), leave.getHeading())
|
||||
.build();
|
||||
|
||||
intakeGate_awayFromGate = follower.pathBuilder()
|
||||
.addPath(new BezierLine(intakeGate, awayFromGate))
|
||||
.setLinearHeadingInterpolation(intakeGate.getHeading(), awayFromGate.getHeading())
|
||||
.build();
|
||||
}
|
||||
|
||||
//Path State Machine
|
||||
private boolean startAuto = true;
|
||||
private double timeStamp = 0;
|
||||
private int cycle = 0;
|
||||
boolean toGateBool = false;
|
||||
private void pathStateMachine(){
|
||||
double currentTime = (double) System.currentTimeMillis() / 1000;
|
||||
switch(pathState){
|
||||
case DRIVE_SHOOT0:
|
||||
spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
shooter.setFlywheelVelocity(2300);
|
||||
robot.setHoodPos(0.68);
|
||||
if (startAuto){
|
||||
follower.followPath(startPose_shoot0, false);
|
||||
startAuto = false;
|
||||
}
|
||||
if ((follower.atParametricEnd() || !follower.isBusy()) && currentTime - timeStamp > rapidWaitTimeShoot0){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT0;
|
||||
spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
} else if (follower.isBusy() && !follower.atParametricEnd()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT0:
|
||||
if (currentTime - timeStamp > rapidShootTime ||
|
||||
(spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
|
||||
spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
|
||||
follower.followPath(shoot0_pickup1, false);
|
||||
pathState = PathState.PICKUP1;
|
||||
}
|
||||
break;
|
||||
case PICKUP1:
|
||||
if (!follower.isBusy()){
|
||||
follower.followPath(pickup1_openGate1, false);
|
||||
pathState = PathState.OPENGATE1;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case OPENGATE1:
|
||||
if (currentTime - timeStamp > openGate1Time){
|
||||
follower.followPath(openGate1_shoot1, false);
|
||||
pathState = PathState.DRIVE_SHOOT1;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT1:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTimeShoot1){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT1;
|
||||
spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT1:
|
||||
if (currentTime - timeStamp > rapidShootTime ||
|
||||
(spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
|
||||
spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
|
||||
follower.followPath(shoot1_pickup2, false);
|
||||
pathState = PathState.PICKUP2;
|
||||
}
|
||||
break;
|
||||
case PICKUP2:
|
||||
if (!follower.isBusy()){
|
||||
shooter.setFlywheelVelocity(2500);
|
||||
robot.setHoodPos(0.6);
|
||||
follower.followPath(pickup2_openGate2, false);
|
||||
pathState = PathState.OPENGATE2;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case OPENGATE2:
|
||||
if (currentTime - timeStamp > openGate2Time){
|
||||
follower.followPath(openGate2_shoot2, false);
|
||||
pathState = PathState.DRIVE_SHOOT2;
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT2:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTimeShoot2){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT2;
|
||||
spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT2:
|
||||
if (currentTime - timeStamp > rapidShootTime ||
|
||||
(spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
|
||||
spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
|
||||
follower.followPath(shoot2_intakeGate, true);
|
||||
pathState = PathState.INTAKE_GATE;
|
||||
timeStamp = currentTime;
|
||||
toGateBool = true;
|
||||
}
|
||||
break;
|
||||
case INTAKE_GATE:
|
||||
if ((currentTime - timeStamp > openGateWaitTimeMax)){
|
||||
if (cycle == 0){
|
||||
openGateWaitTimeMax = openGateWaitTimeMax + 0.75;
|
||||
}
|
||||
if (cycle >= maxLoopCycles - 1){
|
||||
follower.followPath(intakeGate_shootLeave, true);
|
||||
pathState = PathState.DRIVE_SHOOT_LEAVE;
|
||||
shooter.setFlywheelVelocity(2300);
|
||||
robot.setHoodPos(0.68);
|
||||
} else {
|
||||
follower.followPath(intakeGate_shootGate, false);
|
||||
pathState = PathState.DRIVE_SHOOT_GATE;
|
||||
}
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
// TODO: add logic to shoot gate
|
||||
break;
|
||||
case DRIVE_SHOOT_GATE:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTimeShootGate){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT_GATE;
|
||||
spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT_GATE:
|
||||
if (currentTime - timeStamp > rapidShootTime ||
|
||||
(spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
|
||||
spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
|
||||
cycle++;
|
||||
if (getRuntime() - runtime > 24 || cycle >= maxLoopCycles){
|
||||
follower.followPath(shootGate_leave, true);
|
||||
pathState = PathState.WAIT_SHOOT_LEAVE;
|
||||
} else {
|
||||
follower.followPath(shootGate_intakeGate, true);
|
||||
pathState = PathState.INTAKE_GATE;
|
||||
toGateBool = true;
|
||||
}
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case DRIVE_SHOOT_LEAVE:
|
||||
if (!follower.isBusy() && currentTime - timeStamp > rapidWaitTimeShootGate){
|
||||
timeStamp = currentTime;
|
||||
pathState = PathState.WAIT_SHOOT_LEAVE;
|
||||
spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
} else if (follower.isBusy()){
|
||||
timeStamp = currentTime;
|
||||
}
|
||||
break;
|
||||
case WAIT_SHOOT_LEAVE:
|
||||
// add line here to say "done auto"
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
TELE.addData("Moving?", follower.isBusy());
|
||||
}
|
||||
|
||||
// Used for changing alliance
|
||||
private double adjustXPoseBasedOnAlliance(double pose) {return -pose;}
|
||||
private double adjustHeadingBasedOnAlliance(double heading){
|
||||
heading = 180 - heading;
|
||||
while (heading > 180) {heading-=360;}
|
||||
while (heading <= -180) {heading+=360;}
|
||||
return heading;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Robot.resetInstance();
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
sleep(1000);
|
||||
follower.setStartingPose(new Pose(0,0,0));
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
turret = new Turret(robot);
|
||||
flywheel = new Flywheel(robot);
|
||||
commander = new VelocityCommander();
|
||||
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
|
||||
spindexer = new SpindexerTransferIntake(robot, TELE, commander);
|
||||
ParkTilter park = new ParkTilter(robot);
|
||||
boolean startAuto = true;
|
||||
|
||||
boolean initializeRobot = false;
|
||||
while (opModeInInit()){
|
||||
follower.update();
|
||||
|
||||
if (gamepad1.squareWasPressed()){
|
||||
robot.setSpinPos(ServoPositions.spindexer_A2);
|
||||
robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
|
||||
robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
|
||||
}
|
||||
|
||||
if (gamepad1.crossWasPressed() && !initializeRobot){
|
||||
Color.redAlliance = !Color.redAlliance;
|
||||
shooter.setRedAlliance(Color.redAlliance);
|
||||
}
|
||||
|
||||
if (!initializeRobot){
|
||||
if ((Color.redAlliance && xPoses[0] < 0)
|
||||
|| (!Color.redAlliance && xPoses[0] > 0)){
|
||||
for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
|
||||
for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
initializeRobot = true;
|
||||
initializePoses();
|
||||
follower.setPose(startPose);
|
||||
buildPaths();
|
||||
sleep(2000);
|
||||
turret.switchPipeline(Turret.PipelineMode.TRACKING);
|
||||
robot.limelight.start();
|
||||
limelightUsed = true;
|
||||
park.unpark();
|
||||
}
|
||||
|
||||
NewShooterTest.transferPower = -0.8;
|
||||
|
||||
TELE.addData("Red Alliance?", Color.redAlliance);
|
||||
TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
|
||||
TELE.addData("Start Pose", follower.getPose());
|
||||
TELE.addData("Current LL Pipeline", turret.pipeline());
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
if (startAuto){
|
||||
runtime = getRuntime();
|
||||
startAuto = false;
|
||||
}
|
||||
|
||||
park.unpark();
|
||||
robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
|
||||
|
||||
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
|
||||
if (!isStopRequested()){
|
||||
follower.update();
|
||||
}
|
||||
|
||||
pathStateMachine();
|
||||
TeleopV4.teleStart = follower.getPose();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
loopTimes.loop();
|
||||
|
||||
TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
|
||||
TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
|
||||
TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
|
||||
TELE.addData("X:", TeleopV4.teleStart.getX());
|
||||
TELE.addData("Y:", TeleopV4.teleStart.getY());
|
||||
TELE.addData("H:", TeleopV4.teleStart.getHeading());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,751 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoClose_V3 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
|
||||
double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,651 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV3")
|
||||
public class AutoFar_V1 extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
double turretPID = servo.setTurrPos(turret_redFar, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redFar, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = servo.setTurrPos(turret_blueFar, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueFar, robot.turr1Pos.getCurrentPosition());
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = spindexer_intakePos1;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double pow = 1.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(pow);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
|
||||
double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
}
|
||||
|
||||
if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
|
||||
if (s2D > 60){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos1;
|
||||
}
|
||||
} else if (s3D > 33){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
position = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
if (getRuntime() - stamp - intakeTime < 1){
|
||||
pow = -2*(getRuntime() - stamp - intakeTime);
|
||||
return true;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 43) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
//TODO: add positions to develop auto
|
||||
|
||||
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
|
||||
.strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
double turrPID;
|
||||
|
||||
if (redAlliance){
|
||||
turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
|
||||
} else {
|
||||
turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
|
||||
}
|
||||
|
||||
robot.turr1.setPower(turrPID);
|
||||
robot.turr2.setPower(-turrPID);
|
||||
|
||||
robot.hood.setPosition(hoodAutoFar);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
initShooter(AUTO_FAR_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(park.build());
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
|
||||
Shoot(AUTO_FAR_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,821 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos0;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos0;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
|
||||
|
||||
|
||||
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.PoseVelocity2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.acmerobotics.roadrunner.ftc.PinpointIMU;
|
||||
import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
|
||||
public class Auto_LT_Close extends LinearOpMode {
|
||||
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
|
||||
public static double velGate0Start = 2700, hoodGate0Start = 0.6;
|
||||
|
||||
public static double velGate0End = 2700, hoodGate0End = 0.35;
|
||||
public static double hood0MoveTime = 2;
|
||||
public static double spindexerSpeedIncrease = 0.014;
|
||||
|
||||
public static double shootAllTime = 6.0;
|
||||
public static double intake1Time = 3.3;
|
||||
public static double intake2Time = 4.2;
|
||||
|
||||
public static double intake3Time = 5.4;
|
||||
|
||||
public static double flywheel0Time = 1.9;
|
||||
public static double pickup1Speed = 14;
|
||||
// ---- POSITION TOLERANCES ----
|
||||
public static double posXTolerance = 5.0;
|
||||
public static double posYTolerance = 5.0;
|
||||
// ---- OBELISK DETECTION ----
|
||||
public static double shoot1Time = 2.5;
|
||||
public static double shoot2Time = 2.5;
|
||||
public static double shoot3Time = 2.5;
|
||||
public static double colorSenseTime = 1.2;
|
||||
public static double waitToShoot0 = 0.5;
|
||||
public static double waitToPickupGate2 = 0.3;
|
||||
public static double pickupStackGateSpeed = 19;
|
||||
public static double intake2TimeGate = 5;
|
||||
public static double shoot2GateTime = 1.7;
|
||||
public static double endGateTime = 22;
|
||||
public static double waitToPickupGateWithPartner = 0.7;
|
||||
public static double waitToPickupGateSolo = 0.01;
|
||||
public static double intakeGateTime = 5.6;
|
||||
public static double shootGateTime = 1.5;
|
||||
public static double shoot1GateTime = 1.7;
|
||||
public static double intake1GateTime = 3.3;
|
||||
public static double lastShootTime = 27;
|
||||
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
AutoActions autoActions;
|
||||
Light light;
|
||||
|
||||
int motif = 0;
|
||||
double x1, y1, h1;
|
||||
double x2a, y2a, h2a, t2a;
|
||||
|
||||
double x2b, y2b, h2b, t2b;
|
||||
double x2c, y2c, h2c, t2c;
|
||||
|
||||
double x3a, y3a, h3a;
|
||||
double x3b, y3b, h3b;
|
||||
double x4a, y4a, h4a;
|
||||
double x4b, y4b, h4b;
|
||||
|
||||
double xShoot, yShoot, hShoot;
|
||||
double xShoot0, yShoot0, hShoot0;
|
||||
double pickupGateAX, pickupGateAY, pickupGateAH;
|
||||
double pickupGateBX, pickupGateBY, pickupGateBH;
|
||||
double xShootGate, yShootGate, hShootGate;
|
||||
double xLeave, yLeave, hLeave;
|
||||
double xLeaveGate, yLeaveGate, hLeaveGate;
|
||||
double openGateCloseX = 0, openGateCloseY = 0, openGateCloseH = 0;
|
||||
double openGateMiddleX = 0, openGateMiddleY = 0, openGateMiddleH = 0;
|
||||
|
||||
int ballCycles = 3;
|
||||
int prevMotif = 0;
|
||||
boolean gateCycle = true;
|
||||
boolean withPartner = true;
|
||||
double obeliskTurrPos1 = 0.0;
|
||||
double obeliskTurrPos2 = 0.0;
|
||||
double obeliskTurrPos3 = 0.0;
|
||||
double waitToPickupGate = 0;
|
||||
double obeliskTurrPosAutoStart = 0;
|
||||
boolean limelightStart = false;
|
||||
|
||||
// initialize path variables here
|
||||
TrajectoryActionBuilder shoot0 = null;
|
||||
TrajectoryActionBuilder pickup1 = null;
|
||||
TrajectoryActionBuilder shoot1 = null;
|
||||
TrajectoryActionBuilder pickup2 = null;
|
||||
TrajectoryActionBuilder shoot2 = null;
|
||||
TrajectoryActionBuilder pickup3 = null;
|
||||
TrajectoryActionBuilder shoot3 = null;
|
||||
TrajectoryActionBuilder shoot0ToPickup2 = null;
|
||||
TrajectoryActionBuilder gateCyclePickup = null;
|
||||
TrajectoryActionBuilder gateCycleShoot = null;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
|
||||
light = Light.getInstance();
|
||||
|
||||
light.init(robot.light, spindexer, turret);
|
||||
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
servos.setSpinPos(spindexer_intakePos1);
|
||||
|
||||
servos.setTransferPos(transferServo_out);
|
||||
limelightUsed = false;
|
||||
// Spindexer.teleop = false;
|
||||
|
||||
robot.light.setPosition(1);
|
||||
|
||||
hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
|
||||
|
||||
while (opModeInInit()) {
|
||||
if (limelightUsed && !gateCycle && limelightStart){
|
||||
Actions.runBlocking(
|
||||
autoActions.detectObelisk(
|
||||
0.1,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
obeliskTurrPosAutoStart
|
||||
)
|
||||
);
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 21){
|
||||
AutoActions.firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
} else if (motif == 22){
|
||||
AutoActions.firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
} else {
|
||||
AutoActions.firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
}
|
||||
}
|
||||
|
||||
if (gateCycle) {
|
||||
servos.setHoodPos(hoodGate0Start);
|
||||
} else {
|
||||
servos.setHoodPos(shoot0Hood);
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
turrDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadRightWasPressed()) {
|
||||
turrDefault += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
ballCycles++;
|
||||
}
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
ballCycles--;
|
||||
}
|
||||
|
||||
if (gamepad2.triangleWasPressed()){
|
||||
gateCycle = !gateCycle;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
|
||||
sleep(100);
|
||||
robot.limelight.start();
|
||||
limelightUsed = true;
|
||||
limelightStart = true;
|
||||
|
||||
gamepad2.rumble(500);
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
if (gateCycle){
|
||||
turret.pipelineSwitch(1);
|
||||
} else {
|
||||
turret.pipelineSwitch(4);
|
||||
}
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = rx1;
|
||||
y1 = ry1;
|
||||
h1 = rh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = rx2a;
|
||||
y2a = ry2a;
|
||||
h2a = rh2a;
|
||||
x2b = rx2b;
|
||||
y2b = ry2b;
|
||||
h2b = rh2b;
|
||||
x3a = rx3a;
|
||||
y3a = ry3a;
|
||||
h3a = rh3a;
|
||||
x3b = rx3b;
|
||||
y3b = ry3b;
|
||||
h3b = rh3b;
|
||||
x4a = rx4a;
|
||||
y4a = ry4a;
|
||||
h4a = rh4a;
|
||||
x4b = rx4b;
|
||||
y4b = ry4b;
|
||||
h4b = rh4b;
|
||||
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
xLeave = rLeaveX;
|
||||
yLeave = rLeaveY;
|
||||
hLeave = rLeaveH;
|
||||
|
||||
xShoot0 = rShoot0X;
|
||||
yShoot0 = rShoot0Y;
|
||||
hShoot0 = rShoot0H;
|
||||
xShootGate = rShootGateX;
|
||||
yShootGate = rShootGateY;
|
||||
hShootGate = rShootGateH;
|
||||
xLeaveGate = rLeaveGateX;
|
||||
yLeaveGate = rLeaveGateY;
|
||||
hLeaveGate = rLeaveGateH;
|
||||
|
||||
pickupGateAX = rPickupGateAX;
|
||||
pickupGateAY = rPickupGateAY;
|
||||
pickupGateAH = rPickupGateAH;
|
||||
pickupGateBX = rPickupGateBX;
|
||||
pickupGateBY = rPickupGateBY;
|
||||
pickupGateBH = rPickupGateBH;
|
||||
|
||||
openGateCloseX = rOpenGateCloseX;
|
||||
openGateCloseY = rOpenGateCloseY;
|
||||
openGateCloseH = rOpenGateCloseH;
|
||||
|
||||
openGateMiddleX = rOpenGateMiddleX;
|
||||
openGateMiddleY = rOpenGateMiddleY;
|
||||
openGateMiddleH = rOpenGateMiddleH;
|
||||
|
||||
obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
|
||||
obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
if (gateCycle){
|
||||
turret.pipelineSwitch(5);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = bx1;
|
||||
y1 = by1;
|
||||
h1 = bh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = bx2a;
|
||||
y2a = by2a;
|
||||
h2a = bh2a;
|
||||
x2b = bx2b;
|
||||
y2b = by2b;
|
||||
h2b = bh2b;
|
||||
x3a = bx3a;
|
||||
y3a = by3a;
|
||||
h3a = bh3a;
|
||||
x3b = bx3b;
|
||||
y3b = by3b;
|
||||
h3b = bh3b;
|
||||
x4a = bx4a;
|
||||
y4a = by4a;
|
||||
h4a = bh4a;
|
||||
x4b = bx4b;
|
||||
y4b = by4b;
|
||||
h4b = bh4b;
|
||||
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
xLeave = bLeaveX;
|
||||
yLeave = bLeaveY;
|
||||
hLeave = bLeaveH;
|
||||
|
||||
xShoot0 = bShoot0X;
|
||||
yShoot0 = bShoot0Y;
|
||||
hShoot0 = bShoot0H;
|
||||
xShootGate = bShootGateX;
|
||||
yShootGate = bShootGateY;
|
||||
hShootGate = bShootGateH;
|
||||
xLeaveGate = bLeaveGateX;
|
||||
yLeaveGate = bLeaveGateY;
|
||||
hLeaveGate = bLeaveGateH;
|
||||
|
||||
pickupGateAX = bPickupGateAX;
|
||||
pickupGateAY = bPickupGateAY;
|
||||
pickupGateAH = bPickupGateAH;
|
||||
pickupGateBX = bPickupGateBX;
|
||||
pickupGateBY = bPickupGateBY;
|
||||
pickupGateBH = bPickupGateBH;
|
||||
|
||||
openGateCloseX = bOpenGateCloseX;
|
||||
openGateCloseY = bOpenGateCloseY;
|
||||
openGateCloseH = bOpenGateCloseH;
|
||||
|
||||
openGateMiddleX = bOpenGateMiddleX;
|
||||
openGateMiddleY = bOpenGateMiddleY;
|
||||
openGateMiddleH = bOpenGateMiddleH;
|
||||
|
||||
obeliskTurrPosAutoStart = turrDefault + blueObeliskTurrPos0;
|
||||
obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
|
||||
}
|
||||
|
||||
// if (gateCycle) {
|
||||
// shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
// .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
|
||||
// } else {
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
|
||||
// }
|
||||
|
||||
if (gateCycle) {
|
||||
pickup2 = shoot0.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed))
|
||||
.strafeToLinearHeading(new Vector2d(openGateMiddleX, openGateMiddleY), Math.toRadians(openGateMiddleH));
|
||||
} else {
|
||||
pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
}
|
||||
|
||||
// if (gateCycle && withPartner) {
|
||||
// shoot2 = pickup2.endTrajectory().fresh()
|
||||
// .strafeToLinearHeading(new Vector2d(openGateX, openGateY), Math.toRadians(openGateH))
|
||||
// .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
|
||||
// } else
|
||||
if (gateCycle) {
|
||||
shoot2 = pickup2.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
} else if (ballCycles < 3) {
|
||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
} else {
|
||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
}
|
||||
|
||||
gateCyclePickup = shoot2.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
|
||||
.waitSeconds(waitToPickupGate)
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH))
|
||||
.waitSeconds(0.1)
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateCX, pickupGateCY), Math.toRadians(pickupGateCH),
|
||||
new TranslationalVelConstraint(13));
|
||||
|
||||
gateCycleShoot = gateCyclePickup.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed))
|
||||
.strafeToLinearHeading(new Vector2d(openGateCloseX, openGateCloseY), Math.toRadians(openGateCloseH));
|
||||
} else {
|
||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
}
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
shoot1 = pickup1.endTrajectory().fresh()
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
} else if (ballCycles < 2) {
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
} else {
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
}
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(x4a, y4a), Math.toRadians(h4a))
|
||||
.strafeToLinearHeading(new Vector2d(x4b, y4b), Math.toRadians(h4b),
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
|
||||
shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
|
||||
if (withPartner) {
|
||||
waitToPickupGate = waitToPickupGateWithPartner;
|
||||
} else {
|
||||
waitToPickupGate = waitToPickupGateSolo;
|
||||
}
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.addData("Turret Default", turrDefault);
|
||||
TELE.addData("Gate Cycle?", gateCycle);
|
||||
TELE.addData("Ball Cycles", ballCycles);
|
||||
TELE.addData("Limelight Started?", limelightUsed);
|
||||
TELE.addData("Motif", motif);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
|
||||
if (gateCycle) {
|
||||
startAuto();
|
||||
shoot(0.501, 0.501, 0.501);
|
||||
cycleStackClose();
|
||||
shoot(0.501,0.501, 0.501);
|
||||
cycleStackMiddle();
|
||||
shoot(0.501, 0.501, 0.501);
|
||||
} else {
|
||||
startAuto();
|
||||
shoot(0.501, 0.501,0.501);
|
||||
|
||||
if (ballCycles > 0) {
|
||||
cycleStackClose();
|
||||
shoot(xShoot, yShoot, hShoot);
|
||||
}
|
||||
|
||||
if (ballCycles > 1) {
|
||||
cycleStackMiddle();
|
||||
shoot(xShoot, yShoot, hShoot);
|
||||
}
|
||||
|
||||
if (ballCycles > 2) {
|
||||
cycleStackFar();
|
||||
shoot(xLeave, yLeave, hLeave);
|
||||
}
|
||||
}
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
flywheel.manageFlywheel(0);
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void shoot(double x, double y, double z) {
|
||||
Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z));
|
||||
}
|
||||
|
||||
void startAuto() {
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
autoActions.prepareShootAll(
|
||||
0.8,
|
||||
flywheel0Time,
|
||||
motif,
|
||||
x1,
|
||||
y1,
|
||||
h1
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void startAutoGate() {
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
flywheel0Time,
|
||||
motif,
|
||||
xShoot0,
|
||||
yShoot0,
|
||||
hShoot0
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void cycleStackClose() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
autoActions.intake(
|
||||
intake1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
h2b
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
double posX;
|
||||
double posY;
|
||||
double posH;
|
||||
if (ballCycles > 1) {
|
||||
posX = xShoot;
|
||||
posY = yShoot;
|
||||
posH = hShoot;
|
||||
} else {
|
||||
posX = xLeave;
|
||||
posY = yLeave;
|
||||
posH = hLeave;
|
||||
}
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot1Time,
|
||||
motif,
|
||||
posX,
|
||||
posY,
|
||||
posH
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackMiddle() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
autoActions.intake(
|
||||
intake2Time,
|
||||
x3b,
|
||||
y3b,
|
||||
h3b
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
double posX;
|
||||
double posY;
|
||||
double posH;
|
||||
if (ballCycles > 2) {
|
||||
posX = xShoot;
|
||||
posY = yShoot;
|
||||
posH = hShoot;
|
||||
} else {
|
||||
posX = xLeave;
|
||||
posY = yLeave;
|
||||
posH = hLeave;
|
||||
}
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot2Time,
|
||||
motif,
|
||||
posX,
|
||||
posY,
|
||||
posH)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackFar() {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
autoActions.intake(
|
||||
intake3Time,
|
||||
x4b,
|
||||
y4b,
|
||||
h4b
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
motif = turret.getObeliskID();
|
||||
|
||||
if (motif == 0) motif = prevMotif;
|
||||
prevMotif = motif;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot3Time,
|
||||
motif,
|
||||
xLeave,
|
||||
yLeave,
|
||||
hLeave
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackMiddleGate() {
|
||||
drive.updatePoseEstimate();
|
||||
pickup2 = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
autoActions.intake(
|
||||
intake2TimeGate,
|
||||
x3b,
|
||||
y3b,
|
||||
h3b
|
||||
)
|
||||
)
|
||||
);
|
||||
|
||||
servos.setSpinPos(spinStartPos);
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
autoActions.prepareShootAll(
|
||||
colorSenseTime,
|
||||
shoot2Time,
|
||||
motif,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
pickupGateAH)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGateIntake() {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
gateCyclePickup.build(),
|
||||
autoActions.intake(
|
||||
intakeGateTime,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
hShootGate
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGateShoot() {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
servos.setSpinPos(spinStartPos);
|
||||
|
||||
gateCycleShoot = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
gateCycleShoot.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
shootGateTime,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
pickupGateAH,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackCloseIntakeGate() {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
pickup1 = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
|
||||
new TranslationalVelConstraint(pickupStackGateSpeed));
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
autoActions.intake(
|
||||
intake1GateTime,
|
||||
xShootGate,
|
||||
yShootGate,
|
||||
hShootGate
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleStackCloseShootGate(){
|
||||
servos.setSpinPos(spinStartPos);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
shoot1 = drive.actionBuilder(drive.localizer.getPose())
|
||||
.strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
shoot1GateTime,
|
||||
xLeaveGate,
|
||||
yLeaveGate,
|
||||
hLeaveGate,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,438 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.bStackPickupFarAH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.bStackPickupFarAY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.bStackPickupFarBH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.bStackPickupFarBX;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Back_Poses.bStackPickupFarBY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueTurretShootPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redTurretShootPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
|
||||
public class Auto_LT_Far extends LinearOpMode {
|
||||
public static double shoot0Vel = 3300, shoot0Hood = 0.48;
|
||||
double xLeave, yLeave, hLeave;
|
||||
public int motif = 0;
|
||||
double turretShootPos = 0.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
AutoActions autoActions;
|
||||
Light light;
|
||||
double xShoot, yShoot, hShoot;
|
||||
double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
|
||||
public static double flywheel0Time = 1.5;
|
||||
boolean gatePickup = true;
|
||||
boolean stack3 = true;
|
||||
double xStackPickupA, yStackPickupA, hStackPickupA;
|
||||
double xStackPickupB, yStackPickupB, hStackPickupB;
|
||||
public static int pickupStackSpeed = 12;
|
||||
public static int pickupGateSpeed = 30;
|
||||
int prevMotif = 0;
|
||||
public static double spindexerSpeedIncrease = 0.014;
|
||||
public static double shootAllTime = 2;
|
||||
// ---- POSITION TOLERANCES ----
|
||||
public static double posXTolerance = 5.0;
|
||||
public static double posYTolerance = 5.0;
|
||||
public static double shootStackTime = 2;
|
||||
public static double shootGateTime = 2.5;
|
||||
public static double colorSenseTime = 1;
|
||||
public static double intakeStackTime = 5;
|
||||
public static double intakeGateTime = 3.75;
|
||||
double obeliskTurrPos1 = 0.0;
|
||||
double obeliskTurrPos2 = 0.0;
|
||||
double obeliskTurrPos3 = 0.0;
|
||||
public static double endAutoTime = 26;
|
||||
|
||||
// initialize path variables here
|
||||
TrajectoryActionBuilder leave3Ball = null;
|
||||
TrajectoryActionBuilder leaveFromShoot = null;
|
||||
TrajectoryActionBuilder pickup3 = null;
|
||||
TrajectoryActionBuilder shoot3 = null;
|
||||
TrajectoryActionBuilder pickupGate = null;
|
||||
TrajectoryActionBuilder shootGate = null;
|
||||
Pose2d autoStart = new Pose2d(0,0,0);
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
light = Light.getInstance();
|
||||
|
||||
light.init(robot.light, spindexer, turret);
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
limelightUsed = false;
|
||||
|
||||
|
||||
// Spindexer.teleop = false;
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()){
|
||||
gatePickup = !gatePickup;
|
||||
}
|
||||
if (gamepad2.rightBumperWasPressed()){
|
||||
stack3 = !stack3;
|
||||
}
|
||||
|
||||
turret.setTurret(turretShootPos);
|
||||
|
||||
robot.hood.setPosition(shoot0Hood);
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
turrDefault -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadRightWasPressed()) {
|
||||
turrDefault += 0.01;
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
autoStart = new Pose2d(autoStartRX, autoStartRY, Math.toRadians(autoStartRH));
|
||||
drive = new MecanumDrive(hardwareMap, autoStart);
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
xLeave = rLeaveX;
|
||||
yLeave = rLeaveY;
|
||||
hLeave = rLeaveH;
|
||||
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
|
||||
xStackPickupA = rStackPickupFarAX;
|
||||
yStackPickupA = rStackPickupFarAY;
|
||||
hStackPickupA = rStackPickupFarAH;
|
||||
|
||||
xStackPickupB = rStackPickupFarBX;
|
||||
yStackPickupB = rStackPickupFarBY;
|
||||
hStackPickupB = rStackPickupFarBH;
|
||||
|
||||
pickupGateX = rPickupGateXA;
|
||||
pickupGateY = rPickupGateYA;
|
||||
pickupGateH = rPickupGateHA;
|
||||
|
||||
obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
|
||||
turretShootPos = turrDefault + redTurretShootPos;
|
||||
|
||||
if (gamepad2.squareWasPressed()){
|
||||
turret.pipelineSwitch(4);
|
||||
robot.limelight.start();
|
||||
gamepad2.rumble(500);
|
||||
sleep(1000);
|
||||
turret.setTurret(turrDefault);
|
||||
|
||||
servos.setSpinPos(spinStartPos);
|
||||
limelightUsed = true;
|
||||
|
||||
servos.setTransferPos(transferServo_out);
|
||||
}
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
autoStart = new Pose2d(autoStartBX, autoStartBY, Math.toRadians(autoStartBH));
|
||||
drive = new MecanumDrive(hardwareMap, autoStart);
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
xLeave = bLeaveX;
|
||||
yLeave = bLeaveY;
|
||||
hLeave = bLeaveH;
|
||||
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
|
||||
xStackPickupA = bStackPickupFarAX;
|
||||
yStackPickupA = bStackPickupFarAY;
|
||||
hStackPickupA = bStackPickupFarAH;
|
||||
|
||||
xStackPickupB = bStackPickupFarBX;
|
||||
yStackPickupB = bStackPickupFarBY;
|
||||
hStackPickupB = bStackPickupFarBH;
|
||||
|
||||
pickupGateX = bPickupGateXA;
|
||||
pickupGateY = bPickupGateYA;
|
||||
pickupGateH = bPickupGateHA;
|
||||
|
||||
obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
|
||||
obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
|
||||
obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
|
||||
turretShootPos = turrDefault + blueTurretShootPos;
|
||||
|
||||
if (gamepad2.squareWasPressed()){
|
||||
turret.pipelineSwitch(2);
|
||||
robot.limelight.start();
|
||||
gamepad2.rumble(500);
|
||||
sleep(1000);
|
||||
turret.setTurret(turrDefault);
|
||||
limelightUsed = true;
|
||||
|
||||
servos.setSpinPos(spinStartPos);
|
||||
|
||||
servos.setTransferPos(transferServo_out);
|
||||
}
|
||||
}
|
||||
|
||||
leave3Ball = drive.actionBuilder(autoStart)
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
|
||||
leaveFromShoot = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(xStackPickupA, yStackPickupA), Math.toRadians(hStackPickupA))
|
||||
.strafeToLinearHeading(new Vector2d(xStackPickupB, yStackPickupB), Math.toRadians(hStackPickupB),
|
||||
new TranslationalVelConstraint(pickupStackSpeed));
|
||||
|
||||
shoot3 = drive.actionBuilder(new Pose2d(xStackPickupB, yStackPickupB, Math.toRadians(hStackPickupB)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
|
||||
pickupGate = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
|
||||
.strafeToLinearHeading(new Vector2d(pickupGateX, pickupGateY), Math.toRadians(pickupGateH),
|
||||
new TranslationalVelConstraint(pickupGateSpeed));
|
||||
|
||||
shootGate = drive.actionBuilder(new Pose2d(pickupGateX, pickupGateY, Math.toRadians(pickupGateH)))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
|
||||
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.addData("Turret Default", turrDefault);
|
||||
TELE.addData("Limelight On?",limelightUsed);
|
||||
TELE.addData("Gate Cycle?", gatePickup);
|
||||
TELE.addData("Pickup Stack?", stack3);
|
||||
TELE.addData("Start Position", autoStart);
|
||||
TELE.addData("Current Position", drive.localizer.getPose()); // use this to test standstill drift
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
// Currently only shoots; keep this start and modify times and then add extra paths
|
||||
if (opModeIsActive()) {
|
||||
double stamp = getRuntime();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
startAuto();
|
||||
if (redAlliance){
|
||||
shoot(autoStartRX, autoStartRY, autoStartRH);
|
||||
|
||||
} else {
|
||||
shoot(autoStartBX, autoStartBY, autoStartBH);
|
||||
|
||||
}
|
||||
|
||||
if (stack3){
|
||||
cycleStackFar();
|
||||
shoot(xShoot, yShoot, hShoot);
|
||||
}
|
||||
|
||||
while (gatePickup && getRuntime() - stamp < endAutoTime){
|
||||
cycleGatePickupBalls();
|
||||
if (getRuntime() - stamp > endAutoTime){
|
||||
break;
|
||||
}
|
||||
cycleGatePrepareShoot();
|
||||
shoot(xShoot, yShoot, hShoot);
|
||||
}
|
||||
|
||||
if (gatePickup || stack3){
|
||||
leave();
|
||||
} else {
|
||||
leave3Ball();
|
||||
}
|
||||
|
||||
// Actual way to end autonomous in to find final position
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
flywheel.manageFlywheel(0);
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void shoot(double x, double y, double z){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z)
|
||||
)
|
||||
|
||||
);
|
||||
}
|
||||
|
||||
void startAuto(){
|
||||
|
||||
if (redAlliance){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
autoActions.manageShooterAuto(
|
||||
flywheel0Time,
|
||||
autoStartRX,
|
||||
autoStartRY,
|
||||
autoStartRH,
|
||||
true
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
} else {
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
autoActions.manageShooterAuto(
|
||||
flywheel0Time,
|
||||
autoStartBX,
|
||||
autoStartBY,
|
||||
autoStartBH,
|
||||
true
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void leave3Ball(){
|
||||
assert leave3Ball != null;
|
||||
Actions.runBlocking(leave3Ball.build());
|
||||
}
|
||||
|
||||
void leave(){
|
||||
assert leaveFromShoot != null;
|
||||
Actions.runBlocking(leaveFromShoot.build());
|
||||
}
|
||||
|
||||
void cycleStackFar(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
autoActions.intake(
|
||||
intakeStackTime,
|
||||
xStackPickupB,
|
||||
yStackPickupB,
|
||||
hStackPickupB
|
||||
)
|
||||
)
|
||||
);
|
||||
servos.setSpinPos(spinStartPos);
|
||||
spindexer.setIntakePower(-0.1);
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
shootStackTime,xShoot, yShoot, hShoot, false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGatePickupBalls(){
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickupGate.build(),
|
||||
autoActions.intake(
|
||||
intakeGateTime,
|
||||
pickupGateX,
|
||||
pickupGateY,
|
||||
pickupGateH
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
void cycleGatePrepareShoot(){
|
||||
spindexer.setIntakePower(-0.1);
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shootGate.build(),
|
||||
autoActions.manageShooterAuto(
|
||||
shootGateTime,
|
||||
xShoot,
|
||||
yShoot,
|
||||
hShoot,
|
||||
false
|
||||
)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,839 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
double velo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
boolean spindexPosEqual(double spindexer) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex equal");
|
||||
TELE.update();
|
||||
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
|
||||
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
|
||||
}
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
double currentPos = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
targetVelocity = (double) vel;
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
robot.turr1.setPower(turret_blueClose);
|
||||
robot.turr2.setPower(1 - turret_blueClose);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, double vel){
|
||||
return new Action() {
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
ticker++;
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !spindexPosEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(double vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPower(turret_detectBlueClose);
|
||||
robot.turr2.setPower(1 - turret_detectBlueClose);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,59 +1,9 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
|
||||
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
@@ -66,50 +16,51 @@ import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
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.Flywheel;
|
||||
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
|
||||
public static double slowSpeed = 30.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Flywheel flywheel;
|
||||
FlywheelV2 flywheel;
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.7;
|
||||
public static double intake2Time = 3.0;
|
||||
public static double colorDetect = 3.0;
|
||||
boolean gpp = false;
|
||||
boolean pgp = false;
|
||||
boolean ppg = false;
|
||||
public static double spinUnjamTime = 0.6;
|
||||
double powPID = 0.0;
|
||||
double bearing = 0.0;
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
public static double holdTurrPow = 0.01; // power to hold turret in place
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
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();
|
||||
@@ -122,7 +73,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
@@ -136,11 +86,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
if (id == 21) {
|
||||
if (id == 21){
|
||||
gpp = true;
|
||||
} else if (id == 22) {
|
||||
} else if (id == 22){
|
||||
pgp = true;
|
||||
} else if (id == 23) {
|
||||
} else if (id == 23){
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
@@ -151,18 +101,19 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance) {
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
robot.turr1.setPosition(turret_redClose);
|
||||
robot.turr2.setPosition(1 - turret_redClose);
|
||||
return false;
|
||||
double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = turret_blueClose;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
return false;
|
||||
double turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
@@ -174,15 +125,16 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
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.setPosition(spinPID);
|
||||
robot.spin2.setPosition(-spinPID);
|
||||
spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spinPID);
|
||||
robot.spin2.setPower(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
@@ -190,10 +142,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)) {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
|
||||
if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
@@ -202,7 +153,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
@@ -212,7 +162,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
boolean zeroPassed = false;
|
||||
double currentPos = 0.0;
|
||||
double prevPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
@@ -220,82 +169,69 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
robot.turr1.setPower(holdTurrPow);
|
||||
robot.turr2.setPower(holdTurrPow);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 2.7) {
|
||||
|
||||
if (ticker == 1){
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
initPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
|
||||
robot.spin1.setPosition(-spinPow);
|
||||
robot.spin2.setPosition(spinPow);
|
||||
return true;
|
||||
finalPos = initPos + 0.6;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
return false;
|
||||
if (finalPos > 1.0){
|
||||
finalPos = finalPos - 1;
|
||||
zeroNeeded = true;
|
||||
} else if (finalPos > 0.95){
|
||||
finalPos = 0.0;
|
||||
zeroNeeded = true;
|
||||
}
|
||||
currentPos = initPos;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindexUnjam(double jamTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
|
||||
|
||||
ticker++;
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
if (ticker > 16){
|
||||
robot.spin1.setPower(0.08);
|
||||
robot.spin2.setPower(-0.08);
|
||||
}
|
||||
|
||||
if (ticker % 12 < 6) {
|
||||
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
|
||||
prevPos = currentPos;
|
||||
currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
if (zeroNeeded){
|
||||
if (currentPos - prevPos < -0.5){
|
||||
zeroPassed = true;
|
||||
}
|
||||
if (zeroPassed){
|
||||
if (currentPos > finalPos){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
} else {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
if (currentPos > finalPos){
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
if (getRuntime() - stamp > jamTime+0.4) {
|
||||
|
||||
robot.intake.setPower(0.5);
|
||||
|
||||
return false;
|
||||
}
|
||||
else if (getRuntime() - stamp > jamTime) {
|
||||
|
||||
robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
else {
|
||||
robot.intake.setPower(1);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
@@ -315,43 +251,37 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker % 60 < 12) {
|
||||
if (ticker % 12 < 3) {
|
||||
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
|
||||
} else if (ticker % 60 < 30) {
|
||||
robot.spin1.setPosition(-0.5);
|
||||
robot.spin2.setPosition(0.5);
|
||||
}
|
||||
else if (ticker % 60 < 42) {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
}
|
||||
else {
|
||||
robot.spin1.setPosition(0.5);
|
||||
robot.spin2.setPosition(-0.5);
|
||||
} 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.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
if (getRuntime() - stamp > intakeTime){
|
||||
if (reverse){
|
||||
robot.spin1.setPower(-1);
|
||||
robot.spin2.setPower(1);
|
||||
} else {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
robot.spin1.setPower(1);
|
||||
robot.spin2.setPower(-1);
|
||||
}
|
||||
return false;
|
||||
} else {
|
||||
if (ticker % 4 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
|
||||
spinCurrentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.02;
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -362,7 +292,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
@@ -370,8 +299,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
}
|
||||
ticker++;
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
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);
|
||||
@@ -446,7 +377,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
@@ -456,7 +387,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
servo = new Servos(hardwareMap);
|
||||
servo = new Servos();
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
@@ -466,30 +397,18 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
//
|
||||
// TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
|
||||
.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,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
.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,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
@@ -500,76 +419,54 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
if (gamepad2.crossWasPressed()){
|
||||
redAlliance = !redAlliance;
|
||||
|
||||
}
|
||||
|
||||
|
||||
double turretPID;
|
||||
if (redAlliance) {
|
||||
turretPID = turret_redClose;
|
||||
if (redAlliance){
|
||||
turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
// lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
.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,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
} else {
|
||||
turretPID = turret_blueClose;
|
||||
turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
@@ -616,10 +513,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
shoot1.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
new ParallelAction(
|
||||
shoot1.build()
|
||||
)
|
||||
);
|
||||
|
||||
@@ -649,36 +544,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
)
|
||||
);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot3.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
shoot2.build()
|
||||
)
|
||||
);
|
||||
|
||||
@@ -701,7 +567,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//TODO: adjust this according to Teleop numbers
|
||||
public void detectTag() {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
@@ -710,9 +575,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
|
||||
bearing = result.getTx();
|
||||
}
|
||||
}
|
||||
double turretPos = (bearing / 1300);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
@@ -0,0 +1,771 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
@Config
|
||||
@Autonomous(preselectTeleOp = "TeleopV2")
|
||||
public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
Servos servo;
|
||||
|
||||
double velo = 0.0;
|
||||
public static double intake1Time = 2.9;
|
||||
|
||||
public static double intake2Time = 2.9;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
double bearing = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
detectTag();
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, int vel){
|
||||
return new Action() {
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPower(spindexer);
|
||||
robot.spin2.setPower(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !servo.spinEqual(spindexer, robot.spin1Pos.getVoltage());
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
detectTag();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intakeReject() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (getRuntime() - stamp < 0.3){
|
||||
return true;
|
||||
}else {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPower(position);
|
||||
robot.spin2.setPower(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPower(spindexer_intakePos1);
|
||||
robot.spin2.setPower(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void detectTag(){
|
||||
AprilTagDetection d20 = aprilTag.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTag.getTagById(24);
|
||||
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,718 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.actions;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
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.Pose2d;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class AutoActions {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servos;
|
||||
Flywheel flywheel;
|
||||
MecanumDrive drive;
|
||||
Spindexer spindexer;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
Light light;
|
||||
Turret turret;
|
||||
private int driverSlotGreen = 0;
|
||||
private int passengerSlotGreen = 0;
|
||||
private int rearSlotGreen = 0;
|
||||
private int mostGreenSlot = 0;
|
||||
public static double firstSpindexShootPos = spinStartPos;
|
||||
private boolean shootForward = true;
|
||||
public int motif = 0;
|
||||
double spinEndPos = 0.95;
|
||||
private boolean intaking = false;
|
||||
public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
|
||||
this.robot = rob;
|
||||
this.drive = dri;
|
||||
this.TELE = tel;
|
||||
this.servos = ser;
|
||||
this.flywheel = fly;
|
||||
this.spindexer = spi;
|
||||
this.targeting = tar;
|
||||
this.targetingSettings = tS;
|
||||
this.turret = tur;
|
||||
this.light = lig;
|
||||
}
|
||||
|
||||
public Action prepareShootAll(
|
||||
double colorSenseTime,
|
||||
double time,
|
||||
int motif_id,
|
||||
double posX,
|
||||
double posY,
|
||||
double posH
|
||||
) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
double spindexerWiggle = 0.01;
|
||||
|
||||
boolean decideGreenSlot = false;
|
||||
|
||||
void spin1PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
|
||||
void spin2PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
}
|
||||
|
||||
void reverseSpin2PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
|
||||
void spin3PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
}
|
||||
|
||||
void oddSpin3PosFirst() {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
||||
driverSlotGreen = 0;
|
||||
passengerSlotGreen = 0;
|
||||
rearSlotGreen = 0;
|
||||
}
|
||||
ticker++;
|
||||
servos.setTransferPos(transferServo_out);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
light.setState(StateEnums.LightState.GOAL_LOCK);
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
TELE.addData("Most Green Slot", mostGreenSlot);
|
||||
TELE.addData("Driver Slot Greeness", driverSlotGreen);
|
||||
TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
|
||||
TELE.addData("Rear Greeness", rearSlotGreen);
|
||||
TELE.update();
|
||||
|
||||
if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
|
||||
|
||||
spindexerWiggle *= -1.0;
|
||||
|
||||
servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
|
||||
|
||||
|
||||
// Rear Center (Position 1)
|
||||
double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
|
||||
if (distanceRearCenter < 52) {
|
||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
||||
double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
||||
if (gP1 >= 0.38) {
|
||||
rearSlotGreen++;
|
||||
}
|
||||
}
|
||||
|
||||
// Front Driver (Position 2)
|
||||
double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
|
||||
if (distanceFrontDriver < 50) {
|
||||
NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
|
||||
double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
|
||||
if (gP2 >= 0.4) {
|
||||
driverSlotGreen++;
|
||||
}
|
||||
}
|
||||
|
||||
// Front Passenger (Position 3)
|
||||
double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
|
||||
if (distanceFrontPassenger < 29) {
|
||||
NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
|
||||
double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
|
||||
if (gP3 >= 0.4) {
|
||||
passengerSlotGreen++;
|
||||
}
|
||||
}
|
||||
|
||||
spindexer.setIntakePower(-0.1);
|
||||
|
||||
decideGreenSlot = true;
|
||||
|
||||
return true;
|
||||
} else if (decideGreenSlot) {
|
||||
|
||||
if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
|
||||
mostGreenSlot = 3;
|
||||
} else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
|
||||
mostGreenSlot = 2;
|
||||
} else {
|
||||
mostGreenSlot = 1;
|
||||
}
|
||||
|
||||
decideGreenSlot = false;
|
||||
|
||||
if (motif_id == 21) {
|
||||
if (mostGreenSlot == 1) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else if (mostGreenSlot == 2) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall2;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
} else {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
}
|
||||
} else if (motif_id == 22) {
|
||||
if (mostGreenSlot == 1) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else if (mostGreenSlot == 2) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.03;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (mostGreenSlot == 1) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3;
|
||||
shootForward = false;
|
||||
spinEndPos = 0.05;
|
||||
} else if (mostGreenSlot == 2) {
|
||||
firstSpindexShootPos = spindexer_outtakeBall3b;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95;
|
||||
} else {
|
||||
firstSpindexShootPos = spindexer_outtakeBall1;
|
||||
shootForward = true;
|
||||
spinEndPos = 0.95; }
|
||||
}
|
||||
|
||||
return true;
|
||||
} else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
|
||||
spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
|
||||
|
||||
servos.setSpinPos(firstSpindexShootPos);
|
||||
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllAuto(double shootTime, double spindexSpeed, double posX, double posY, double posH) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
spindexer.setIntakePower(-0.1);
|
||||
|
||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
||||
light.update();
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
|
||||
|
||||
}
|
||||
ticker++;
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
double prevSpinPos = servos.getSpinCmdPos();
|
||||
|
||||
boolean end;
|
||||
if (shootForward) {
|
||||
end = servos.getSpinPos() > spinEndPos;
|
||||
} else {
|
||||
end = servos.getSpinPos() < spinEndPos;
|
||||
}
|
||||
|
||||
if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
|
||||
|
||||
if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
|
||||
servos.setSpinPos(firstSpindexShootPos);
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_in);
|
||||
shooterTicker++;
|
||||
Spindexer.whileShooting = true;
|
||||
if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos + spindexSpeed);
|
||||
} else if (shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_out);
|
||||
Spindexer.whileShooting = false;
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllManual(
|
||||
double shootTime,
|
||||
double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
|
||||
double spindexSpeed,
|
||||
double velStart,
|
||||
double hoodStart,
|
||||
double velEnd,
|
||||
double hoodEnd,
|
||||
double turr) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
spindexer.setIntakePower(-0.1);
|
||||
|
||||
light.setState(StateEnums.LightState.BALL_COLOR);
|
||||
light.update();
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
|
||||
|
||||
}
|
||||
ticker++;
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
double prevSpinPos = servos.getSpinCmdPos();
|
||||
|
||||
boolean end;
|
||||
if (shootForward) {
|
||||
end = prevSpinPos > spinEndPos;
|
||||
} else {
|
||||
end = prevSpinPos < spinEndPos;
|
||||
}
|
||||
|
||||
if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
|
||||
servos.setTransferPos(transferServo_in);
|
||||
shooterTicker++;
|
||||
Spindexer.whileShooting = true;
|
||||
if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos + spindexSpeed);
|
||||
} else if (shooterTicker > Spindexer.waitFirstBallTicks) {
|
||||
servos.setSpinPos(prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_out);
|
||||
Spindexer.whileShooting = false;
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posH
|
||||
) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
Action manageShooter = null;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
manageShooter = manageShooterAuto(time, posX, posY, posH, false);
|
||||
}
|
||||
ticker++;
|
||||
|
||||
spindexer.processIntake();
|
||||
spindexer.setIntakePower(1);
|
||||
light.setState(StateEnums.LightState.BALL_COUNT);
|
||||
light.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
manageShooter.run(telemetryPacket);
|
||||
|
||||
if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
|
||||
servos.setSpinPos(spindexer_intakePos1);
|
||||
intaking = false;
|
||||
return false;
|
||||
} else {
|
||||
intaking = true;
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
private boolean detectingObelisk = false;
|
||||
|
||||
public Action detectObelisk(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance,
|
||||
double turrPos
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
int prevMotif = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
detectingObelisk = true;
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
turret.pipelineSwitch(1);
|
||||
ticker++;
|
||||
}
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
if (prevMotif == motif){
|
||||
ticker++;
|
||||
}
|
||||
prevMotif = motif;
|
||||
|
||||
turret.setTurret(turrPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull() || ticker > 10;
|
||||
|
||||
teleStart = currentPose;
|
||||
|
||||
if (shouldFinish) {
|
||||
if (redAlliance) {
|
||||
turret.pipelineSwitch(4);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
}
|
||||
detectingObelisk = false;
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posH,
|
||||
boolean flywheelSensor
|
||||
) {
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
final boolean timeFallback = (time != 0.501);
|
||||
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = null; //drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
|
||||
if (redAlliance) {
|
||||
turret.pipelineSwitch(4);
|
||||
light.setManualLightColor(Color.LightRed);
|
||||
} else {
|
||||
turret.pipelineSwitch(2);
|
||||
light.setManualLightColor(Color.LightBlue);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = 0.0;//currentPose.position.x;
|
||||
double robotY = 0.0;//currentPose.position.y;
|
||||
|
||||
double robotHeading = 0.0;//currentPose.heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
|
||||
|
||||
Pose deltaPose;
|
||||
if (posX != 0.501) {
|
||||
deltaPose = new Pose(posX, posY, Math.toRadians(posH));
|
||||
} else {
|
||||
deltaPose = new Pose(dx, dy, robotHeading);
|
||||
}
|
||||
Turret.limelightUsed = true;
|
||||
|
||||
// double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
if (!detectingObelisk) {
|
||||
turret.trackGoal(deltaPose);
|
||||
}
|
||||
|
||||
servos.setHoodPos(targetingSettings.hoodAngle);
|
||||
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
|
||||
|
||||
teleStart = currentPose;
|
||||
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Wait(double time) {
|
||||
return new Action() {
|
||||
boolean ticker = false;
|
||||
double stamp = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (!ticker) {
|
||||
stamp = System.currentTimeMillis();
|
||||
ticker = true;
|
||||
}
|
||||
|
||||
return (System.currentTimeMillis() - stamp < time * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterManual(
|
||||
double maxTime,
|
||||
double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
|
||||
double velStart,
|
||||
double hoodStart,
|
||||
double velEnd,
|
||||
double hoodEnd,
|
||||
double turr
|
||||
) {
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
final boolean timeFallback = (maxTime != 0.501);
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = currentPose.position.x;
|
||||
double robotY = currentPose.position.y;
|
||||
|
||||
double robotHeading = currentPose.heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose deltaPose;
|
||||
if (turr == 0.501) {
|
||||
deltaPose = new Pose(dx, dy, robotHeading);
|
||||
if (!detectingObelisk) {
|
||||
turret.trackGoal(deltaPose);
|
||||
}
|
||||
} else {
|
||||
turret.setTurret(turr);
|
||||
}
|
||||
|
||||
servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
|
||||
double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
|
||||
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
|
||||
flywheel.manageFlywheel(vel);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
|
||||
|
||||
teleStart = currentPose;
|
||||
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.update();
|
||||
|
||||
return !timeDone;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ShakeDrivetrain(
|
||||
double time
|
||||
){
|
||||
return new Action() {
|
||||
int ticker = 0;
|
||||
double stamp = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0){
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double currentStamp = System.currentTimeMillis();
|
||||
if (currentStamp - stamp < time*1000 && (intaking || ticker < 50)) {
|
||||
if (ticker % 10000 < 5000) {
|
||||
robot.frontLeft.setPower(0.5);
|
||||
robot.backLeft.setPower(0.5);
|
||||
robot.frontRight.setPower(0.5);
|
||||
robot.backRight.setPower(0.5);
|
||||
} else {
|
||||
robot.frontLeft.setPower(-0.5);
|
||||
robot.backLeft.setPower(-0.5);
|
||||
robot.frontRight.setPower(-0.5);
|
||||
robot.backRight.setPower(-0.5);
|
||||
}
|
||||
return true;
|
||||
} else {
|
||||
robot.frontLeft.setPower(0);
|
||||
robot.backLeft.setPower(0);
|
||||
robot.frontRight.setPower(0);
|
||||
robot.backRight.setPower(0);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,918 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous.disabled;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
|
||||
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.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
|
||||
public class Auto_LT_Close_12Ball extends LinearOpMode {
|
||||
public static double shoot0Vel = 2300, shoot0Hood = 0.93;
|
||||
public static double autoSpinStartPos = 0.2;
|
||||
public static double shoot0SpinSpeedIncrease = 0.014;
|
||||
|
||||
public static double spindexerSpeedIncrease = 0.02;
|
||||
|
||||
public static double obeliskTurrPos = 0.53;
|
||||
public static double normalIntakeTime = 3.0;
|
||||
public static double shoot1Turr = 0.57;
|
||||
public static double shoot0XTolerance = 1.0;
|
||||
public static double turretShootPos = 0.53;
|
||||
public static double shootAllTime = 1.8;
|
||||
public static double shoot0Time = 1.6;
|
||||
public static double intake1Time = 3.0;
|
||||
public static double flywheel0Time = 3.5;
|
||||
public static double pickup1Speed = 17;
|
||||
// ---- SECOND SHOT / PICKUP ----
|
||||
public static double shoot1Vel = 2300;
|
||||
public static double shoot1Hood = 0.93;
|
||||
|
||||
public static double shootAllVelocity = 2500;
|
||||
public static double shootAllHood = 0.78;
|
||||
// ---- PICKUP TIMING ----
|
||||
public static double pickup1Time = 3.0;
|
||||
// ---- PICKUP POSITION TOLERANCES ----
|
||||
public static double pickup1XTolerance = 2.0;
|
||||
public static double pickup1YTolerance = 2.0;
|
||||
// ---- OBELISK DETECTION ----
|
||||
public static double obelisk1Time = 1.5;
|
||||
public static double obelisk1XTolerance = 2.0;
|
||||
public static double obelisk1YTolerance = 2.0;
|
||||
public static double shoot1ToleranceX = 2.0;
|
||||
public static double shoot1ToleranceY = 2.0;
|
||||
public static double shoot1Time = 2.0;
|
||||
public static double shootCycleTime = 2.5;
|
||||
public int motif = 0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
private double x1, y1, h1;
|
||||
|
||||
private double x2a, y2a, h2a, t2a;
|
||||
|
||||
private double x2b, y2b, h2b, t2b;
|
||||
private double x2c, y2c, h2c, t2c;
|
||||
|
||||
private double x3a, y3a, h3a;
|
||||
private double x3b, y3b, h3b;
|
||||
private double x4a, y4a, h4a;
|
||||
private double x4b, y4b, h4b;
|
||||
|
||||
private double xShoot, yShoot, hShoot;
|
||||
private double xGate, yGate, hGate;
|
||||
private double xPrep, yPrep, hPrep;
|
||||
|
||||
private double shoot1Tangent;
|
||||
|
||||
|
||||
public Action prepareShootAll(double time) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
turret.setTurret(turretShootPos);
|
||||
|
||||
robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return (System.currentTimeMillis() - stamp) < (time * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
double velo = vel;
|
||||
|
||||
int shooterTicker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
|
||||
int shooterTicker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(-0.3);
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
robot.intake.setPower(0);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
spindexer.processIntake();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
spindexer.ballCounterLight();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action detectObelisk(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance,
|
||||
double turrPos
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
motif = turret.detectObelisk();
|
||||
|
||||
robot.turr1.setPosition(turrPos);
|
||||
robot.turr2.setPosition(1 - turrPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageFlywheel(
|
||||
double vel,
|
||||
double hoodPos,
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
robot.hood.setPosition(hoodPos);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageShooterAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x;
|
||||
double robotY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose deltaPose = new Pose(dx, dy, robotHeading);
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
turret.trackGoal(deltaPose);
|
||||
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action manageFlywheelAuto(
|
||||
double time,
|
||||
double posX,
|
||||
double posY,
|
||||
double posXTolerance,
|
||||
double posYTolerance
|
||||
) {
|
||||
|
||||
boolean timeFallback = (time != 0.501);
|
||||
boolean posXFallback = (posX != 0.501);
|
||||
boolean posYFallback = (posY != 0.501);
|
||||
|
||||
return new Action() {
|
||||
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
Pose2d currentPose = drive.localizer.getPose();
|
||||
|
||||
if (ticker == 0) {
|
||||
stamp = System.currentTimeMillis();
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x;
|
||||
double robotY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robotX - goalX; // delta x from robot to goal
|
||||
double dy = robotY - goalY; // delta y from robot to goal
|
||||
Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
targetingSettings = targeting.calculateSettings
|
||||
(robotX, robotY, robotHeading, 0.0, false);
|
||||
|
||||
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle);
|
||||
|
||||
flywheel.manageFlywheel(targetingSettings.flywheelRPM);
|
||||
|
||||
boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
|
||||
boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
|
||||
boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
|
||||
|
||||
boolean shouldFinish = timeDone || xDone || yDone;
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Hood", robot.hood.getPosition());
|
||||
TELE.update();
|
||||
|
||||
return !shouldFinish;
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
turret.setTurret(0.4);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TrajectoryActionBuilder shoot0 = null;
|
||||
TrajectoryActionBuilder pickup1 = null;
|
||||
TrajectoryActionBuilder shoot1 = null;
|
||||
TrajectoryActionBuilder pickup2 = null;
|
||||
TrajectoryActionBuilder shoot2 = null;
|
||||
TrajectoryActionBuilder pickup3 = null;
|
||||
TrajectoryActionBuilder shoot3 = null;
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
robot.light.setPosition(1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
robot.hood.setPosition(shoot0Hood);
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
}
|
||||
|
||||
if (redAlliance) {
|
||||
robot.light.setPosition(0.28);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = rx1;
|
||||
y1 = ry1;
|
||||
h1 = rh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = rx2a;
|
||||
y2a = ry2a;
|
||||
h2a = rh2a;
|
||||
x2b = rx2b;
|
||||
y2b = ry2b;
|
||||
h2b = rh2b;
|
||||
x3a = rx3a;
|
||||
y3a = ry3a;
|
||||
h3a = rh3a;
|
||||
x3b = rx3b;
|
||||
y3b = ry3b;
|
||||
h3b = rh3b;
|
||||
x4a = rx4a;
|
||||
y4a = ry4a;
|
||||
h4a = rh4a;
|
||||
x4b = rx4b;
|
||||
y4b = ry4b;
|
||||
h4b = rh4b;
|
||||
xPrep = rxPrep;
|
||||
yPrep = ryPrep;
|
||||
hPrep = rhPrep;
|
||||
xShoot = rShootX;
|
||||
yShoot = rShootY;
|
||||
hShoot = rShootH;
|
||||
|
||||
|
||||
} else {
|
||||
robot.light.setPosition(0.6);
|
||||
|
||||
// ---- FIRST SHOT ----
|
||||
x1 = bx1;
|
||||
y1 = by1;
|
||||
h1 = bh1;
|
||||
|
||||
// ---- PICKUP PATH ----
|
||||
x2a = bx2a;
|
||||
y2a = by2a;
|
||||
h2a = bh2a;
|
||||
x2b = bx2b;
|
||||
y2b = by2b;
|
||||
h2b = bh2b;
|
||||
x3a = bx3a;
|
||||
y3a = by3a;
|
||||
h3a = bh3a;
|
||||
x3b = bx3b;
|
||||
y3b = by3b;
|
||||
h3b = bh3b;
|
||||
x4a = bx4a;
|
||||
y4a = by4a;
|
||||
h4a = bh4a;
|
||||
x4b = bx4b;
|
||||
y4b = by4b;
|
||||
h4b = bh4b;
|
||||
|
||||
xPrep = bxPrep;
|
||||
yPrep = byPrep;
|
||||
hPrep = bhPrep;
|
||||
xShoot = bShootX;
|
||||
yShoot = bShootY;
|
||||
hShoot = bShootH;
|
||||
|
||||
}
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
|
||||
.strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
|
||||
.strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
|
||||
.strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
|
||||
.strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
|
||||
new TranslationalVelConstraint(pickup1Speed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
|
||||
.strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
|
||||
|
||||
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
assert shoot0 != null;
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
manageFlywheel(
|
||||
shoot0Vel,
|
||||
shoot0Hood,
|
||||
flywheel0Time,
|
||||
x1,
|
||||
0.501,
|
||||
shoot0XTolerance,
|
||||
0.501
|
||||
)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
manageFlywheel(
|
||||
shootAllVelocity,
|
||||
shootAllHood,
|
||||
pickup1Time,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(intake1Time)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheel(
|
||||
shootAllVelocity,
|
||||
shootAllHood,
|
||||
shoot1Time,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot1.build(),
|
||||
prepareShootAll(shoot1Time)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
manageShooterAuto(
|
||||
normalIntakeTime,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(normalIntakeTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheelAuto(
|
||||
shootCycleTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot2.build(),
|
||||
prepareShootAll(shootCycleTime)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup3.build(),
|
||||
manageShooterAuto(
|
||||
normalIntakeTime,
|
||||
x2b,
|
||||
y2b,
|
||||
pickup1XTolerance,
|
||||
pickup1YTolerance
|
||||
),
|
||||
intake(normalIntakeTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageFlywheelAuto(
|
||||
shootCycleTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shoot3.build(),
|
||||
prepareShootAll(shootCycleTime)
|
||||
)
|
||||
);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
manageShooterAuto(
|
||||
shootAllTime,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501,
|
||||
0.501
|
||||
),
|
||||
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
|
||||
)
|
||||
|
||||
);
|
||||
|
||||
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,35 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class Back_Poses {
|
||||
public static double rLeaveX = 90, rLeaveY = 50, rLeaveH = 50.1;
|
||||
public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50;
|
||||
|
||||
public static double rShootX = 100, rShootY = 60, rShootH = 125.2;
|
||||
public static double bShootX = 100, bShootY = -60, bShootH = -125.2;
|
||||
|
||||
public static double rStackPickupFarAX = 75, rStackPickupFarAY = 45, rStackPickupFarAH = 150;
|
||||
public static double bStackPickupFarAX = 75, bStackPickupFarAY = -45, bStackPickupFarAH = -150;
|
||||
|
||||
public static double rStackPickupFarBX = 45, rStackPickupFarBY = 80, rStackPickupFarBH = 145.1;
|
||||
public static double bStackPickupFarBX = 45, bStackPickupFarBY = -80, bStackPickupFarBH = -145.1;
|
||||
|
||||
public static double rStackPickupMiddleAX = 55, rStackPickupMiddleAY = 39, rStackPickupMiddleAH = 145;
|
||||
public static double bStackPickupMiddleAX = 55, bStackPickupMiddleAY = -39, bStackPickupMiddleAH = -145;
|
||||
|
||||
public static double rStackPickupMiddleBX = 45, rStackPickupMiddleBY = 49, rStackPickupMiddleBH = 145.1;
|
||||
public static double bStackPickupMiddleBX = 45, bStackPickupMiddleBY = -49, bStackPickupMiddleBH = -145.1;
|
||||
|
||||
public static double rPickupGateXA = 60, rPickupGateYA = 90, rPickupGateHA = 140;
|
||||
public static double bPickupGateXA = 60, bPickupGateYA = -90, bPickupGateHA = -140;
|
||||
public static double rPickupGateXB = 84, rPickupGateYB = 76, rPickupGateHB = 145;
|
||||
public static double bPickupGateXB = 84, bPickupGateYB = -76, bPickupGateHB = -145;
|
||||
public static double rPickupGateXC = 50, rPickupGateYC = 83, rPickupGateHC = 190;
|
||||
public static double bPickupGateXC = 50, bPickupGateYC = -83, bPickupGateHC = -190;
|
||||
|
||||
public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 54;
|
||||
public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -54;
|
||||
|
||||
}
|
||||
@@ -1,16 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class Color {
|
||||
public static boolean redAlliance = true;
|
||||
public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
|
||||
public static double LightGreen = 0.5;
|
||||
public static double LightPurple = 0.715;
|
||||
public static double LightOrange = 0.33;
|
||||
public static double LightRed = 0.28;
|
||||
public static double LightBlue = 0.6;
|
||||
|
||||
public static double colorFilterAlpha = 1;
|
||||
}
|
||||
|
||||
@@ -1,71 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Front_Poses {
|
||||
|
||||
|
||||
public static double rx1 = 30, ry1 = 5, rh1 = 0.1;
|
||||
public static double bx1 = 30, by1 = -5, bh1 = -0.1;
|
||||
|
||||
public static double rx2a = 41, ry2a = 18, rh2a = 140;
|
||||
public static double bx2a = 41, by2a = -18, bh2a = -140;
|
||||
|
||||
public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
|
||||
public static double bx2b = 23, by2b = -34, bh2b = -140.1;
|
||||
|
||||
public static double rx3a = 55, ry3a = 39, rh3a = 140;
|
||||
public static double bx3a = 55, by3a = -39, bh3a = -140;
|
||||
|
||||
public static double rx3aG = 60, ry3aG = 34, rh3aG = 140;
|
||||
public static double bx3aG = 60, by3aG = -34, bh3aG = -140;
|
||||
|
||||
public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
|
||||
public static double bx3b = 36, by3b = -58, bh3b = -140.1;
|
||||
|
||||
public static double rx4a = 75, ry4a = 53, rh4a = 140;
|
||||
public static double bx4a = 75, by4a = -53, bh4a = -140;
|
||||
|
||||
public static double rx4b = 50, ry4b = 78, rh4b = 140.1;
|
||||
public static double bx4b = 50, by4b = -78, bh4b = -140.1;
|
||||
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0;
|
||||
|
||||
public static double rShootX = 60, rShootY = 10, rShootH = 50;
|
||||
public static double bShootX = 60, bShootY = -10, bShootH = -50;
|
||||
|
||||
public static double rxPrep = 45, ryPrep = 10, rhPrep = 50;
|
||||
public static double bxPrep = 45, byPrep = -10, bhPrep = -50;
|
||||
|
||||
public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
|
||||
public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
|
||||
|
||||
public static double rShoot0X = 53, rShoot0Y = 10.1, rShoot0H = 80.1;
|
||||
public static double bShoot0X = 53, bShoot0Y = -10.1, bShoot0H = -80.1;
|
||||
|
||||
public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
|
||||
public static double bShootGateX = 50, bShootGateY = -10, bShootGateH = -90;
|
||||
|
||||
public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
|
||||
public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
|
||||
|
||||
public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
|
||||
public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
|
||||
|
||||
public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
|
||||
public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
|
||||
public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;
|
||||
|
||||
public static double rOpenGateCloseX = 20, rOpenGateCloseY = 35, rOpenGateCloseH = 230;
|
||||
public static double bOpenGateCloseX = 20, bOpenGateCloseY = -35, bOpenGateCloseH = -230;
|
||||
|
||||
public static double rOpenGateMiddleX = 36, rOpenGateMiddleY = 59, rOpenGateMiddleH = 50;
|
||||
public static double bOpenGateMiddleX = 36, bOpenGateMiddleY = -59, bOpenGateMiddleH = -50;
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(0, 0, 0);
|
||||
|
||||
//For PedroPathing TODO: figure out how to change start poses in auto
|
||||
public static double teleStartPoseX = 72, teleStartPoseY = 72, teleStartPoseH = 0;
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Poses {
|
||||
|
||||
public static double goalHeight = 42; //in inches
|
||||
|
||||
public static double turretHeight = 12;
|
||||
|
||||
public static double relativeGoalHeight = goalHeight - turretHeight;
|
||||
|
||||
public static Pose2d goalPose = new Pose2d(-15, 0, 0);
|
||||
|
||||
public static double rx1 = 40, ry1 = -7, rh1 = 0;
|
||||
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
|
||||
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
|
||||
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 40, by1 = 6, bh1 = 0;
|
||||
public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
|
||||
public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
|
||||
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
|
||||
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
|
||||
@Disabled
|
||||
@Config
|
||||
public class Poses_V2 {
|
||||
|
||||
public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
|
||||
|
||||
public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
|
||||
|
||||
public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
|
||||
|
||||
public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
|
||||
public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
|
||||
|
||||
public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
|
||||
|
||||
}
|
||||
@@ -5,63 +5,41 @@ import com.acmerobotics.dashboard.config.Config;
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double rapidFireBlocker_Closed = 0.32;
|
||||
public static double rapidFireBlocker_Open = 0.5;
|
||||
public static double spindexer_intakePos1 = 0.34;
|
||||
|
||||
public static double spindexBlocker_Closed = 0.31;
|
||||
public static double spindexBlocker_Open = 0.5;
|
||||
public static double spindexer_intakePos2 = 0.5;
|
||||
|
||||
public static double spindexer_A1 = 0.16;
|
||||
public static double spindexer_A2 = 0.35;
|
||||
public static double spindexer_A3 = 0.54;
|
||||
public static double spindexer_B1 = 0.73;
|
||||
public static double spindexer_B2 = 0.92;
|
||||
public static double spindexer_StopShooting = 0.44;
|
||||
public static double spindexer_intakePos3 = 0.66;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.42;
|
||||
|
||||
public static double spindexer_intakePos1 = 0.18; //0.13;
|
||||
public static double spindexer_outtakeBall2 = 0.74;
|
||||
public static double spindexer_outtakeBall1 = 0.58;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.55; //0.53;//0.66;
|
||||
public static double transferServo_in = 0.38;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.83; //0.65; //0.24;
|
||||
public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;
|
||||
public static double turret_range = 0.9;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.65; //0.46; //0.6;
|
||||
public static double spindexer_outtakeBall1 = 0.46; //0.27; //0.4;
|
||||
public static double spinStartPos = 0;
|
||||
public static double spinEndPos = 0.6;
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double shootAllSpindexerSpeedIncrease = 0.01;
|
||||
public static double hoodAuto = 0.22;
|
||||
|
||||
public static double transferServo_out = 0.28;
|
||||
public static double hoodAutoFar = 0.5; //TODO: change this;
|
||||
|
||||
public static double transferServo_in = 0.52;
|
||||
public static double hoodHigh = 0.21; //TODO: change this;
|
||||
|
||||
public static double hoodAuto = 0.27;
|
||||
public static double hoodLow = 1.0; //TODO: change this;
|
||||
|
||||
public static double hoodOffset = 0; // offset from 0.93 (or position at 0,0 in targeting class)
|
||||
public static double turret_redClose = 0.42;
|
||||
public static double turret_blueClose = 0.38;
|
||||
public static double turret_redFar = 0.5; //TODO: change this
|
||||
public static double turret_blueFar = 0.5; // TODO: change this
|
||||
|
||||
public static double turret_redClose = 0;
|
||||
public static double turret_blueClose = 0;
|
||||
|
||||
// These values are ADDED to turrDefault
|
||||
public static double redObeliskTurrPos0 = -0.35;
|
||||
public static double redObeliskTurrPos1 = 0.15;
|
||||
public static double redObeliskTurrPos2 = 0.16;
|
||||
public static double redObeliskTurrPos3 = 0.17;
|
||||
public static double blueObeliskTurrPos0 = 0.35;
|
||||
public static double blueObeliskTurrPos1 = -0.15;
|
||||
public static double blueObeliskTurrPos2 = -0.16;
|
||||
public static double blueObeliskTurrPos3 = -0.17;
|
||||
public static double redTurretShootPos = 0.05;
|
||||
public static double blueTurretShootPos = -0.05;
|
||||
|
||||
public static double tilt1_down = 0.6;
|
||||
public static double tilt2_down = 0.4;
|
||||
public static double tilt1_up = 0.08;
|
||||
public static double tilt2_up = 0.97;
|
||||
public static double turret_detectRedClose = 0.2;
|
||||
|
||||
public static double turret_detectBlueClose = 0.6;
|
||||
public static double turrDefault = 0.40;
|
||||
|
||||
}
|
||||
|
||||
@@ -1,13 +1,24 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
|
||||
@Disabled
|
||||
@Config
|
||||
public class ShooterVars {
|
||||
public static double turret_GearRatio = 0.9974;
|
||||
|
||||
public static double turret_Range = 355;
|
||||
|
||||
public static int velTolerance = 300;
|
||||
|
||||
public static int initTolerance = 1000;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
public static double waitTransferOut = 0.3;
|
||||
public static double waitTransfer = 0.4;
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3175; //3300;
|
||||
|
||||
public static int AUTO_CLOSE_VEL = 3000; //3300;
|
||||
public static int AUTO_FAR_VEL = 4000; //TODO: test this
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class StateEnums {
|
||||
public enum Motif {
|
||||
NONE,
|
||||
GPP, // Green, Purple, Purple
|
||||
PGP, // Purple, Green, Purple
|
||||
PPG // Purple, Purple, Green
|
||||
}
|
||||
|
||||
public enum LightState {
|
||||
BALL_COUNT,
|
||||
BALL_COLOR,
|
||||
GOAL_LOCK,
|
||||
MANUAL,
|
||||
DISABLED,
|
||||
OFF
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.disabled;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -5,9 +5,7 @@ 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.AccelConstraint;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.Actions;
|
||||
import com.acmerobotics.roadrunner.*;
|
||||
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
||||
import com.acmerobotics.roadrunner.DualNum;
|
||||
import com.acmerobotics.roadrunner.HolonomicController;
|
||||
@@ -16,20 +14,12 @@ 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;
|
||||
@@ -56,15 +46,56 @@ 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 =
|
||||
@@ -74,15 +105,117 @@ 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);
|
||||
|
||||
@@ -135,191 +268,12 @@ 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 = 0.001367789463080072;
|
||||
public double trackWidthTicks = 6913.070212622687;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.23;
|
||||
public double kV = 0.00035;
|
||||
public double kA = 0.00008;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 70;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 70;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 2 *Math.PI; // shared with path
|
||||
public double maxAngAccel = 2 * Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 6.0;
|
||||
public double lateralGain = 6.0;
|
||||
public double headingGain = 6.0; // 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 final double[] xPoints, yPoints;
|
||||
private double beginTs = -1;
|
||||
|
||||
private final double[] xPoints, yPoints;
|
||||
|
||||
public FollowTrajectoryAction(TimeTrajectory t) {
|
||||
timeTrajectory = t;
|
||||
|
||||
@@ -345,16 +299,7 @@ public final class MecanumDrive {
|
||||
t = Actions.now() - beginTs;
|
||||
}
|
||||
|
||||
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
||||
|
||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
||||
|
||||
Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
|
||||
|
||||
if ((t >= timeTrajectory.duration && error.position.norm() < 1
|
||||
&& robotVelRobot.linearVel.norm() < 0.5)
|
||||
|| t >= timeTrajectory.duration + 0.01) {
|
||||
if (t >= timeTrajectory.duration) {
|
||||
leftFront.setPower(0);
|
||||
leftBack.setPower(0);
|
||||
rightBack.setPower(0);
|
||||
@@ -363,6 +308,10 @@ public final class MecanumDrive {
|
||||
return false;
|
||||
}
|
||||
|
||||
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
||||
|
||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
||||
|
||||
PoseVelocity2dDual<Time> command = new HolonomicController(
|
||||
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
||||
@@ -393,6 +342,7 @@ public final class MecanumDrive {
|
||||
p.put("y", localizer.getPose().position.y);
|
||||
p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));
|
||||
|
||||
Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
|
||||
p.put("xError", error.position.x);
|
||||
p.put("yError", error.position.y);
|
||||
p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
|
||||
@@ -500,4 +450,51 @@ 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
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -16,11 +16,10 @@ import java.util.Objects;
|
||||
@Config
|
||||
public final class PinpointLocalizer implements Localizer {
|
||||
public static class Params {
|
||||
public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
|
||||
public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
|
||||
}
|
||||
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
|
||||
public final GoBildaPinpointDriver driver;
|
||||
@@ -49,8 +48,6 @@ public final class PinpointLocalizer implements Localizer {
|
||||
txWorldPinpoint = initialPose;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void setPose(Pose2d pose) {
|
||||
txWorldPinpoint = pose.times(txPinpointRobot.inverse());
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
package org.firstinspires.ftc.teamcode.libs.pedroPathing;
|
||||
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.follower.FollowerConstants;
|
||||
import com.pedropathing.ftc.FollowerBuilder;
|
||||
import com.pedropathing.paths.PathConstraints;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
public class Constants {
|
||||
public static FollowerConstants followerConstants = new FollowerConstants();
|
||||
|
||||
public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);
|
||||
|
||||
public static Follower createFollower(HardwareMap hardwareMap) {
|
||||
return new FollowerBuilder(followerConstants, hardwareMap)
|
||||
.pathConstraints(pathConstraints)
|
||||
.build();
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,66 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.pedroPathing;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.pedropathing.control.FilteredPIDFCoefficients;
|
||||
import com.pedropathing.control.PIDFCoefficients;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.follower.FollowerConstants;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.FollowerBuilder;
|
||||
import com.pedropathing.ftc.drivetrains.MecanumConstants;
|
||||
import com.pedropathing.ftc.localization.constants.PinpointConstants;
|
||||
import com.pedropathing.paths.PathConstraints;
|
||||
import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
@Config
|
||||
public class Constants {
|
||||
public static FollowerConstants followerConstants = new FollowerConstants()
|
||||
.mass(14.37888)
|
||||
.forwardZeroPowerAcceleration(-30.322)
|
||||
.lateralZeroPowerAcceleration(-60.876)
|
||||
.translationalPIDFCoefficients(new PIDFCoefficients(0.15, 0, 0.015, 0.02))
|
||||
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
|
||||
.drivePIDFCoefficients(new FilteredPIDFCoefficients(0.013, 0, 0.00001, 0.6, 0.015))
|
||||
.centripetalScaling(0.0005);
|
||||
|
||||
public static MecanumConstants driveConstants = new MecanumConstants()
|
||||
.maxPower(1)
|
||||
.rightFrontMotorName("fr")
|
||||
.rightRearMotorName("br")
|
||||
.leftRearMotorName("bl")
|
||||
.leftFrontMotorName("fl")
|
||||
.leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE)
|
||||
.leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
|
||||
.rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
|
||||
.rightRearMotorDirection(DcMotorSimple.Direction.FORWARD)
|
||||
.xVelocity(84.376)
|
||||
.yVelocity(64.052);
|
||||
|
||||
public static double breakingStrength = 1;
|
||||
public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1);
|
||||
|
||||
public static PinpointConstants localizerConstants = new PinpointConstants()
|
||||
.forwardPodY(-3.7795)
|
||||
.strafePodX(-3.769)
|
||||
.distanceUnit(DistanceUnit.INCH)
|
||||
.hardwareMapName("pinpoint")
|
||||
.encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
|
||||
.forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED)
|
||||
.strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD);
|
||||
|
||||
public static Follower createFollower(HardwareMap hardwareMap) {
|
||||
FollowerBuilder followerBuilder;
|
||||
followerBuilder = new FollowerBuilder(followerConstants, hardwareMap)
|
||||
.pathConstraints(pathConstraints)
|
||||
.mecanumDrivetrain(driveConstants)
|
||||
.pinpointLocalizer(localizerConstants);
|
||||
|
||||
followerBuilder.resetPinpoint();
|
||||
followerBuilder.recalibrateIMU();
|
||||
|
||||
return followerBuilder.build();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,106 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.pedroPathing;
|
||||
import com.pedropathing.drivetrain.Drivetrain;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.follower.FollowerConstants;
|
||||
import com.pedropathing.ftc.drivetrains.*;
|
||||
import com.pedropathing.ftc.localization.constants.DriveEncoderConstants;
|
||||
import com.pedropathing.ftc.localization.constants.OTOSConstants;
|
||||
import com.pedropathing.ftc.localization.constants.PinpointConstants;
|
||||
import com.pedropathing.ftc.localization.constants.ThreeWheelConstants;
|
||||
import com.pedropathing.ftc.localization.constants.ThreeWheelIMUConstants;
|
||||
import com.pedropathing.ftc.localization.constants.TwoWheelConstants;
|
||||
import com.pedropathing.ftc.localization.localizers.DriveEncoderLocalizer;
|
||||
import com.pedropathing.ftc.localization.localizers.OTOSLocalizer;
|
||||
import com.pedropathing.ftc.localization.localizers.PinpointLocalizer;
|
||||
import com.pedropathing.ftc.localization.localizers.ThreeWheelIMULocalizer;
|
||||
import com.pedropathing.ftc.localization.localizers.ThreeWheelLocalizer;
|
||||
import com.pedropathing.ftc.localization.localizers.TwoWheelLocalizer;
|
||||
import com.pedropathing.localization.Localizer;
|
||||
import com.pedropathing.paths.PathConstraints;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
/** This is the FollowerBuilder.
|
||||
* It is used to create Followers with a specific drivetrain + localizer without having to use a full constructor
|
||||
*
|
||||
* @author Baron Henderson - 20077 The Indubitables
|
||||
*/
|
||||
public class FollowerBuilder {
|
||||
private final FollowerConstants constants;
|
||||
private PathConstraints constraints;
|
||||
private final HardwareMap hardwareMap;
|
||||
private Localizer localizer;
|
||||
private Drivetrain drivetrain;
|
||||
|
||||
public FollowerBuilder(FollowerConstants constants, HardwareMap hardwareMap) {
|
||||
this.constants = constants;
|
||||
this.hardwareMap = hardwareMap;
|
||||
constraints = PathConstraints.defaultConstraints;
|
||||
}
|
||||
|
||||
public FollowerBuilder setLocalizer(Localizer localizer) {
|
||||
this.localizer = localizer;
|
||||
return this;
|
||||
}
|
||||
|
||||
public FollowerBuilder driveEncoderLocalizer(DriveEncoderConstants lConstants) {
|
||||
return setLocalizer(new DriveEncoderLocalizer(hardwareMap, lConstants));
|
||||
}
|
||||
|
||||
public FollowerBuilder OTOSLocalizer(OTOSConstants lConstants) {
|
||||
return setLocalizer(new OTOSLocalizer(hardwareMap, lConstants));
|
||||
}
|
||||
|
||||
PinpointLocalizer pinpointLocalizer;
|
||||
public FollowerBuilder pinpointLocalizer(PinpointConstants lConstants) {
|
||||
pinpointLocalizer = new PinpointLocalizer(hardwareMap, lConstants);
|
||||
return setLocalizer(pinpointLocalizer);
|
||||
}
|
||||
|
||||
public void resetPinpoint(){
|
||||
pinpointLocalizer.resetIMU();
|
||||
}
|
||||
|
||||
public void recalibrateIMU(){
|
||||
pinpointLocalizer.recalibrate();
|
||||
}
|
||||
|
||||
public FollowerBuilder threeWheelIMULocalizer(ThreeWheelIMUConstants lConstants) {
|
||||
return setLocalizer(new ThreeWheelIMULocalizer(hardwareMap, lConstants));
|
||||
}
|
||||
|
||||
public FollowerBuilder threeWheelLocalizer(ThreeWheelConstants lConstants) {
|
||||
return setLocalizer(new ThreeWheelLocalizer(hardwareMap, lConstants));
|
||||
}
|
||||
|
||||
public FollowerBuilder twoWheelLocalizer(TwoWheelConstants lConstants) {
|
||||
return setLocalizer(new TwoWheelLocalizer(hardwareMap, lConstants));
|
||||
}
|
||||
|
||||
public FollowerBuilder setDrivetrain(Drivetrain drivetrain) {
|
||||
this.drivetrain = drivetrain;
|
||||
return this;
|
||||
}
|
||||
|
||||
public FollowerBuilder mecanumDrivetrain(MecanumConstants mecanumConstants) {
|
||||
return setDrivetrain(new Mecanum(hardwareMap, mecanumConstants));
|
||||
}
|
||||
|
||||
@Deprecated
|
||||
public FollowerBuilder mecanumExDrivetrain(MecanumConstants mecanumConstants) {
|
||||
return setDrivetrain(new MecanumEx(hardwareMap, mecanumConstants));
|
||||
}
|
||||
|
||||
public FollowerBuilder swerveDrivetrain(SwerveConstants swerveConstants, SwervePod... pods) {
|
||||
return setDrivetrain(new Swerve(hardwareMap, swerveConstants, pods));
|
||||
}
|
||||
|
||||
public FollowerBuilder pathConstraints(PathConstraints pathConstraints) {
|
||||
this.constraints = pathConstraints;
|
||||
PathConstraints.setDefaultConstraints(pathConstraints);
|
||||
return this;
|
||||
}
|
||||
|
||||
public Follower build() {
|
||||
return new Follower(constants, localizer, drivetrain, constraints);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,903 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TeleopV2 extends LinearOpMode {
|
||||
Servos servo;
|
||||
Flywheel flywheel;
|
||||
public static double manualVel = 3000;
|
||||
public static double hood = 0.5;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
public static double desiredTurretAngle = 180;
|
||||
public static double velMultiplier = 20;
|
||||
public static double shootStamp2 = 0.0;
|
||||
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
public boolean autoHood = true;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
public double shootStamp = 0.0;
|
||||
public boolean circle = false;
|
||||
public boolean square = false;
|
||||
public boolean triangle = false;
|
||||
double autoHoodOffset = 0.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
int camTicker = 0;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
boolean oddBallColor = false;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
MecanumDrive drive;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shoot1 = false;
|
||||
// Make these class-level flags
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
|
||||
boolean outtake1 = false;
|
||||
boolean outtake2 = false;
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean emergency = false;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
private double lastTimeStamp = 0.0;
|
||||
private double velo1, velo;
|
||||
private double stamp1, stamp, initPos;
|
||||
private boolean shootAll = false;
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
double turretPID = 0.0;
|
||||
double turretPos = 0.5;
|
||||
double spindexPID = 0.0;
|
||||
double spindexPos = spindexer_intakePos1;
|
||||
double error = 0.0;
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
// linear interpolation between 40->2650 and 120->3600
|
||||
double slope = (3700.0 - 2750.0) / (100.0 - 30);
|
||||
return (int) Math.round(2750 + slope * (distance - 30));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
servo = new Servos();
|
||||
flywheel = new Flywheel();
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
Pose2d shootPos = teleStart;
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()) {
|
||||
|
||||
//DRIVETRAIN:
|
||||
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
// PID SERVOS
|
||||
turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
|
||||
//TODO: make sure changing position works throughout opmode
|
||||
if (!servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage())){
|
||||
spindexPID = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(spindexPID);
|
||||
robot.spin2.setPower(-spindexPID);
|
||||
} else{
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
}
|
||||
|
||||
//INTAKE:
|
||||
|
||||
if (gamepad1.rightBumperWasPressed()) {
|
||||
intake = !intake;
|
||||
reject = false;
|
||||
shootAll = false;
|
||||
emergency = false;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()) {
|
||||
intake = false;
|
||||
emergency = !emergency;
|
||||
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
spindexPos = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
spindexPos = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
|
||||
} else if (reject) {
|
||||
robot.intake.setPower(-1);
|
||||
spindexPos = spindexer_intakePos1;
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
//COLOR:
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s3G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s3.add(true);
|
||||
} else {
|
||||
s3.add(false);
|
||||
}
|
||||
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (!s1.isEmpty()) {
|
||||
green1 = checkGreen(s1, s1T);
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
|
||||
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
//TURRET:
|
||||
|
||||
double offset;
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotX = robX - xOffset;
|
||||
double robotY = robY - yOffset;
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -10;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = goalX - robotX; // delta x from robot to goal
|
||||
double dy = goalY - robotY; // delta y from robot to goal
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
|
||||
|
||||
desiredTurretAngle += manualOffset;
|
||||
|
||||
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
|
||||
|
||||
if (offset > 135) {
|
||||
offset -= 360;
|
||||
}
|
||||
|
||||
//TODO: test the camera teleop code
|
||||
double pos = turrDefault + (error/8); // adds the overall error to the default
|
||||
|
||||
TELE.addData("offset", offset);
|
||||
|
||||
pos -= offset * (0.9 / 360);
|
||||
|
||||
if (pos < 0.02) {
|
||||
pos = 0.02;
|
||||
} else if (pos > 0.97) {
|
||||
pos = 0.97;
|
||||
}
|
||||
|
||||
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
|
||||
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
|
||||
|
||||
double bearing = 0.0;
|
||||
if (d20 != null || d24 != null){
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
}
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
}
|
||||
overrideTurr = true;
|
||||
turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing/1300);
|
||||
TELE.addData("Bear", bearing);
|
||||
|
||||
double bearingCorrection = bearing / 1300;
|
||||
|
||||
|
||||
// deadband: ignore tiny noise
|
||||
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
|
||||
|
||||
// only accumulate if bearing direction is consistent
|
||||
if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
|
||||
error += bearingCorrection;
|
||||
}
|
||||
}
|
||||
|
||||
camTicker++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
} else {
|
||||
camTicker = 0;
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
if (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
turretPos = pos;
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
|
||||
if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4100;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualOffset = 0;
|
||||
manualTurret = false;
|
||||
if (gamepad2.left_bumper) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
|
||||
sleep(1200);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y < -0.5) {
|
||||
autoHood = true;
|
||||
} else if (gamepad2.left_stick_y > 0.5) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
//SHOOT ALL:]
|
||||
|
||||
if (emergency) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
|
||||
if (getRuntime() % 3 > 1.5) {
|
||||
spindexPos = 1;
|
||||
} else {
|
||||
spindexPos = 0;
|
||||
}
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
} else if (shootAll) {
|
||||
|
||||
TELE.addData("100% works", shootOrder);
|
||||
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
if (!outtake1) {
|
||||
outtake1 = (servo.spinEqual(spindexer_outtakeBall1, robot.spin1Pos.getVoltage()));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (servo.spinEqual(spindexer_outtakeBall2, robot.spin1Pos.getVoltage()));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (servo.spinEqual(spindexer_outtakeBall3, robot.spin1Pos.getVoltage()));
|
||||
}
|
||||
|
||||
switch (currentSlot) {
|
||||
case 1:
|
||||
shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
|
||||
TELE.addData("shootA", shootA);
|
||||
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootA;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
|
||||
TELE.addData("shootB", shootB);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootB;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
|
||||
TELE.addData("shootC", shootC);
|
||||
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
|
||||
shootingDone = !shootC;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// Remove from the list only if shooting is complete
|
||||
if (shootingDone) {
|
||||
shootOrder.remove(0);
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
// Finished shooting all balls
|
||||
spindexPos = spindexer_intakePos1;
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
overrideTurr = false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
|
||||
shootOrder.clear();
|
||||
|
||||
// Determine shooting order based on button pressed
|
||||
// square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
// // Right bumper shoots all balls fastest, ignoring colors
|
||||
// if (gamepad2.leftBumperWasPressed()) {
|
||||
// shootOrder.clear();
|
||||
// shootStamp = getRuntime();
|
||||
//
|
||||
// outtake1 = false;
|
||||
// outtake2 = false;
|
||||
// outtake3 = false;
|
||||
//
|
||||
// // Fastest order (example: slot 3 → 2 → 1)
|
||||
//
|
||||
// if (ballIn(3)) {
|
||||
// shootOrder.add(3);
|
||||
// }
|
||||
//
|
||||
// if (ballIn(2)) {
|
||||
// shootOrder.add(2);
|
||||
// }
|
||||
// if (ballIn(1)) {
|
||||
// shootOrder.add(1);
|
||||
// }
|
||||
// shootAll = true;
|
||||
// shootPos = drive.localizer.getPose();
|
||||
//
|
||||
// }
|
||||
//
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = true;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
emergency = false;
|
||||
}
|
||||
|
||||
//MISC:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
TELE.addData("distanceToGoal", distanceToGoal);
|
||||
TELE.addData("hood", robot.hood.getPosition());
|
||||
TELE.addData("targetVel", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
aprilTagWebcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
|
||||
// Set spin positions
|
||||
spindexPos = spindexer;
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// Returns color of ball in slot i (1-based)
|
||||
boolean getBallColor(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
return green1;
|
||||
case 2:
|
||||
return green2;
|
||||
case 3:
|
||||
return green3;
|
||||
}
|
||||
return false; // default
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
|
||||
if (!s1T.isEmpty()) {
|
||||
|
||||
return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 2:
|
||||
|
||||
if (!s2T.isEmpty()) {
|
||||
|
||||
return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 3:
|
||||
|
||||
if (!s3T.isEmpty()) {
|
||||
|
||||
return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
|
||||
|
||||
}
|
||||
}
|
||||
return true; // default
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,304 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.*;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TeleopV4 extends LinearOpMode {
|
||||
Robot robot;
|
||||
Drivetrain drivetrain;
|
||||
Shooter shooter;
|
||||
MultipleTelemetry TELE;
|
||||
Follower follower;
|
||||
SpindexerTransferIntake spindexerTransferIntake;
|
||||
Turret turret;
|
||||
Flywheel flywheel;
|
||||
VelocityCommander commander;
|
||||
ParkTilter parkTilter;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
|
||||
public static Pose relocalizePose = new Pose(54.7, 11.4, 0);
|
||||
public static Pose teleStart = new Pose(0,0,0);
|
||||
|
||||
private boolean firstTickFull = true;
|
||||
private boolean intakeFull = true;
|
||||
private boolean shooting = false;
|
||||
public static int flywheelOffset = 0;
|
||||
public static double hoodOffset = 0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
Robot.resetInstance();
|
||||
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(), telemetry
|
||||
);
|
||||
|
||||
commander = new VelocityCommander();
|
||||
drivetrain = new Drivetrain(robot, TELE);
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
follower.setStartingPose(teleStart);
|
||||
sleep(500);
|
||||
follower.setPose(teleStart);
|
||||
follower.update();
|
||||
|
||||
flywheel = new Flywheel(robot);
|
||||
turret = new Turret(robot);
|
||||
|
||||
parkTilter = new ParkTilter(robot);
|
||||
parkTilter.unpark();
|
||||
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
|
||||
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
|
||||
shooter.setState(Shooter.ShooterState.TRACK_GOAL);
|
||||
shooter.setRedAlliance(Color.redAlliance);
|
||||
spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
|
||||
turret.switchPipeline(Turret.PipelineMode.TRACKING);
|
||||
robot.limelight.start();
|
||||
|
||||
limelightUsed = true;
|
||||
|
||||
TELE.addLine("Initialization is done");
|
||||
TELE.addData("Starting Position", follower.getPose());
|
||||
TELE.addData("TELE START", teleStart);
|
||||
TELE.update();
|
||||
|
||||
while (opModeInInit()){
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
VelocityCommander.lockFront = true;
|
||||
VelocityCommander.lockBack = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
} else if (gamepad1.squareWasPressed()){
|
||||
VelocityCommander.lockBack = true;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SPINDEXER_BACK);
|
||||
} else if (gamepad1.circleWasPressed()){
|
||||
VelocityCommander.lockBack = false;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
}
|
||||
TELE.addLine("Initialization is done");
|
||||
TELE.addData("Starting Position", follower.getPose());
|
||||
TELE.addData("TELE START", teleStart);
|
||||
TELE.addData("Front?:", VelocityCommander.lockFront);
|
||||
TELE.addData("Back?:", VelocityCommander.lockBack);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
int emptyTicks = 0;
|
||||
while (opModeIsActive()) {
|
||||
//Drivetrain
|
||||
drivetrain.drive(
|
||||
-gamepad1.right_stick_y,
|
||||
gamepad1.right_stick_x,
|
||||
gamepad1.left_stick_x,
|
||||
gamepad1.left_trigger
|
||||
);
|
||||
|
||||
if (gamepad1.crossWasPressed()){
|
||||
if (Color.redAlliance){
|
||||
relocalizePose = new Pose(54.4, 12, 0);
|
||||
} else {
|
||||
relocalizePose = new Pose(-54.4, 12, Math.toRadians(180));
|
||||
}
|
||||
follower.setPose(relocalizePose);
|
||||
sleep(500);
|
||||
gamepad1.rumble(100);
|
||||
}
|
||||
|
||||
if (!isStopRequested()){
|
||||
follower.update();
|
||||
}
|
||||
Pose currentPose = follower.getPose();
|
||||
teleStart = currentPose;
|
||||
|
||||
if (gamepad1.dpadLeftWasPressed()){
|
||||
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
|
||||
}
|
||||
|
||||
if (gamepad1.dpadRightWasPressed()){
|
||||
shooter.setState(Shooter.ShooterState.TRACK_GOAL);
|
||||
}
|
||||
|
||||
if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
|
||||
shooter.setFlywheelVelocity(2500 + flywheelOffset);
|
||||
robot.setHoodPos(0.6 + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
VelocityCommander.lockFront = true;
|
||||
VelocityCommander.lockBack = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.INTAKE);
|
||||
TELE.addData("Front?:", true);
|
||||
TELE.addData("Back?:", false);
|
||||
} else if (gamepad1.squareWasPressed()){
|
||||
VelocityCommander.lockBack = true;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SPINDEXER_BACK);
|
||||
spindexerTransferIntake.setSortedIntakeMode(SpindexerTransferIntake.SortedIntakeStates.IDLE);
|
||||
TELE.addData("Front?:", false);
|
||||
TELE.addData("Back?:", true);
|
||||
} else if (gamepad1.circleWasPressed()){
|
||||
VelocityCommander.lockBack = false;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.INTAKE);
|
||||
TELE.addData("Front?:", false);
|
||||
TELE.addData("Back?:", true);
|
||||
}
|
||||
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
spindexerTransferIntake.update();
|
||||
|
||||
if (VelocityCommander.lockBack){
|
||||
robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Open);
|
||||
if (gamepad1.leftBumperWasPressed()){
|
||||
spindexerTransferIntake.startBackShooting();
|
||||
firstTickFull = true;
|
||||
}
|
||||
|
||||
if (spindexerTransferIntake.getSortedIntakeStates() == SpindexerTransferIntake.SortedIntakeStates.REVERSE && firstTickFull){
|
||||
gamepad1.rumble(100);
|
||||
firstTickFull = false;
|
||||
}
|
||||
TELE.addData("Intake State", spindexerTransferIntake.getSortedIntakeStates());
|
||||
} else {
|
||||
robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
|
||||
SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
|
||||
|
||||
if (gamepad1.leftBumperWasPressed() &&
|
||||
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
|
||||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
|
||||
state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
|
||||
state == SpindexerTransferIntake.RapidMode.PULSE_OUT ||
|
||||
state == SpindexerTransferIntake.RapidMode.PULSE_IN ||
|
||||
state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
|
||||
|
||||
spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
intakeFull = false;
|
||||
firstTickFull = true;
|
||||
shooting = true;
|
||||
}
|
||||
|
||||
if (state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT){
|
||||
shooting = false;
|
||||
}
|
||||
|
||||
if (SpindexerTransferIntake.intakeFull && firstTickFull){
|
||||
gamepad1.rumble(250);
|
||||
firstTickFull = false;
|
||||
} else if (!SpindexerTransferIntake.intakeFull){
|
||||
firstTickFull = true;
|
||||
}
|
||||
|
||||
if (gamepad1.right_trigger > 0.5 &&
|
||||
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
|
||||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
|
||||
|
||||
spindexerTransferIntake.setRapidMode(
|
||||
SpindexerTransferIntake.RapidMode.HOLD_BALLS
|
||||
);
|
||||
}
|
||||
|
||||
if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
|
||||
robot.setIntakePower(1);
|
||||
robot.setTransferPower(-0.7);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()){
|
||||
limelightUsed = false;
|
||||
} else if (gamepad2.rightBumperWasPressed()){
|
||||
limelightUsed = true;
|
||||
}
|
||||
|
||||
if (gamepad1.dpad_down){
|
||||
parkTilter.park();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
parkTilter.unpark();
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()){
|
||||
limelightUsed = false;
|
||||
} else if (gamepad2.rightBumperWasPressed()){
|
||||
limelightUsed = true;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()){
|
||||
hoodOffset-=0.02;
|
||||
} else if (gamepad2.dpadDownWasPressed()){
|
||||
hoodOffset+=0.02;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadRightWasPressed()){
|
||||
flywheelOffset+=50;
|
||||
} else if (gamepad2.dpadLeftWasPressed()){
|
||||
flywheelOffset-=50;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()){
|
||||
flywheelOffset = 0;
|
||||
hoodOffset = 0;
|
||||
}
|
||||
|
||||
loopTimes.loop();
|
||||
// TELE.addData("Loop Time Average", loopTimes.getAvgLoopTime());
|
||||
// TELE.addData("Loop Time Max", loopTimes.getMaxLoopTimeOneMin());
|
||||
// TELE.addData("Loop Time Min", loopTimes.getMinLoopTimeOneMin());
|
||||
//
|
||||
// TELE.addData("Distance From Goal", commander.getDistance());
|
||||
// TELE.addData("Hood Position", commander.getHoodPredicted());
|
||||
// TELE.addData("Transfer Power", robot.transfer.getPower());
|
||||
// TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
|
||||
// TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
|
||||
// TELE.addData("Velocity 1", flywheel.getVelo1());
|
||||
// TELE.addData("Velocity 2", flywheel.getVelo2());
|
||||
TELE.addData("Flywheel Offset", flywheelOffset);
|
||||
TELE.addData("Hood Offset", hoodOffset);
|
||||
|
||||
// TELE.addData("FR Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
|
||||
// TELE.addData("FL Drive", robot.frontRight.getCurrent(CurrentUnit.AMPS));
|
||||
// TELE.addData("BL Drive", robot.backLeft.getCurrent(CurrentUnit.AMPS));
|
||||
// TELE.addData("BR Drive", robot.backRight.getCurrent(CurrentUnit.AMPS));
|
||||
|
||||
// TELE.addData("Flywheel 1", robot.shooter1.getCurrent(CurrentUnit.AMPS));
|
||||
// TELE.addData("Flywheel 2", robot.shooter2.getCurrent(CurrentUnit.AMPS));
|
||||
// TELE.addData("Transfer", robot.transfer.getCurrent(CurrentUnit.AMPS));
|
||||
// TELE.addData("Intake", robot.intake.getCurrent(CurrentUnit.AMPS));
|
||||
//
|
||||
// TELE.addData("Current Position", currentPose);
|
||||
//
|
||||
// TELE.addData("Current LL Pipeline", turret.pipeline());
|
||||
//
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -0,0 +1,793 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Intake;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
@Disabled
|
||||
public class old extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
Drivetrain drivetrain;
|
||||
|
||||
Intake intake;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
GamepadEx g1;
|
||||
|
||||
GamepadEx g2;
|
||||
|
||||
public static double defaultSpeed = 1;
|
||||
|
||||
public static double slowMoSpeed = 0.4;
|
||||
|
||||
public static double power = 0.0;
|
||||
|
||||
public static double pos = hoodDefault;
|
||||
|
||||
public boolean all = false;
|
||||
|
||||
public int ticker = 0;
|
||||
|
||||
ToggleButtonReader g1RightBumper;
|
||||
|
||||
ToggleButtonReader g2Circle;
|
||||
|
||||
ToggleButtonReader g2Square;
|
||||
|
||||
ToggleButtonReader g2Triangle;
|
||||
|
||||
ToggleButtonReader g2RightBumper;
|
||||
|
||||
ToggleButtonReader g1LeftBumper;
|
||||
|
||||
ToggleButtonReader g2LeftBumper;
|
||||
|
||||
ToggleButtonReader g2DpadUp;
|
||||
|
||||
ToggleButtonReader g2DpadDown;
|
||||
|
||||
ToggleButtonReader g2DpadRight;
|
||||
|
||||
ToggleButtonReader g2DpadLeft;
|
||||
|
||||
public boolean leftBumper = false;
|
||||
public double g1RightBumperStamp = 0.0;
|
||||
|
||||
public double g1LeftBumperStamp = 0.0;
|
||||
|
||||
public double g2LeftBumperStamp = 0.0;
|
||||
|
||||
public static int spindexerPos = 0;
|
||||
|
||||
public boolean green = false;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
public boolean scoreAll = false;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
public boolean autotrack = false;
|
||||
|
||||
public int last = 0;
|
||||
public int second = 0;
|
||||
|
||||
public double offset = 0.0;
|
||||
|
||||
public static double rIn = 0.59;
|
||||
|
||||
public static double rOut = 0;
|
||||
|
||||
public boolean notShooting = true;
|
||||
|
||||
public boolean circle = false;
|
||||
|
||||
public boolean square = false;
|
||||
|
||||
public boolean tri = false;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(),
|
||||
telemetry
|
||||
);
|
||||
|
||||
g1 = new GamepadEx(gamepad1);
|
||||
|
||||
g1RightBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2 = new GamepadEx(gamepad2);
|
||||
|
||||
g1LeftBumper = new ToggleButtonReader(
|
||||
g1, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2Circle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.B
|
||||
);
|
||||
|
||||
g2Triangle = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.Y
|
||||
);
|
||||
|
||||
g2Square = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.X
|
||||
);
|
||||
|
||||
g2RightBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
g2LeftBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
|
||||
g2DpadUp = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_UP
|
||||
);
|
||||
|
||||
g2DpadDown = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_DOWN
|
||||
);
|
||||
|
||||
g2DpadLeft = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_LEFT
|
||||
);
|
||||
|
||||
g2DpadRight = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_RIGHT
|
||||
);
|
||||
|
||||
drivetrain = new Drivetrain(robot, TELE, g1);
|
||||
|
||||
drivetrain.setMode("Default");
|
||||
|
||||
drivetrain.setDefaultSpeed(defaultSpeed);
|
||||
|
||||
drivetrain.setSlowSpeed(slowMoSpeed);
|
||||
|
||||
intake = new Intake(robot);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.setTelemetryOn(true);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
robot.rejecter.setPosition(rIn);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
|
||||
TELE.addData("off", offset);
|
||||
|
||||
robot.hood.setPosition(pos);
|
||||
|
||||
g1LeftBumper.readValue();
|
||||
|
||||
if (g1LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
leftBumper = true;
|
||||
}
|
||||
|
||||
if (leftBumper) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
if (time < 1.0) {
|
||||
robot.rejecter.setPosition(rOut);
|
||||
} else {
|
||||
robot.rejecter.setPosition(rIn);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake();
|
||||
|
||||
drivetrain.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
transfer.update();
|
||||
|
||||
g2RightBumper.readValue();
|
||||
|
||||
g2LeftBumper.readValue();
|
||||
|
||||
g2DpadDown.readValue();
|
||||
|
||||
g2DpadUp.readValue();
|
||||
|
||||
if (!scoreAll) {
|
||||
spindexer.checkForBalls();
|
||||
}
|
||||
|
||||
if (g2DpadUp.wasJustPressed()) {
|
||||
pos -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadDown.wasJustPressed()) {
|
||||
pos += 0.02;
|
||||
}
|
||||
|
||||
g2DpadLeft.readValue();
|
||||
|
||||
g2DpadRight.readValue();
|
||||
|
||||
if (g2DpadLeft.wasJustPressed()) {
|
||||
offset -= 0.02;
|
||||
}
|
||||
|
||||
if (g2DpadRight.wasJustPressed()) {
|
||||
offset += 0.02;
|
||||
}
|
||||
|
||||
TELE.addData("hood", pos);
|
||||
|
||||
if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
|
||||
|
||||
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
|
||||
|
||||
} else {
|
||||
|
||||
autotrack = false;
|
||||
|
||||
shooter.moveTurret(0.3 + offset);
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autotrack = true;
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustPressed()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferIn();
|
||||
shooter.setManualPower(1);
|
||||
|
||||
notShooting = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustReleased()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferOut();
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y > 0.5) {
|
||||
|
||||
shooter.setManualPower(0);
|
||||
} else if (gamepad2.left_stick_y < -0.5) {
|
||||
shooter.setManualPower(1);
|
||||
}
|
||||
|
||||
if (g2LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
notShooting = false;
|
||||
scoreAll = true;
|
||||
}
|
||||
|
||||
if (scoreAll) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
TELE.addData("greenImportant", green);
|
||||
|
||||
TELE.addData("last", last);
|
||||
TELE.addData("2ndLast", second);
|
||||
|
||||
int numGreen = spindexer.greens();
|
||||
|
||||
if (square) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (tri) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (circle) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (numGreen == 2) {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
} else {
|
||||
all = true;
|
||||
}
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake3();
|
||||
last = 3;
|
||||
second = 3;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
second = last;
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
second = last;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
second = last;
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake2();
|
||||
|
||||
last = 2;
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
} else if (time < 4.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
all = gamepad2.left_trigger > 0.5;
|
||||
|
||||
} else if (gamepad2.left_trigger > 0.5) {
|
||||
green = true;
|
||||
|
||||
all = false;
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
|
||||
if (all) {
|
||||
spindexer.outtake1();
|
||||
} else if (green) {
|
||||
last = spindexer.outtakeGreen(second, last);
|
||||
} else {
|
||||
last = spindexer.outtakePurple(second, last);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ticker++;
|
||||
|
||||
} else if (time < 6.5) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void intake() {
|
||||
|
||||
g1RightBumper.readValue();
|
||||
|
||||
g2Circle.readValue();
|
||||
|
||||
g2Square.readValue();
|
||||
|
||||
g2Triangle.readValue();
|
||||
|
||||
if (g1RightBumper.wasJustPressed()) {
|
||||
|
||||
notShooting = true;
|
||||
|
||||
if (getRuntime() - g1RightBumperStamp < 0.3) {
|
||||
intake.reverse();
|
||||
} else {
|
||||
intake.toggle();
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1) {
|
||||
shooter.setManualPower(0);
|
||||
}
|
||||
|
||||
spindexer.intake();
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
g1RightBumperStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
if (intake.getIntakeState() == 1 && notShooting) {
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
} else {
|
||||
if (g2Circle.wasJustPressed()) {
|
||||
circle = true;
|
||||
tri = false;
|
||||
square = false;
|
||||
|
||||
}
|
||||
|
||||
if (g2Triangle.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = true;
|
||||
square = false;
|
||||
}
|
||||
|
||||
if (g2Square.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = true;
|
||||
}
|
||||
|
||||
if (gamepad2.x) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
intake.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,144 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ActiveColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException{
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
int b1Purple = 1;
|
||||
int b1Total = 1;
|
||||
int b2Purple = 1;
|
||||
int b2Total = 1;
|
||||
int b3Purple = 1;
|
||||
int b3Total = 1;
|
||||
|
||||
double totalStamp1 = 0.0;
|
||||
double purpleStamp1 = 0.0;
|
||||
double totalStamp2 = 0.0;
|
||||
double purpleStamp2 = 0.0;
|
||||
double totalStamp3 = 0.0;
|
||||
double purpleStamp3 = 0.0;
|
||||
|
||||
String b1 = "none";
|
||||
String b2 = "none";
|
||||
String b3 = "none";
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
// Reset the counters after 1 second of not reading a ball.
|
||||
final double ColorCounterResetDelay = 1.0;
|
||||
// Number of times the loop needs to run before deciding on a color.
|
||||
final int ColorCounterTotalMinCount = 20;
|
||||
// If the color sensor reads a color this percentage of time
|
||||
// out of the total, declare the color.
|
||||
// Usage: (Color Count)/(Total Count) > ColorCounterThreshold
|
||||
final double ColorCounterThreshold = 0.65;
|
||||
|
||||
if (robot.pin1.getState()){
|
||||
if (robot.pin0.getState()){
|
||||
b1Purple ++;
|
||||
}
|
||||
b1Total++;
|
||||
totalStamp1 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b1 = "none";
|
||||
b1Total = 1;
|
||||
b1Purple = 1;
|
||||
}else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b1 = "Purple";
|
||||
}else if (b1Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b1 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin3.getState()){
|
||||
if (robot.pin2.getState()){
|
||||
b2Purple ++;
|
||||
}
|
||||
b2Total++;
|
||||
totalStamp2 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b2 = "none";
|
||||
b2Total = 1;
|
||||
b2Purple = 1;
|
||||
}else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b2 = "Purple";
|
||||
}else if (b2Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b2 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin5.getState()){
|
||||
if (robot.pin4.getState()){
|
||||
b3Purple ++;
|
||||
}
|
||||
b3Total++;
|
||||
totalStamp3 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b3 = "none";
|
||||
b3Total = 1;
|
||||
b3Purple = 1;
|
||||
}else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b3 = "Purple";
|
||||
}else if (b3Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b3 = "Green";
|
||||
}
|
||||
|
||||
TELE.addData("Green1:", robot.pin1.getState());
|
||||
TELE.addData("Purple1:", robot.pin0.getState());
|
||||
TELE.addData("Green2:", robot.pin3.getState());
|
||||
TELE.addData("Purple2:", robot.pin2.getState());
|
||||
TELE.addData("Green3:", robot.pin5.getState());
|
||||
TELE.addData("Purple3:", robot.pin4.getState());
|
||||
TELE.addData("1", b1);
|
||||
TELE.addData("2",b2);
|
||||
TELE.addData("3",b3);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -9,7 +9,8 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class AprilTagWebcamExample extends OpMode {
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@@ -0,0 +1,63 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
// ----- COLOR 1 -----
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -1,18 +1,16 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ColorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@@ -20,49 +18,36 @@ public class ColorTest extends LinearOpMode {
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
double color1Distance = 0;
|
||||
double color2Distance = 0;
|
||||
double color3Distance = 0;
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
|
||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
||||
|
||||
double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
||||
|
||||
double dist1 = robot.color1.getDistance(DistanceUnit.MM);
|
||||
color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", gP1);
|
||||
TELE.addData("Color1 distance (mm)", color1Distance);
|
||||
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
double dist2 = robot.color2.getDistance(DistanceUnit.MM);
|
||||
color2Distance = (colorFilterAlpha * dist2) + ((1-colorFilterAlpha) * color2Distance);
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", color2Distance);
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
double dist3 = robot.color3.getDistance(DistanceUnit.MM);
|
||||
color3Distance = (colorFilterAlpha * dist3) + ((1-colorFilterAlpha) * color3Distance);
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", color3Distance);
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
@@ -1,141 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class Hardware_Tester extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
public static boolean subsystemMode = true;
|
||||
|
||||
// Bare Motor Powers
|
||||
public static double flPow = 0;
|
||||
public static double frPow = 0;
|
||||
public static double blPow = 0;
|
||||
public static double brPow = 0;
|
||||
public static double intakePow = 0;
|
||||
public static double transferPow = 0;
|
||||
public static double shooter1Pow = 0;
|
||||
public static double shooter2Pow = 0;
|
||||
|
||||
// Subsystem Motor Powers
|
||||
public static double drivetrainPow = 0;
|
||||
public static double shooterPow = 0;
|
||||
|
||||
// Bare Servo Positions
|
||||
public static double spin1Pos = 0.501;
|
||||
public static double spin2Pos = 0.501;
|
||||
public static double turr1Pos = 0.501;
|
||||
public static double turr2Pos = 0.501;
|
||||
public static double transferServosPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double spindexBlockerPos = 0.501;
|
||||
public static double rapidFireBlockerPos = 0.501;
|
||||
public static double tilt1Pos = 0.501;
|
||||
public static double tilt2Pos = 0.501;
|
||||
|
||||
// Subsystem Servo Positions
|
||||
public static double spinPos = 0.501;
|
||||
public static double turrPos = 0.501;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Robot.resetInstance();
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
// Non-subsystem based components
|
||||
robot.setIntakePower(intakePow);
|
||||
robot.setTransferPower(transferPow);
|
||||
|
||||
if (transferServosPos != 0.501){
|
||||
robot.setTransferServoPos(transferServosPos);
|
||||
}
|
||||
if (hoodPos != 0.501){
|
||||
robot.setHoodPos(hoodPos);
|
||||
}
|
||||
if (rapidFireBlockerPos != 0.501){
|
||||
robot.setRapidFireBlockerPos(rapidFireBlockerPos);
|
||||
}
|
||||
if (spindexBlockerPos != 0.501){
|
||||
robot.setSpindexBlockerPos(spindexBlockerPos);
|
||||
}
|
||||
if (tilt1Pos != 0.501){
|
||||
robot.setTilt1Pos(tilt1Pos);
|
||||
}
|
||||
if (tilt2Pos != 0.501){
|
||||
robot.setTilt2Pos(tilt2Pos);
|
||||
}
|
||||
|
||||
// Subsystem based components
|
||||
if (subsystemMode){
|
||||
robot.setFrontLeftPower(drivetrainPow);
|
||||
robot.setFrontRightPower(drivetrainPow);
|
||||
robot.setBackLeftPower(drivetrainPow);
|
||||
robot.setBackRightPower(drivetrainPow);
|
||||
robot.shooter1.setPower(shooterPow);
|
||||
robot.shooter2.setPower(shooterPow);
|
||||
|
||||
if (spinPos != 0.501){
|
||||
robot.setSpinPos(spinPos);
|
||||
}
|
||||
if (turrPos != 0.501){
|
||||
robot.setTurretPos(turrPos);
|
||||
}
|
||||
} else {
|
||||
robot.setFrontLeftPower(flPow);
|
||||
robot.setFrontRightPower(frPow);
|
||||
robot.setBackLeftPower(blPow);
|
||||
robot.setBackRightPower(brPow);
|
||||
robot.shooter1.setPower(shooter1Pow);
|
||||
robot.shooter2.setPower(shooter2Pow);
|
||||
|
||||
if (spin1Pos != 0.501){
|
||||
robot.spin1.setPosition(spin1Pos);
|
||||
}
|
||||
if (spin2Pos != 0.501){
|
||||
robot.spin2.setPosition(spin2Pos);
|
||||
}
|
||||
if (turr1Pos != 0.501){
|
||||
robot.turr1.setPosition(turr1Pos);
|
||||
}
|
||||
if (turr2Pos != 0.501){
|
||||
robot.turr2.setPosition(turr2Pos);
|
||||
}
|
||||
}
|
||||
|
||||
// Sensor Data
|
||||
|
||||
TELE.addData("Beam Break insideBeam?", robot.insideBeam.isPressed());
|
||||
TELE.addData("Beam Break outsideBeam?", robot.outsideBeam.isPressed());
|
||||
// TELE.addData("Beam Break 2?", robot.beam2.isPressed());
|
||||
// TELE.addData("Beam Break 3?", robot.beam3.isPressed());
|
||||
|
||||
NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
|
||||
TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.CM));
|
||||
TELE.addData("REV Green", revColor.green / (revColor.green + revColor.blue + revColor.red));
|
||||
|
||||
TELE.addData("Voltage Sensor", robot.voltage.getVoltage());
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -16,7 +16,8 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class IntakeTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@@ -52,7 +53,7 @@ public class IntakeTest extends LinearOpMode {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
robot = new Robot(hardwareMap);
|
||||
servo = new Servos(hardwareMap);
|
||||
servo = new Servos();
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
@@ -64,26 +65,26 @@ public class IntakeTest extends LinearOpMode {
|
||||
if (gamepad1.right_bumper) {
|
||||
ticker++;
|
||||
if (ticker % 16 == 0){
|
||||
currentPos = servo.getSpinPos();
|
||||
currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
|
||||
if (Math.abs(currentPos - initPos) == 0.0){
|
||||
reverse = !reverse;
|
||||
}
|
||||
initPos = currentPos;
|
||||
}
|
||||
if (reverse){
|
||||
robot.spin1.setPosition(manualPow);
|
||||
robot.spin2.setPosition(-manualPow);
|
||||
robot.spin1.setPower(manualPow);
|
||||
robot.spin2.setPower(-manualPow);
|
||||
} else {
|
||||
robot.spin1.setPosition(-manualPow);
|
||||
robot.spin2.setPosition(manualPow);
|
||||
robot.spin1.setPower(-manualPow);
|
||||
robot.spin2.setPower(manualPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
stamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
@@ -108,19 +109,19 @@ public class IntakeTest extends LinearOpMode {
|
||||
|
||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
||||
if (!ballIn(2)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
}
|
||||
} else if (!ballIn(3)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
} else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
} else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
@@ -157,7 +158,7 @@ public class IntakeTest extends LinearOpMode {
|
||||
TELE.addData("B1", ballIn(1));
|
||||
TELE.addData("B2", ballIn(2));
|
||||
TELE.addData("B3", ballIn(3));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos());
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
@@ -186,19 +187,19 @@ public class IntakeTest extends LinearOpMode {
|
||||
}
|
||||
|
||||
public void spindexer() {
|
||||
boolean atTarget = servo.spinEqual(spindexerPos);
|
||||
boolean atTarget = servo.spinEqual(spindexerPos, robot.spin1Pos.getVoltage());
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos);
|
||||
robot.spin1.setPosition(powPID);
|
||||
robot.spin2.setPosition(-powPID);
|
||||
powPID = servo.setSpinPos(spindexerPos, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(powPID);
|
||||
robot.spin2.setPower(-powPID);
|
||||
|
||||
steadySpin = false;
|
||||
wasMoving = true; // remember we were moving
|
||||
stamp = getRuntime();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
robot.spin1.setPower(0);
|
||||
robot.spin2.setPower(0);
|
||||
steadySpin = true;
|
||||
wasMoving = false;
|
||||
}
|
||||
|
||||
@@ -4,35 +4,32 @@ import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
//TODO: fix to get the apriltag that it is reading
|
||||
public class LimelightTest extends LinearOpMode {
|
||||
MultipleTelemetry TELE;
|
||||
Turret turret;
|
||||
Robot robot;
|
||||
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
|
||||
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
|
||||
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
|
||||
public static boolean turretMode = false;
|
||||
public static double turretPos = 0.501;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
robot = new Robot(hardwareMap);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
limelight.start();
|
||||
while (opModeIsActive()){
|
||||
if (mode == 0){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
@@ -41,29 +38,40 @@ public class LimelightTest extends LinearOpMode {
|
||||
}
|
||||
}
|
||||
} else if (mode == 1){
|
||||
int obeliskID = turret.detectObelisk();
|
||||
TELE.addData("Limelight ID", obeliskID);
|
||||
TELE.update();
|
||||
} else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
|
||||
double tx = turret.getBearing();
|
||||
double ty = turret.getTy();
|
||||
double x = turret.getLimelightX();
|
||||
double y = turret.getLimelightY();
|
||||
TELE.addData("tx", tx);
|
||||
TELE.addData("ty", ty);
|
||||
TELE.addData("x", x);
|
||||
TELE.addData("y", y);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(0);
|
||||
}
|
||||
limelight.pipelineSwitch(1);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
int id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
if (turretMode){
|
||||
if (turretPos != 0.501){
|
||||
turret.setTurret(turretPos);
|
||||
}
|
||||
} else if (mode == 2){
|
||||
limelight.pipelineSwitch(4);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else if (mode == 3){
|
||||
limelight.pipelineSwitch(5);
|
||||
LLResult result = limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} else {
|
||||
limelight.pipelineSwitch(0);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -7,6 +7,8 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class MotorDirectionDebugger extends LinearOpMode {
|
||||
|
||||
public static double flPower = 0.0;
|
||||
|
||||
@@ -1,256 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
|
||||
import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.*;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class NewShooterTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
Drivetrain drivetrain;
|
||||
Shooter shooter;
|
||||
MultipleTelemetry TELE;
|
||||
Follower follower;
|
||||
SpindexerTransferIntake spindexerTransferIntake;
|
||||
Turret turret;
|
||||
Flywheel flywheel;
|
||||
VelocityCommander commander;
|
||||
ParkTilter parkTilter;
|
||||
MeasuringLoopTimes loopTimes;
|
||||
|
||||
private boolean firstTickFull = true;
|
||||
private boolean intakeFull = true;
|
||||
private boolean shooting = false;
|
||||
public static int flywheelVelo = 0;
|
||||
public static double hoodPos = 0.5;
|
||||
public static double transferPower = -0.8;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
Robot.resetInstance();
|
||||
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(), telemetry
|
||||
);
|
||||
|
||||
commander = new VelocityCommander();
|
||||
drivetrain = new Drivetrain(robot, TELE);
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
follower.setStartingPose(new Pose(0,0,0));
|
||||
sleep(500);
|
||||
follower.setPose(new Pose(0,0,0));
|
||||
follower.update();
|
||||
|
||||
flywheel = new Flywheel(robot);
|
||||
turret = new Turret(robot);
|
||||
|
||||
parkTilter = new ParkTilter(robot);
|
||||
parkTilter.unpark();
|
||||
|
||||
loopTimes = new MeasuringLoopTimes();
|
||||
loopTimes.init();
|
||||
|
||||
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
|
||||
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
|
||||
shooter.setRedAlliance(Color.redAlliance);
|
||||
spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
|
||||
turret.switchPipeline(Turret.PipelineMode.TRACKING);
|
||||
robot.limelight.start();
|
||||
|
||||
limelightUsed = true;
|
||||
|
||||
TELE.addLine("Initialization is done");
|
||||
TELE.update();
|
||||
|
||||
while (opModeInInit()){
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
VelocityCommander.lockFront = true;
|
||||
VelocityCommander.lockBack = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
} else if (gamepad1.squareWasPressed()){
|
||||
VelocityCommander.lockBack = true;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SPINDEXER_BACK);
|
||||
spindexerTransferIntake.setSortedIntakeMode(SpindexerTransferIntake.SortedIntakeStates.IDLE);
|
||||
} else if (gamepad1.circleWasPressed()){
|
||||
VelocityCommander.lockBack = false;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
}
|
||||
TELE.addLine("Initialization is done");
|
||||
TELE.addData("Front?:", VelocityCommander.lockFront);
|
||||
TELE.addData("Back?:", VelocityCommander.lockBack);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
//Drivetrain
|
||||
drivetrain.drive(
|
||||
-gamepad1.right_stick_y,
|
||||
gamepad1.right_stick_x,
|
||||
gamepad1.left_stick_x,
|
||||
gamepad1.left_trigger
|
||||
);
|
||||
|
||||
if (gamepad1.crossWasPressed()){
|
||||
if (Color.redAlliance){
|
||||
TeleopV4.relocalizePose = new Pose(57.5, 5, 0);
|
||||
} else {
|
||||
TeleopV4.relocalizePose = new Pose(-57.5, 5, Math.toRadians(180));
|
||||
}
|
||||
follower.setPose(TeleopV4.relocalizePose);
|
||||
sleep(500);
|
||||
gamepad1.rumble(100);
|
||||
}
|
||||
|
||||
follower.update();
|
||||
Pose currentPose = follower.getPose();
|
||||
|
||||
if (gamepad1.dpadLeftWasPressed()){
|
||||
shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
|
||||
}
|
||||
|
||||
if (gamepad1.dpadRightWasPressed()){
|
||||
shooter.setState(Shooter.ShooterState.TRACK_GOAL);
|
||||
}
|
||||
|
||||
if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
|
||||
shooter.setFlywheelVelocity(flywheelVelo);
|
||||
robot.setHoodPos(hoodPos);
|
||||
}
|
||||
|
||||
if (gamepad1.triangleWasPressed()){
|
||||
VelocityCommander.lockFront = true;
|
||||
VelocityCommander.lockBack = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
TELE.addData("Front?:", true);
|
||||
TELE.addData("Back?:", false);
|
||||
} else if (gamepad1.squareWasPressed()){
|
||||
VelocityCommander.lockBack = true;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SPINDEXER_BACK);
|
||||
TELE.addData("Front?:", false);
|
||||
TELE.addData("Back?:", true);
|
||||
} else if (gamepad1.circleWasPressed()){
|
||||
VelocityCommander.lockBack = false;
|
||||
VelocityCommander.lockFront = false;
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
|
||||
TELE.addData("Front?:", false);
|
||||
TELE.addData("Back?:", true);
|
||||
}
|
||||
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
spindexerTransferIntake.update();
|
||||
|
||||
if (VelocityCommander.lockBack){
|
||||
if (gamepad1.leftBumperWasPressed() && spindexerTransferIntake.getSortedIntakeStates() == SpindexerTransferIntake.SortedIntakeStates.REVERSE){
|
||||
spindexerTransferIntake.startBackShooting();
|
||||
firstTickFull = true;
|
||||
}
|
||||
|
||||
if (spindexerTransferIntake.getSortedIntakeStates() == SpindexerTransferIntake.SortedIntakeStates.REVERSE && firstTickFull){
|
||||
gamepad1.rumble(100);
|
||||
firstTickFull = false;
|
||||
}
|
||||
} else {
|
||||
SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
|
||||
|
||||
if (gamepad1.leftBumperWasPressed() &&
|
||||
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
|
||||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
|
||||
state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
|
||||
state == SpindexerTransferIntake.RapidMode.PULSE_OUT ||
|
||||
state == SpindexerTransferIntake.RapidMode.PULSE_IN ||
|
||||
state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
|
||||
|
||||
spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
|
||||
intakeFull = false;
|
||||
firstTickFull = true;
|
||||
shooting = true;
|
||||
}
|
||||
|
||||
if (state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT){
|
||||
shooting = false;
|
||||
}
|
||||
|
||||
if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed() && !shooting){
|
||||
intakeFull = true;
|
||||
} else {
|
||||
intakeFull = false;
|
||||
firstTickFull = true;
|
||||
}
|
||||
|
||||
if (intakeFull && firstTickFull){
|
||||
gamepad1.rumble(100);
|
||||
firstTickFull = false;
|
||||
}
|
||||
|
||||
if (gamepad1.right_trigger > 0.5 &&
|
||||
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
|
||||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
|
||||
|
||||
spindexerTransferIntake.setRapidMode(
|
||||
SpindexerTransferIntake.RapidMode.HOLD_BALLS
|
||||
);
|
||||
}
|
||||
|
||||
if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
|
||||
robot.setIntakePower(1);
|
||||
robot.setTransferPower(-0.7);
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.leftBumperWasPressed()){
|
||||
limelightUsed = false;
|
||||
} else if (gamepad2.rightBumperWasPressed()){
|
||||
limelightUsed = true;
|
||||
}
|
||||
|
||||
if (gamepad1.dpad_down){
|
||||
parkTilter.park();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
parkTilter.unpark();
|
||||
}
|
||||
|
||||
loopTimes.loop();
|
||||
// TELE.addData("Loop Time Average", loopTimes.getAvgLoopTime());
|
||||
// TELE.addData("Loop Time Max", loopTimes.getMaxLoopTimeOneMin());
|
||||
// TELE.addData("Loop Time Min", loopTimes.getMinLoopTimeOneMin());
|
||||
//
|
||||
TELE.addData("Distance From Goal", commander.getDistance());
|
||||
// TELE.addData("Hood Position", commander.getHoodPredicted());
|
||||
// TELE.addData("Transfer Power", robot.transfer.getPower());
|
||||
TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
|
||||
TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
|
||||
//
|
||||
// TELE.addData("Current Position", currentPose);
|
||||
//
|
||||
// TELE.addData("Current LL Pipeline", turret.pipeline());
|
||||
//
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -6,9 +6,13 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
public static double p = 2, i = 0, d = 0, f = 0;
|
||||
@@ -29,7 +33,7 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0.001);
|
||||
controller.setTolerance(0);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
@@ -40,16 +44,25 @@ public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
if (mode == 1) {
|
||||
|
||||
if (mode == 0) {
|
||||
pos = robot.turr1Pos.getCurrentPosition();
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.turr1.setPower(pid);
|
||||
robot.turr2.setPower(-pid);
|
||||
} else if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.spin1.setPosition(pid);
|
||||
robot.spin2.setPosition(-pid);
|
||||
robot.spin1.setPower(pid);
|
||||
robot.spin2.setPower(-pid);
|
||||
}
|
||||
|
||||
telemetry.addData("pos", pos);
|
||||
telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
|
||||
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
|
||||
telemetry.addData("target", target);
|
||||
telemetry.addData("Mode", mode);
|
||||
@@ -58,5 +71,4 @@ public class PIDServoTest extends LinearOpMode {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,65 +1,32 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
public static int mode = 1;
|
||||
|
||||
public static int mode = 0;
|
||||
public static double parameter = 0.0;
|
||||
// --- CONSTANTS YOU TUNE ---
|
||||
|
||||
public static double Velocity = 0.0;
|
||||
public static double P = 255.0;
|
||||
public static double I = 0.0;
|
||||
public static double D = 0.0;
|
||||
public static double F = 75;
|
||||
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
|
||||
public static double transferPower = 1.0;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double turretPos = 0.501;
|
||||
public static boolean shoot = false;
|
||||
|
||||
public static boolean intake = false;
|
||||
public static boolean turretTrack = true;
|
||||
Robot robot;
|
||||
Flywheel flywheel;
|
||||
Servos servo;
|
||||
MecanumDrive drive;
|
||||
Turret turret;
|
||||
double shootStamp = 0.0;
|
||||
boolean shootAll = false;
|
||||
|
||||
public double spinPow = 0.09;
|
||||
|
||||
public static boolean enableHoodAutoOpen = false;
|
||||
public double hoodAdjust = 0.0;
|
||||
public static double hoodAdjustFactor = 1.0;
|
||||
private int shooterTicker = 0;
|
||||
public static double spinSpeed = 0.02;
|
||||
Spindexer spindexer ;
|
||||
FlywheelV2 flywheel;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
@@ -67,136 +34,49 @@ public class ShooterTest extends LinearOpMode {
|
||||
robot = new Robot(hardwareMap);
|
||||
DcMotorEx leftShooter = robot.shooter1;
|
||||
DcMotorEx rightShooter = robot.shooter2;
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
servo = new Servos(hardwareMap);
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,0));
|
||||
flywheel = new FlywheelV2();
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
Turret.limelightUsed = true;
|
||||
|
||||
waitForStart();
|
||||
|
||||
robot.limelight.start();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
if (redAlliance){
|
||||
robot.limelight.pipelineSwitch(4);
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
}
|
||||
|
||||
//TURRET TRACKING
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -15;
|
||||
double goalY = 0;
|
||||
|
||||
double dx = robX - goalX; // delta x from robot to goal
|
||||
double dy = robY - goalY; // delta y from robot to goal
|
||||
Pose deltaPose = new Pose(dx, dy, robotHeading);
|
||||
|
||||
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
|
||||
|
||||
if (turretTrack){
|
||||
turret.trackGoal(deltaPose);
|
||||
} else if (turretPos != 0.501){
|
||||
turret.setTurret(turretPos);
|
||||
}
|
||||
|
||||
double voltage = robot.voltage.getVoltage();
|
||||
|
||||
if (mode == 0) {
|
||||
rightShooter.setPower(parameter);
|
||||
leftShooter.setPower(parameter);
|
||||
} else if (mode == 1) {
|
||||
flywheel.setPIDF(P, I, D, F / voltage);
|
||||
flywheel.manageFlywheel((int) Velocity);
|
||||
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
|
||||
rightShooter.setPower(powPID);
|
||||
leftShooter.setPower(powPID);
|
||||
TELE.addData("PIDPower", powPID);
|
||||
}
|
||||
|
||||
if (hoodPos != 0.501) {
|
||||
if (enableHoodAutoOpen) {
|
||||
robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodPos + hoodOffset);
|
||||
}
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
robot.intake.setPower(1);
|
||||
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
if (turretPos != 0.501) {
|
||||
robot.turr1.setPower(turretPos);
|
||||
robot.turr2.setPower(turretPos);
|
||||
}
|
||||
|
||||
|
||||
robot.transfer.setPower(transferPower);
|
||||
if (shoot) {
|
||||
shootStamp = getRuntime();
|
||||
shootAll = true;
|
||||
shoot = false;
|
||||
robot.transfer.setPower(transferPower);
|
||||
shooterTicker = 0;
|
||||
}
|
||||
if (shootAll) {
|
||||
|
||||
//intake = false;
|
||||
//reject = false;
|
||||
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
if (getRuntime() - shootStamp < 3.5) {
|
||||
|
||||
if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
|
||||
robot.spin1.setPosition(spinStartPos);
|
||||
robot.spin2.setPosition(1-spinStartPos);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
||||
double prevSpinPos = robot.spin1.getPosition();
|
||||
|
||||
if (prevSpinPos < 0.9){
|
||||
robot.spin1.setPosition(prevSpinPos + spinSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spinSpeed);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
shootAll = false;
|
||||
shooterTicker = 0;
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
}
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
spindexer.processIntake();
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
|
||||
TELE.addData("Velocity 1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity 2", flywheel.getVelo2());
|
||||
TELE.addData("Power", robot.shooter1.getPower());
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.addData("Position", robot.shooter1.getCurrentPosition());
|
||||
TELE.addData("Voltage", voltage);
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
@@ -1,126 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.*;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class SortedSpindexerTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
Drivetrain drivetrain;
|
||||
Shooter shooter;
|
||||
MultipleTelemetry TELE;
|
||||
Follower follower;
|
||||
SpindexerTransferIntake spindexerTransferIntake;
|
||||
Turret turret;
|
||||
Flywheel flywheel;
|
||||
VelocityCommander commander;
|
||||
|
||||
ParkTilter parkTilter;
|
||||
public static String order = "GPP";
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
Robot.resetInstance();
|
||||
|
||||
robot = Robot.getInstance(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
FtcDashboard.getInstance().getTelemetry(), telemetry
|
||||
);
|
||||
|
||||
commander = new VelocityCommander();
|
||||
drivetrain = new Drivetrain(robot, TELE);
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
|
||||
follower.setStartingPose(start);
|
||||
|
||||
flywheel = new Flywheel(robot);
|
||||
turret = new Turret(robot);
|
||||
|
||||
parkTilter = new ParkTilter(robot);
|
||||
|
||||
shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
|
||||
shooter.setState(Shooter.ShooterState.TRACK_GOAL);
|
||||
shooter.setRedAlliance(Color.redAlliance);
|
||||
spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
|
||||
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SORTED);
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
switch(order) {
|
||||
case "PPG":
|
||||
spindexerTransferIntake.setDesiredPattern(
|
||||
SpindexerTransferIntake.DesiredPattern.PPG
|
||||
);
|
||||
break;
|
||||
|
||||
case "PGP":
|
||||
spindexerTransferIntake.setDesiredPattern(
|
||||
SpindexerTransferIntake.DesiredPattern.PGP
|
||||
);
|
||||
break;
|
||||
|
||||
default:
|
||||
spindexerTransferIntake.setDesiredPattern(
|
||||
SpindexerTransferIntake.DesiredPattern.GPP
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
//Drivetrain
|
||||
drivetrain.drive(
|
||||
-gamepad1.right_stick_y,
|
||||
gamepad1.right_stick_x,
|
||||
gamepad1.left_stick_x,
|
||||
gamepad1.left_trigger
|
||||
);
|
||||
|
||||
follower.update();
|
||||
|
||||
|
||||
shooter.update(robot.voltage.getVoltage());
|
||||
spindexerTransferIntake.update();
|
||||
|
||||
SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
|
||||
|
||||
if(gamepad1.leftBumperWasPressed()) {
|
||||
spindexerTransferIntake.startSortedShoot();
|
||||
}
|
||||
|
||||
if (gamepad1.dpad_down){
|
||||
parkTilter.park();
|
||||
} else if (gamepad1.dpad_up) {
|
||||
parkTilter.unpark();
|
||||
}
|
||||
|
||||
TELE.addData("Distance From Goal", commander.getDistance());
|
||||
TELE.addData("Hood Position", commander.getHoodPredicted());
|
||||
TELE.addData("Transfer Power", robot.transfer.getPower());
|
||||
TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
|
||||
TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,113 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Light;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
import org.firstinspires.ftc.teamcode.utils.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Targeting;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
public class SortingTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
MecanumDrive drive;
|
||||
Servos servos;
|
||||
Spindexer spindexer;
|
||||
Flywheel flywheel;
|
||||
Turret turret;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
AutoActions autoActions;
|
||||
Light light;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
|
||||
servos = new Servos(hardwareMap);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
|
||||
light = Light.getInstance();
|
||||
|
||||
light.init(robot.light, spindexer, turret);
|
||||
|
||||
autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
|
||||
|
||||
int motif = 21;
|
||||
boolean intaking = true;
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()){
|
||||
Actions.runBlocking(
|
||||
autoActions.ShakeDrivetrain(
|
||||
100
|
||||
)
|
||||
);
|
||||
// spindexer.setIntakePower(1);
|
||||
// robot.transfer.setPower(1);
|
||||
//
|
||||
// if (gamepad1.crossWasPressed()){
|
||||
// motif = 21;
|
||||
// } else if (gamepad1.squareWasPressed()){
|
||||
// motif = 22;
|
||||
// } else if (gamepad1.triangleWasPressed()){
|
||||
// motif = 23;
|
||||
// }
|
||||
// flywheel.manageFlywheel(2500);
|
||||
//
|
||||
// if (gamepad1.leftBumperWasPressed()){
|
||||
// intaking = false;
|
||||
// Actions.runBlocking(
|
||||
// autoActions.prepareShootAll(
|
||||
// 3,
|
||||
// 5,
|
||||
// motif,
|
||||
// 0.501,
|
||||
// 0.501,
|
||||
// 0.501
|
||||
// )
|
||||
// );
|
||||
// } else if (gamepad1.rightBumperWasPressed()){
|
||||
// intaking = false;
|
||||
// Actions.runBlocking(
|
||||
// autoActions.shootAllAuto(
|
||||
// 3.5,
|
||||
// 0.014,
|
||||
// 0.501,
|
||||
// 0.501,
|
||||
// 0.501
|
||||
// )
|
||||
// );
|
||||
// intaking = true;
|
||||
// } else if (intaking){
|
||||
// spindexer.processIntake();
|
||||
// }
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,57 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
public class TurretTest extends LinearOpMode {
|
||||
public static boolean zeroTurr = false;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
Robot robot = new Robot(hardwareMap);
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
Turret turret = new Turret(robot, TELE, robot.limelight);
|
||||
|
||||
Follower follower;
|
||||
follower = Constants.createFollower(hardwareMap);
|
||||
Pose start = new Pose(72, 72, 0);
|
||||
follower.setStartingPose(start);
|
||||
follower.update();
|
||||
waitForStart();
|
||||
|
||||
Turret.limelightUsed = false;
|
||||
|
||||
while(opModeIsActive()){
|
||||
follower.update();
|
||||
turret.trackGoal(follower.getPose());
|
||||
|
||||
// TELE.addData("tpos", turret.getTurrPos());
|
||||
// TELE.addData("Limelight tx", turret.getBearing());
|
||||
// TELE.addData("Limelight ty", turret.getTy());
|
||||
// TELE.addData("Limelight X", turret.getLimelightX());
|
||||
// TELE.addData("Limelight Y", turret.getLimelightY());
|
||||
|
||||
// if(zeroTurr){
|
||||
// turret.zeroTurretEncoder();
|
||||
// }
|
||||
|
||||
// TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
public static double pow = 0.0;
|
||||
public static double vel = 0.0;
|
||||
public static double ecpr = 1024.0; // CPR of the encoder
|
||||
public static double hoodPos = 0.5;
|
||||
public static double turretPos = 0.9;
|
||||
|
||||
public static String flyMode = "VEL";
|
||||
|
||||
public static boolean AutoTrack = false;
|
||||
|
||||
double initPos = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
|
||||
double stamp1 = 0.0;
|
||||
|
||||
double initPos1 = 0.0;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
|
||||
public static boolean shoot = false;
|
||||
|
||||
public static int spindexPos = 1;
|
||||
|
||||
public static boolean intake = true;
|
||||
|
||||
public static int tolerance = 50;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
public static double distance = 50;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Shooter shooter = new Shooter(robot, TELE);
|
||||
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooter.setTelemetryOn(true);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
initPos = shooter.getECPRPosition();
|
||||
|
||||
int ticker = 0;
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
ticker++;
|
||||
|
||||
if (AutoTrack){
|
||||
hoodPos = hoodAnglePrediction(distance);
|
||||
vel = velPrediction(distance);
|
||||
}
|
||||
|
||||
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
shooter.setManualPower(pow);
|
||||
|
||||
robot.hood.setPosition(hoodPos);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
if (intake) {
|
||||
robot.transfer.setPower(0);
|
||||
robot.intake.setPower(0.75);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
} else {
|
||||
robot.transfer.setPower(.75 + (powPID/4));
|
||||
robot.intake.setPower(0);
|
||||
if (spindexPos == 1) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall1);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall1);
|
||||
} else if (spindexPos == 2) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall2);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall2);
|
||||
} else if (spindexPos == 3) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall3);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall3);
|
||||
}
|
||||
}
|
||||
|
||||
double penguin = 0;
|
||||
if (ticker % 8 ==0){
|
||||
penguin = shooter.getECPRPosition();
|
||||
stamp = getRuntime();
|
||||
velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
|
||||
initPos1 = penguin;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
|
||||
velo = velo1;
|
||||
|
||||
double feed = vel / maxVel; // Example: vel=2500 → feed=0.5
|
||||
|
||||
if (vel > 500){
|
||||
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
}
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo1;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
|
||||
if (vel - velo > 1000){
|
||||
powPID = 1;
|
||||
} else if (velo - vel > 1000){
|
||||
powPID = 0;
|
||||
}
|
||||
|
||||
shooter.setVelocity(powPID);
|
||||
|
||||
if (shoot) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
TELE.addData("Revolutions", shooter.getECPRPosition());
|
||||
TELE.addData("hoodPos", shooter.gethoodPosition());
|
||||
TELE.addData("turretPos", shooter.getTurretPosition());
|
||||
TELE.addData("Power Fly 1", robot.shooter1.getPower());
|
||||
TELE.addData("Power Fly 2", robot.shooter2.getPower());
|
||||
TELE.addData("powPID", shooter.getpowPID());
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double distance) {
|
||||
double L = 0.298317;
|
||||
double A = 1.02124;
|
||||
double k = 0.0157892;
|
||||
double n = 3.39375;
|
||||
|
||||
double dist = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
return L + A * Math.exp(-Math.pow(k * dist, n));
|
||||
}
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
double x = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
|
||||
|
||||
double A = -211149.992;
|
||||
double B = -1.19943;
|
||||
double C = 3720.15909;
|
||||
|
||||
return A * Math.pow(x, B) + C;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,103 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.pedropathing.follower.Follower;
|
||||
import com.pedropathing.geometry.BezierLine;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.pedropathing.paths.PathChain;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
public class Drivetrain {
|
||||
|
||||
Robot robot;
|
||||
boolean autoDrive = false;
|
||||
|
||||
Pose brakePos = new Pose(0, 0, 0);
|
||||
|
||||
// MecanumDrive drive;
|
||||
Follower follower;
|
||||
|
||||
private final TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
|
||||
private final ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
|
||||
|
||||
|
||||
public Drivetrain(Robot rob, Follower follower){
|
||||
|
||||
this.robot = rob;
|
||||
this.follower = follower;
|
||||
|
||||
}
|
||||
|
||||
private double prevY = 0;
|
||||
private double prevX = 0;
|
||||
private double prevRX = 0;
|
||||
private double prevBrake = 0;
|
||||
public void drive(double y, double x, double rx, double brake){
|
||||
int countConstant = 0;
|
||||
boolean brakeChange = false;
|
||||
if (Math.abs(prevY - y) > 0.05){
|
||||
prevY = y;
|
||||
countConstant++;
|
||||
}
|
||||
if (Math.abs(prevX - x) > 0.05){
|
||||
prevX = x;
|
||||
countConstant++;
|
||||
}
|
||||
if (Math.abs(prevRX - rx) > 0.05){
|
||||
prevRX = rx;
|
||||
countConstant++;
|
||||
}
|
||||
if (Math.abs(prevBrake - brake) > 0.05){
|
||||
prevBrake = brake;
|
||||
brakeChange = true;
|
||||
}
|
||||
|
||||
if (!autoDrive && countConstant > 0) {
|
||||
|
||||
x = x* 1.1; // Counteract imperfect strafing
|
||||
|
||||
|
||||
double denominator = Math.max(Math.abs(prevY) + Math.abs(prevX) + Math.abs(prevRX), 1);
|
||||
double frontLeftPower = (prevY + prevX + prevRX) / denominator;
|
||||
double backLeftPower = (prevY - prevX + prevRX) / denominator;
|
||||
double frontRightPower = (prevY - prevX - prevRX) / denominator;
|
||||
double backRightPower = (prevY + prevX - prevRX) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
}
|
||||
Pose currentPos = follower.getPose();
|
||||
brakePos = currentPos;
|
||||
|
||||
if (brake > 0.4 && robot.frontLeft.getZeroPowerBehavior() != DcMotor.ZeroPowerBehavior.BRAKE && !autoDrive) {
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
autoDrive = true;
|
||||
|
||||
} else if (brake > 0.4) {
|
||||
|
||||
PathChain traj2 = follower.pathBuilder()
|
||||
.addPath(new BezierLine(currentPos, brakePos))
|
||||
.setLinearHeadingInterpolation(currentPos.getHeading(), brakePos.getHeading())
|
||||
.build();
|
||||
|
||||
if (Math.abs(currentPos.getX() - brakePos.getX()) > 1 || Math.abs(currentPos.getY() - brakePos.getY()) > 1) {
|
||||
follower.followPath(traj2);
|
||||
}
|
||||
} else {
|
||||
autoDrive = false;
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,85 +1,93 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
public PIDFCoefficients shooterPIDF1, shooterPIDF2;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos = 0.0;
|
||||
double velo = 0.0;
|
||||
public double velo1 = 0.0;
|
||||
public double velo2 = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
public Flywheel (HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
shooterPIDF1 = new PIDFCoefficients
|
||||
(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
|
||||
shooterPIDF2 = new PIDFCoefficients
|
||||
(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
|
||||
public Flywheel () {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo () {
|
||||
return velo;
|
||||
}
|
||||
public double getVelo1 () {
|
||||
return velo1;
|
||||
}
|
||||
public double getVelo2 () {
|
||||
return velo2;
|
||||
}
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
// Set the robot PIDF for the next cycle.
|
||||
private double prevF = 0;
|
||||
public static double voltagePIDFDifference = 0.8;
|
||||
public void setPIDF(double p, double i, double d, double f) {
|
||||
shooterPIDF1.p = p;
|
||||
shooterPIDF1.i = i;
|
||||
shooterPIDF1.d = d;
|
||||
shooterPIDF1.f = f;
|
||||
shooterPIDF2.p = p;
|
||||
shooterPIDF2.i = i;
|
||||
shooterPIDF2.d = d;
|
||||
shooterPIDF2.f = f;
|
||||
if (Math.abs(prevF - f) > voltagePIDFDifference){
|
||||
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
|
||||
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
|
||||
prevF = f;
|
||||
}
|
||||
private double getTimeSeconds ()
|
||||
{
|
||||
return (double) System.currentTimeMillis()/1000.0;
|
||||
}
|
||||
|
||||
// Convert from RPM to Ticks per Second
|
||||
private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
|
||||
|
||||
// Convert from Ticks per Second to RPM
|
||||
private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
|
||||
public void manageFlywheel(double commandedVelocity) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
|
||||
targetVelocity = commandedVelocity;
|
||||
// Add code here to set PIDF based on desired RPM
|
||||
//robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
|
||||
//robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
|
||||
currentPos = shooter1CurPos / 2048;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
|
||||
velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
|
||||
}
|
||||
robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
|
||||
robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
|
||||
velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
|
||||
velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
|
||||
velo = Math.max(velo1, velo2);
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(commandedVelocity - velo) < 50);
|
||||
// Flywheel control code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500){
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class FlywheelV2 {
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
double initPos1 = 0.0;
|
||||
double initPos2 = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double currentPos1 = 0.0;
|
||||
double currentPos2 = 0.0;
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo1a = 0.0;
|
||||
double velo1b = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public FlywheelV2() {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
|
||||
ticker++;
|
||||
if (ticker % 2 == 0) {
|
||||
velo5 = velo4;
|
||||
velo4 = velo3;
|
||||
velo3 = velo2;
|
||||
velo2 = velo1;
|
||||
|
||||
currentPos1 = shooter1CurPos / 28;
|
||||
currentPos2 = shooter2CurPos / 28;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
|
||||
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
|
||||
initPos1 = currentPos1;
|
||||
initPos2 = currentPos2;
|
||||
stamp1 = stamp;
|
||||
|
||||
if (velo1a < 200){
|
||||
velo1 = velo1b;
|
||||
} else if (velo1b < 200){
|
||||
velo1 = velo1a;
|
||||
} else {
|
||||
velo1 = (velo1a + velo1b) / 2;
|
||||
}
|
||||
}
|
||||
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
|
||||
}
|
||||
|
||||
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds() {
|
||||
return (double) System.currentTimeMillis() / 1000.0;
|
||||
}
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
|
||||
targetVelocity = commandedVelocity;
|
||||
velo = getVelo(shooter1CurPos, shooter2CurPos);
|
||||
// Flywheel PID code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500) {
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update() {
|
||||
}
|
||||
}
|
||||
@@ -1,107 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums.LightState;
|
||||
|
||||
|
||||
public final class Light {
|
||||
|
||||
private static Light instance;
|
||||
public static double ballColorCycleTime = 1000; //in ms
|
||||
public static double restingTime = 125; //in ms
|
||||
|
||||
private Servo lightServo;
|
||||
private LightState state = LightState.DISABLED;
|
||||
|
||||
// References to other systems (NOT static)
|
||||
private Spindexer spindexer;
|
||||
private Turret turret;
|
||||
private double manualLightColor = Color.Light0;
|
||||
|
||||
private double lightColor = Color.Light0;
|
||||
private double previousLightColor = lightColor;
|
||||
|
||||
private Light() {
|
||||
}
|
||||
|
||||
public static synchronized Light getInstance() {
|
||||
if (instance == null) {
|
||||
instance = new Light();
|
||||
}
|
||||
return instance;
|
||||
}
|
||||
|
||||
// Call once in OpMode init()
|
||||
public void init(
|
||||
Servo servo,
|
||||
Spindexer spin,
|
||||
Turret turr
|
||||
) {
|
||||
this.lightServo = servo;
|
||||
this.spindexer = spin;
|
||||
this.turret = turr;
|
||||
}
|
||||
|
||||
public void setManualLightColor(double value) {
|
||||
this.manualLightColor = value;
|
||||
}
|
||||
|
||||
public void setState(LightState newState) {
|
||||
state = newState;
|
||||
}
|
||||
|
||||
public void update() {
|
||||
if (lightServo == null) return;
|
||||
|
||||
switch (state) {
|
||||
|
||||
case BALL_COUNT:
|
||||
lightColor = spindexer.ballCounterLight();
|
||||
break;
|
||||
|
||||
case BALL_COLOR:
|
||||
double currentTime = System.currentTimeMillis();
|
||||
if ((currentTime % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
|
||||
lightColor = spindexer.getRearCenterLight();
|
||||
} else if ((currentTime % ballColorCycleTime) < (ballColorCycleTime / 3)) {
|
||||
lightColor = 0;
|
||||
} else if ((currentTime % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
|
||||
lightColor = spindexer.getDriverLight();
|
||||
|
||||
} else if ((currentTime % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
|
||||
lightColor = 0;
|
||||
} else if ((currentTime % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
|
||||
lightColor = spindexer.getPassengerLight();
|
||||
|
||||
} else {
|
||||
lightColor = 0;
|
||||
}
|
||||
break;
|
||||
|
||||
case GOAL_LOCK:
|
||||
lightColor = turret.getLightColor();
|
||||
break;
|
||||
|
||||
case MANUAL:
|
||||
lightColor = manualLightColor;
|
||||
break;
|
||||
|
||||
case DISABLED:
|
||||
break;
|
||||
|
||||
case OFF:
|
||||
lightColor = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
if (lightColor != previousLightColor) {
|
||||
lightServo.setPosition(lightColor);
|
||||
}
|
||||
|
||||
previousLightColor = lightColor;
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,66 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.robotcore.util.ElapsedTime;
|
||||
|
||||
public class MeasuringLoopTimes {
|
||||
private ElapsedTime elapsedtime;
|
||||
private double minLoopTime = 999999999999.0;
|
||||
|
||||
private double maxLoopTime = 0.0;
|
||||
double mainLoopTime = 0.0;
|
||||
|
||||
private double MeasurementStart = 0.0;
|
||||
double currentTime = 0.0;
|
||||
|
||||
private double avgLoopTime = 0.0;
|
||||
private int avgLoopTimeTicker = 0;
|
||||
private double avgLoopTimeSum = 0;
|
||||
|
||||
private double getTimeSeconds ()
|
||||
{
|
||||
return (double) System.currentTimeMillis()/1000.0;
|
||||
}
|
||||
|
||||
public void init() {
|
||||
elapsedtime = new ElapsedTime();
|
||||
elapsedtime.reset();
|
||||
|
||||
MeasurementStart = getTimeSeconds();
|
||||
}
|
||||
|
||||
|
||||
public double getAvgLoopTime() {
|
||||
return avgLoopTime;
|
||||
}
|
||||
|
||||
public double getMaxLoopTimeOneMin() {
|
||||
return maxLoopTime;
|
||||
}
|
||||
|
||||
public double getMinLoopTimeOneMin() {
|
||||
return minLoopTime;
|
||||
}
|
||||
|
||||
public void loop() {
|
||||
currentTime = getTimeSeconds();
|
||||
if ((MeasurementStart + 60) < currentTime)
|
||||
{
|
||||
minLoopTime = 9999999.0;
|
||||
maxLoopTime = 0.0;
|
||||
MeasurementStart = currentTime;
|
||||
|
||||
avgLoopTimeSum = 0.0;
|
||||
avgLoopTimeTicker = 0;
|
||||
}
|
||||
|
||||
mainLoopTime = elapsedtime.milliseconds();
|
||||
elapsedtime.reset();
|
||||
|
||||
avgLoopTimeSum += mainLoopTime;
|
||||
avgLoopTimeTicker++;
|
||||
avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
|
||||
minLoopTime = Math.min(minLoopTime,mainLoopTime);
|
||||
maxLoopTime = Math.max(maxLoopTime,mainLoopTime);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -8,38 +8,52 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PositionalServoProgrammer extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
|
||||
public static double spindexPos = 0.501;
|
||||
public static double spindexPow = 0.0;
|
||||
public static double spinHoldPow = 0.0;
|
||||
public static double turretPos = 0.501;
|
||||
public static double turretPow = 0.0;
|
||||
public static double turrHoldPow = 0.0;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double light = 0.501;
|
||||
|
||||
Turret turret;
|
||||
public static int mode = 0; //0 for positional, 1 for power
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos(hardwareMap);
|
||||
|
||||
turret = new Turret(robot, TELE, robot.limelight );
|
||||
servo = new Servos();
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (spindexPos != 0.501){
|
||||
robot.spin1.setPosition(spindexPos);
|
||||
robot.spin2.setPosition(1-spindexPos);
|
||||
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage()) && mode == 0){
|
||||
double pos = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
|
||||
robot.spin1.setPower(pos);
|
||||
robot.spin2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.spin1.setPower(spinHoldPow);
|
||||
robot.spin2.setPower(spinHoldPow);
|
||||
} else {
|
||||
robot.spin1.setPower(spindexPow);
|
||||
robot.spin2.setPower(-spindexPow);
|
||||
}
|
||||
if (turretPos != 0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1-turretPos);
|
||||
if (turretPos != 0.501 && !servo.turretEqual(turretPos, robot.turr1Pos.getCurrentPosition())){
|
||||
double pos = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
|
||||
robot.turr1.setPower(pos);
|
||||
robot.turr2.setPower(-pos);
|
||||
} else if (mode == 0){
|
||||
robot.turr1.setPower(turrHoldPow);
|
||||
robot.turr2.setPower(turrHoldPow);
|
||||
} else {
|
||||
robot.turr1.setPower(turretPow);
|
||||
robot.turr2.setPower(-turretPow);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
@@ -47,17 +61,25 @@ public class PositionalServoProgrammer extends LinearOpMode {
|
||||
if (hoodPos != 0.501){
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
if (light !=0.501){
|
||||
robot.light.setPosition(light);
|
||||
}
|
||||
// To check configuration of spindexer:
|
||||
// Set "mode" to 1 and spindexPow to 0.1
|
||||
// If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
|
||||
// Do the previous test again to confirm
|
||||
// Set "mode" to 0 but keep spindexPos at 0.501
|
||||
// Manually turn the spindexer until "spindexer pos" is set close to 0
|
||||
// Check each spindexer voltage:
|
||||
// If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
|
||||
// If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
|
||||
//TODO: @KeshavAnandCode do the above please
|
||||
|
||||
TELE.addData("spindexer pos", servo.getSpinPos());
|
||||
TELE.addData("turret pos", robot.turr1.getPosition());
|
||||
TELE.addData("spindexer pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
|
||||
TELE.addData("turret pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
|
||||
TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
|
||||
TELE.addData("hood pos", robot.hood.getPosition());
|
||||
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("tpos ", turret.getTurrPos() );
|
||||
TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
|
||||
TELE.addData("spindexer pow", robot.spin1.getPower());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,17 +1,14 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
import com.qualcomm.robotcore.hardware.TouchSensor;
|
||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
@@ -20,43 +17,23 @@ public class Robot {
|
||||
|
||||
//Initialize Public Components
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
public static boolean usingCamera = false;
|
||||
public DcMotorEx frontLeft;
|
||||
public DcMotorEx frontRight;
|
||||
public DcMotorEx backLeft;
|
||||
public DcMotorEx backRight;
|
||||
public DcMotorEx intake;
|
||||
public DcMotorEx transfer;
|
||||
public PIDFCoefficients shooterPIDF;
|
||||
public static double shooterPIDF_P = 255;
|
||||
public static double shooterPIDF_I = 0.0;
|
||||
public static double shooterPIDF_D = 0.0;
|
||||
public static double shooterPIDF_F = 75;
|
||||
// public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
|
||||
public DcMotorEx shooter1;
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
public Servo transferServo;
|
||||
public Servo spindexBlocker;
|
||||
public Servo rapidFireBlocker;
|
||||
public Servo tilt1;
|
||||
public Servo tilt2;
|
||||
public Servo turr1;
|
||||
public Servo turr2;
|
||||
public Servo spin1;
|
||||
public Servo spin2;
|
||||
public TouchSensor beam1;
|
||||
public TouchSensor beam2;
|
||||
public TouchSensor beam3;
|
||||
public RevColorSensorV3 revSensor;
|
||||
|
||||
public VoltageSensor voltage;
|
||||
|
||||
// Below is disregarded
|
||||
public CRServo turr1;
|
||||
public CRServo turr2;
|
||||
public CRServo spin1;
|
||||
public CRServo spin2;
|
||||
public AnalogInput spin1Pos;
|
||||
public AnalogInput spin2Pos;
|
||||
public AnalogInput turr1Pos;
|
||||
public DcMotorEx turr1Pos;
|
||||
public AnalogInput transferServoPos;
|
||||
public AprilTagProcessor aprilTagProcessor;
|
||||
public WebcamName webcam;
|
||||
@@ -64,11 +41,15 @@ public class Robot {
|
||||
public RevColorSensorV3 color2;
|
||||
public RevColorSensorV3 color3;
|
||||
public Limelight3A limelight;
|
||||
public Servo light;
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
|
||||
public static boolean usingCamera = true;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
//TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
|
||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
@@ -82,213 +63,55 @@ public class Robot {
|
||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
||||
intake.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
||||
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
||||
|
||||
//TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
shooter1.setVelocity(0);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
shooter2.setVelocity(0);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(Servo.class, "turr1");
|
||||
turr1 = hardwareMap.get(CRServo.class, "t1");
|
||||
|
||||
turr2 = hardwareMap.get(Servo.class, "turr2");
|
||||
turr2 = hardwareMap.get(CRServo.class, "t2");
|
||||
|
||||
spin1 = hardwareMap.get(Servo.class, "spin1");
|
||||
turr1Pos = intake; // Encoder of turret plugged in intake port
|
||||
|
||||
spin2 = hardwareMap.get(Servo.class, "spin2");
|
||||
//TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
|
||||
spin1 = hardwareMap.get(CRServo.class, "spin1");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(CRServo.class, "spin2");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
||||
|
||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
spindexBlocker = hardwareMap.get(Servo.class, "spinB");
|
||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
|
||||
rapidFireBlocker = hardwareMap.get(Servo.class, "rapidB");
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
tilt1 = hardwareMap.get(Servo.class, "tilt1");
|
||||
tilt2 = hardwareMap.get(Servo.class, "tilt2");
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
// beam1 = hardwareMap.get(TouchSensor.class, "beam1");
|
||||
// beam2 = hardwareMap.get(TouchSensor.class, "beam2");
|
||||
// beam3 = hardwareMap.get(TouchSensor.class, "beam3");
|
||||
|
||||
revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
|
||||
|
||||
// Below is disregarded
|
||||
|
||||
// turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
|
||||
//
|
||||
// spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
//
|
||||
// spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
//
|
||||
// transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
//
|
||||
// color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
//
|
||||
// color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
//
|
||||
// color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight) {
|
||||
if (usingLimelight){
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
} else if (usingCamera) {
|
||||
} else if (usingCamera){
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
}
|
||||
|
||||
// light = hardwareMap.get(Servo.class, "light");
|
||||
|
||||
voltage = hardwareMap.voltageSensor.iterator().next();
|
||||
}
|
||||
|
||||
// Voids below are used to minimize hardware calls to minimize loop times
|
||||
|
||||
// Used to cut off digits that are negligible
|
||||
private final int maxDigits = 5;
|
||||
private final int roundingFactor = (int) Math.pow(10, maxDigits);
|
||||
|
||||
private double prevFrontLeftPower = -10.501;
|
||||
public void setFrontLeftPower(double pow){
|
||||
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevFrontLeftPower){
|
||||
frontLeft.setPower(pow);
|
||||
}
|
||||
prevFrontLeftPower = pow;
|
||||
}
|
||||
|
||||
private double prevFrontRightPower = -10.501;
|
||||
public void setFrontRightPower(double pow){
|
||||
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevFrontRightPower){
|
||||
frontRight.setPower(pow);
|
||||
}
|
||||
prevFrontRightPower = pow;
|
||||
}
|
||||
|
||||
private double prevBackLeftPower = -10.501;
|
||||
public void setBackLeftPower(double pow){
|
||||
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevBackLeftPower){
|
||||
backLeft.setPower(pow);
|
||||
}
|
||||
prevBackLeftPower = pow;
|
||||
}
|
||||
|
||||
private double prevBackRightPower = -10.501;
|
||||
public void setBackRightPower(double pow){
|
||||
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevBackRightPower){
|
||||
backRight.setPower(pow);
|
||||
}
|
||||
prevBackRightPower = pow;
|
||||
}
|
||||
|
||||
private double prevIntakePower = -10.501;
|
||||
public void setIntakePower(double pow){
|
||||
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevIntakePower){
|
||||
intake.setPower(pow);
|
||||
}
|
||||
prevIntakePower = pow;
|
||||
}
|
||||
|
||||
private double prevTransferPower = -10.501;
|
||||
public void setTransferPower(double pow){
|
||||
pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevTransferPower){
|
||||
transfer.setPower(pow);
|
||||
}
|
||||
prevTransferPower = pow;
|
||||
}
|
||||
|
||||
// shooter motors are done in separate class
|
||||
|
||||
private double prevHoodPos = -10.501;
|
||||
public void setHoodPos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevHoodPos){
|
||||
hood.setPosition(pos);
|
||||
}
|
||||
prevHoodPos = pos;
|
||||
}
|
||||
|
||||
private double prevTransferServoPos = -10.501;
|
||||
public void setTransferServoPos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTransferServoPos){
|
||||
transferServo.setPosition(pos);
|
||||
}
|
||||
prevTransferServoPos = pos;
|
||||
}
|
||||
|
||||
private double prevSpinPos = -10.501;
|
||||
public void setSpinPos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevSpinPos){
|
||||
spin1.setPosition(pos);
|
||||
spin2.setPosition(pos);
|
||||
}
|
||||
prevSpinPos = pos;
|
||||
}
|
||||
|
||||
private double prevTurretPos = -10.501;
|
||||
public void setTurretPos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTurretPos){
|
||||
turr1.setPosition(pos);
|
||||
turr2.setPosition(pos);
|
||||
}
|
||||
prevTurretPos = pos;
|
||||
}
|
||||
|
||||
private double prevTilt1Pos = -10.501;
|
||||
public void setTilt1Pos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTilt1Pos){
|
||||
tilt1.setPosition(pos);
|
||||
}
|
||||
prevTilt1Pos = pos;
|
||||
}
|
||||
|
||||
private double prevTilt2Pos = -10.501;
|
||||
public void setTilt2Pos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTilt2Pos){
|
||||
tilt2.setPosition(pos);
|
||||
}
|
||||
prevTilt2Pos = pos;
|
||||
}
|
||||
|
||||
private double prevSpindexBlockerPos = -10.501;
|
||||
public void setSpindexBlockerPos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevSpindexBlockerPos){
|
||||
spindexBlocker.setPosition(pos);
|
||||
}
|
||||
prevSpindexBlockerPos = pos;
|
||||
}
|
||||
|
||||
private double prevRapidFireBlockerPos = -10.501;
|
||||
public void setRapidFireBlockerPos(double pos){
|
||||
pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevRapidFireBlockerPos){
|
||||
rapidFireBlocker.setPosition(pos);
|
||||
}
|
||||
prevRapidFireBlockerPos = pos;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,83 +1,59 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
@Config
|
||||
public class Servos {
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
|
||||
public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
|
||||
public static double spin_scalar = 1.112;
|
||||
public static double spin_restPos = 0.155;
|
||||
Robot robot;
|
||||
|
||||
PIDFController spinPID;
|
||||
|
||||
PIDFController turretPID;
|
||||
|
||||
private double prevSpinPos = 0.0;
|
||||
private boolean firstSpinPos = true;
|
||||
//PID constants
|
||||
// TODO: get PIDF constants
|
||||
public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
|
||||
public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
|
||||
|
||||
private double prevTransferPos = 0.0;
|
||||
private boolean firstTransferPos = true;
|
||||
public static double spin_scalar = 1.0086;
|
||||
public static double spin_restPos = 0.0;
|
||||
public static double turret_scalar = 1.009;
|
||||
public static double turret_restPos = 0.0;
|
||||
|
||||
private double prevHoodPos = 0.0;
|
||||
private boolean firstHoodPos = true;
|
||||
|
||||
public Servos(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
public Servos() {
|
||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
||||
|
||||
turretPID.setTolerance(0.001);
|
||||
}
|
||||
|
||||
// In the code below, encoder = robot.servo.getVoltage()
|
||||
// TODO: set the restPos and scalar
|
||||
public double getSpinPos() {
|
||||
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
|
||||
|
||||
public double getSpinPos(double voltage) {
|
||||
return spin_scalar * ((voltage - spin_restPos) / 3.3);
|
||||
}
|
||||
//TODO: PID warp so 0 and 1 are usable positions
|
||||
public double setSpinPos(double pos, double voltage) {
|
||||
spinPID.setPIDF(spinP, spinI, spinD, spinF);
|
||||
|
||||
return spinPID.calculate(this.getSpinPos(voltage), pos);
|
||||
}
|
||||
|
||||
public double getSpinCmdPos() {
|
||||
return prevSpinPos;
|
||||
public boolean spinEqual(double pos, double voltage) {
|
||||
return Math.abs(pos - this.getSpinPos(voltage)) < 0.02;
|
||||
}
|
||||
|
||||
public static boolean servoPosEqual(double pos1, double pos2) {
|
||||
return (Math.abs(pos1 - pos2) < 0.005);
|
||||
public double getTurrPos(double apos) {
|
||||
return apos;
|
||||
}
|
||||
|
||||
public void setTransferPos(double pos) {
|
||||
if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
|
||||
robot.transferServo.setPosition(pos);
|
||||
firstTransferPos = false;
|
||||
}
|
||||
public double setTurrPos(double pos, double apos) {
|
||||
turretPID.setPIDF(turrP, turrI, turrD, turrF);
|
||||
|
||||
prevTransferPos = pos;
|
||||
return spinPID.calculate(this.getTurrPos(apos), pos);
|
||||
}
|
||||
|
||||
public double setSpinPos(double pos) {
|
||||
if (firstSpinPos || !servoPosEqual(pos, prevSpinPos)) {
|
||||
robot.spin1.setPosition(pos);
|
||||
robot.spin2.setPosition(1-pos);
|
||||
firstSpinPos = false;
|
||||
}
|
||||
|
||||
prevSpinPos = pos;
|
||||
return pos;
|
||||
}
|
||||
|
||||
public void setHoodPos(double pos){
|
||||
if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
|
||||
robot.hood.setPosition(pos + hoodOffset);
|
||||
firstHoodPos = false;
|
||||
}
|
||||
|
||||
prevHoodPos = pos;
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos) {
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.05;
|
||||
public boolean turretEqual(double pos, double apos) {
|
||||
return Math.abs(pos - this.getTurrPos(apos)) < 0.01;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,699 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
|
||||
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
|
||||
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.utils.Servos.spinD;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
|
||||
import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.constants.StateEnums;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class Spindexer {
|
||||
|
||||
Robot robot;
|
||||
Servos servos;
|
||||
Flywheel flywheel;
|
||||
MecanumDrive drive;
|
||||
double lastKnownSpinPos = 0.0;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
|
||||
double spinCurrentPos = 0.0;
|
||||
|
||||
public int commandedIntakePosition = 0;
|
||||
|
||||
public double distanceRearCenter = 0.0;
|
||||
public double distanceFrontDriver = 0.0;
|
||||
public double distanceFrontPassenger = 0.0;
|
||||
|
||||
public double spindexerWiggle = 0.03;
|
||||
|
||||
public double spindexerOuttakeWiggle = 0.01;
|
||||
private double prevPos = 0.0;
|
||||
public double spindexerPosOffset = 0.00;
|
||||
public static int shootWaitMax = 4;
|
||||
public static boolean whileShooting = false;
|
||||
public static int waitFirstBallTicks = 4;
|
||||
private int shootTicks = 0;
|
||||
public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
|
||||
// For Use
|
||||
enum RotatedBallPositionNames {
|
||||
REARCENTER,
|
||||
FRONTDRIVER,
|
||||
FRONTPASSENGER
|
||||
}
|
||||
// Array of commandedIntakePositions with contents
|
||||
// {RearCenter, FrontDriver, FrontPassenger}
|
||||
static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
|
||||
class spindexerBallRoatation {
|
||||
int rearCenter = 0; // aka commanded Position
|
||||
int frontDriver = 0;
|
||||
int frontPassenger = 0;
|
||||
}
|
||||
|
||||
enum IntakeState {
|
||||
UNKNOWN_START,
|
||||
UNKNOWN_MOVE,
|
||||
UNKNOWN_DETECT,
|
||||
INTAKE,
|
||||
FINDNEXT,
|
||||
MOVING,
|
||||
FULL,
|
||||
SHOOTNEXT,
|
||||
SHOOTMOVING,
|
||||
SHOOTWAIT,
|
||||
SHOOT_ALL_PREP,
|
||||
SHOOT_ALL_READY,
|
||||
SHOOT_PREP_CONTINOUS,
|
||||
SHOOT_CONTINOUS
|
||||
}
|
||||
|
||||
int shootWaitCount = 0;
|
||||
|
||||
public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
|
||||
public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
|
||||
public int unknownColorDetect = 0;
|
||||
public enum BallColor {
|
||||
UNKNOWN,
|
||||
GREEN,
|
||||
PURPLE
|
||||
}
|
||||
|
||||
class BallPosition {
|
||||
boolean isEmpty = true;
|
||||
int foundEmpty = 0;
|
||||
BallColor ballColor = BallColor.UNKNOWN;
|
||||
}
|
||||
|
||||
BallPosition[] ballPositions = new BallPosition[3];
|
||||
|
||||
public boolean init () {
|
||||
return true;
|
||||
}
|
||||
|
||||
public Spindexer(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
servos = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
//TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
lastKnownSpinPos = servos.getSpinPos();
|
||||
|
||||
ballPositions[0] = new BallPosition();
|
||||
ballPositions[1] = new BallPosition();
|
||||
ballPositions[2] = new BallPosition();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
double[] outakePositions =
|
||||
{spindexer_outtakeBall1+spindexerPosOffset,
|
||||
spindexer_outtakeBall2+spindexerPosOffset,
|
||||
spindexer_outtakeBall3+spindexerPosOffset};
|
||||
|
||||
double[] intakePositions =
|
||||
{spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
|
||||
|
||||
public int counter = 0;
|
||||
|
||||
// private double getTimeSeconds ()
|
||||
// {
|
||||
// return (double) System.currentTimeMillis()/1000.0;
|
||||
// }
|
||||
|
||||
// public double getPos() {
|
||||
// robot.spin1Pos.getVoltage();
|
||||
// robot.spin1Pos.getMaxVoltage();
|
||||
// return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
|
||||
// }
|
||||
|
||||
// public void manageSpindexer() {
|
||||
//
|
||||
// }
|
||||
|
||||
public void resetBallPosition (int pos) {
|
||||
ballPositions[pos].isEmpty = true;
|
||||
ballPositions[pos].foundEmpty = 0;
|
||||
ballPositions[pos].ballColor = BallColor.UNKNOWN;
|
||||
distanceRearCenter = 61;
|
||||
distanceFrontDriver = 61;
|
||||
distanceFrontPassenger = 61;
|
||||
}
|
||||
|
||||
public void resetSpindexer () {
|
||||
for (int i = 0; i < 3; i++) {
|
||||
resetBallPosition(i);
|
||||
}
|
||||
currentIntakeState = IntakeState.UNKNOWN_START;
|
||||
}
|
||||
|
||||
// Detects if a ball is found and what color.
|
||||
// Returns true is there was a new ball found in Position 1
|
||||
// FIXIT: Reduce number of times that we read the color sensors for loop times.
|
||||
public static boolean teleop = false;
|
||||
public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
|
||||
|
||||
boolean newPos1Detection = false;
|
||||
int spindexerBallPos = 0;
|
||||
double rearDistance;
|
||||
double frontDriverDistance;
|
||||
double frontPassengerDistance;
|
||||
if (teleop){
|
||||
rearDistance = 48;
|
||||
frontDriverDistance = 50;
|
||||
frontPassengerDistance = 29;
|
||||
detectFrontColor = false;
|
||||
detectRearColor = false;
|
||||
} else {
|
||||
rearDistance = 48;
|
||||
frontDriverDistance = 56;
|
||||
frontPassengerDistance = 29;
|
||||
}
|
||||
|
||||
// Read Distances
|
||||
double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
|
||||
distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
|
||||
double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
|
||||
distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
|
||||
double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
|
||||
distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
|
||||
|
||||
// Position 1
|
||||
if (distanceRearCenter < rearDistance) {
|
||||
|
||||
// Mark Ball Found
|
||||
newPos1Detection = true;
|
||||
|
||||
if (detectRearColor && !teleop) {
|
||||
// Detect which color
|
||||
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
|
||||
|
||||
double gP = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
|
||||
|
||||
// FIXIT - Add filtering to improve accuracy.
|
||||
if (gP >= 0.38) {
|
||||
ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE; // purple
|
||||
}
|
||||
}
|
||||
}
|
||||
// Position 2
|
||||
// Find which ball position this is in the spindexer
|
||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
|
||||
if (distanceFrontDriver < frontDriverDistance) {
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor && !teleop) {
|
||||
NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
|
||||
|
||||
double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE; // purple
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (!ballPositions[spindexerBallPos].isEmpty) {
|
||||
if (ballPositions[spindexerBallPos].foundEmpty > 3) {
|
||||
resetBallPosition(spindexerBallPos);
|
||||
}
|
||||
ballPositions[spindexerBallPos].foundEmpty++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Position 3
|
||||
spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
|
||||
if (distanceFrontPassenger < frontPassengerDistance) {
|
||||
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor && !teleop) {
|
||||
NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
|
||||
|
||||
double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
|
||||
|
||||
if (gP >= 0.42) {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.GREEN; // green
|
||||
} else {
|
||||
ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE; // purple
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (!ballPositions[spindexerBallPos].isEmpty) {
|
||||
if (ballPositions[spindexerBallPos].foundEmpty > 3) {
|
||||
resetBallPosition(spindexerBallPos);
|
||||
}
|
||||
ballPositions[spindexerBallPos].foundEmpty++;
|
||||
}
|
||||
}
|
||||
|
||||
// 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 newPos1Detection;
|
||||
}
|
||||
// Has code to unjam spindexer
|
||||
private void moveSpindexerToPos(double pos) {
|
||||
servos.setSpinPos(pos);
|
||||
// double currentPos = servos.getSpinPos();
|
||||
// if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
|
||||
// if (currentPos > pos){
|
||||
// robot.spin1.setPosition(servos.getSpinPos() + 0.05);
|
||||
// robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
|
||||
// } else {
|
||||
// robot.spin1.setPosition(servos.getSpinPos() - 0.05);
|
||||
// robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
|
||||
// }
|
||||
// }
|
||||
// prevPos = pos;
|
||||
}
|
||||
|
||||
public void stopSpindexer() {
|
||||
|
||||
}
|
||||
|
||||
public double getRearCenterLight() {
|
||||
BallColor color = GetRearCenterColor();
|
||||
if (Objects.equals(color, BallColor.GREEN)) {
|
||||
return LightGreen;
|
||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
||||
return LightPurple;
|
||||
} else {
|
||||
return LightOrange;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public double getDriverLight() {
|
||||
BallColor color = GetFrontDriverColor();
|
||||
if (Objects.equals(color, BallColor.GREEN)) {
|
||||
return LightGreen;
|
||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
||||
return LightPurple;
|
||||
} else {
|
||||
return LightOrange;
|
||||
}
|
||||
}
|
||||
|
||||
public double getPassengerLight() {
|
||||
BallColor color = GetFrontPassengerColor();
|
||||
if (Objects.equals(color, BallColor.GREEN)) {
|
||||
return LightGreen;
|
||||
} else if (Objects.equals(color, BallColor.PURPLE)) {
|
||||
return LightPurple;
|
||||
} else {
|
||||
return LightOrange;
|
||||
}
|
||||
}
|
||||
public double ballCounterLight() {
|
||||
int counter = 0;
|
||||
if (!ballPositions[0].isEmpty) {
|
||||
counter++;
|
||||
}
|
||||
if (!ballPositions[1].isEmpty) {
|
||||
counter++;
|
||||
}
|
||||
if (!ballPositions[2].isEmpty) {
|
||||
counter++;
|
||||
}
|
||||
|
||||
if (counter == 3) {
|
||||
return Light3;
|
||||
} else if (counter == 2) {
|
||||
return Light2;
|
||||
} else if (counter == 1) {
|
||||
return Light1;
|
||||
} else {
|
||||
return Light0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public boolean slotIsEmpty(int slot){
|
||||
return !ballPositions[slot].isEmpty;
|
||||
}
|
||||
|
||||
public boolean isFull () {
|
||||
return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
|
||||
}
|
||||
|
||||
private double intakeTicker = 0;
|
||||
public boolean processIntake() {
|
||||
|
||||
switch (currentIntakeState) {
|
||||
case UNKNOWN_START:
|
||||
// For now just set position ONE if UNKNOWN
|
||||
commandedIntakePosition = 0;
|
||||
servos.setSpinPos(intakePositions[0]);
|
||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
case UNKNOWN_MOVE:
|
||||
// Stopping when we get to the new position
|
||||
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
|
||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
|
||||
stopSpindexer();
|
||||
unknownColorDetect = 0;
|
||||
} else {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
||||
}
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
case UNKNOWN_DETECT:
|
||||
if (unknownColorDetect >5) {
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
} else {
|
||||
//detectBalls(true, true);
|
||||
unknownColorDetect++;
|
||||
}
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
case INTAKE:
|
||||
// Ready for intake and Detecting a New Ball
|
||||
if (detectBalls(true, false)) {
|
||||
ballPositions[commandedIntakePosition].isEmpty = false;
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
} else {
|
||||
// Maintain Position
|
||||
spindexerWiggle *= -1.0;
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
||||
}
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
case FINDNEXT:
|
||||
// Find Next Open Position and start movement
|
||||
double currentSpindexerPos = servos.getSpinPos();
|
||||
double commandedtravelDistance = 2.0;
|
||||
double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
|
||||
//if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
|
||||
if (ballPositions[0].isEmpty) {
|
||||
// Position 1
|
||||
commandedIntakePosition = 0;
|
||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
||||
}
|
||||
//proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
|
||||
//if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
|
||||
else if (ballPositions[1].isEmpty) {
|
||||
// Position 2
|
||||
commandedIntakePosition = 1;
|
||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
||||
}
|
||||
//proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
|
||||
else if (ballPositions[2].isEmpty) {
|
||||
// Position 3
|
||||
commandedIntakePosition = 2;
|
||||
currentIntakeState = Spindexer.IntakeState.MOVING;
|
||||
}
|
||||
if (currentIntakeState != Spindexer.IntakeState.MOVING) {
|
||||
// Full
|
||||
//commandedIntakePosition = bestFitMotif();
|
||||
currentIntakeState = Spindexer.IntakeState.FULL;
|
||||
}
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
case MOVING:
|
||||
// Stopping when we get to the new position
|
||||
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
|
||||
//if (intakeTicker > 1){
|
||||
currentIntakeState = Spindexer.IntakeState.INTAKE;
|
||||
stopSpindexer();
|
||||
intakeTicker = 0;
|
||||
//} else {
|
||||
// intakeTicker++;
|
||||
//}
|
||||
//detectBalls(false, false);
|
||||
} else {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]);
|
||||
}
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
|
||||
case FULL:
|
||||
// Double Check Colors
|
||||
detectBalls(false, false); // Minimize hardware calls
|
||||
if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
|
||||
// Error handling found an empty spot, get it ready for a ball
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
}
|
||||
// Maintain Position
|
||||
spindexerWiggle *= -1.0;
|
||||
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
||||
servos.setTransferPos(transferServo_out);
|
||||
break;
|
||||
|
||||
case SHOOT_ALL_PREP:
|
||||
// We get here with function call to prepareToShootMotif
|
||||
// Stopping when we get to the new position
|
||||
commandedIntakePosition = 0;
|
||||
if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOT_ALL_READY: // Not used
|
||||
// Double Check Colors
|
||||
//detectBalls(false, false); // Minimize hardware calls
|
||||
if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
|
||||
// All ball shot move to intake state
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
||||
}
|
||||
// Maintain Position
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
||||
break;
|
||||
|
||||
case SHOOTNEXT:
|
||||
// Find Next Open Position and start movement
|
||||
if (!ballPositions[0].isEmpty) {
|
||||
// Position 1
|
||||
commandedIntakePosition = 0;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
||||
} else if (!ballPositions[1].isEmpty) {
|
||||
// Position 2
|
||||
commandedIntakePosition = 1;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
||||
} else if (!ballPositions[2].isEmpty) {
|
||||
// Position 3
|
||||
commandedIntakePosition = 2;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
|
||||
} else {
|
||||
// Empty return to intake state
|
||||
currentIntakeState = IntakeState.FINDNEXT;
|
||||
}
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
||||
break;
|
||||
|
||||
case SHOOTMOVING:
|
||||
// Stopping when we get to the new position
|
||||
if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
|
||||
} else {
|
||||
// Keep moving the spindexer
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]);
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOTWAIT:
|
||||
// Stopping when we get to the new position
|
||||
if (prevIntakeState != currentIntakeState) {
|
||||
if (commandedIntakePosition==2) {
|
||||
shootWaitMax = 5;
|
||||
}
|
||||
shootWaitCount = 0;
|
||||
} else {
|
||||
shootWaitCount++;
|
||||
}
|
||||
// wait 10 cycles
|
||||
if (shootWaitCount > shootWaitMax) {
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
||||
ballPositions[commandedIntakePosition].isEmpty = true;
|
||||
shootWaitCount = 0;
|
||||
//stopSpindexer();
|
||||
//detectBalls(true, false);
|
||||
}
|
||||
// Keep moving the spindexer
|
||||
spindexerOuttakeWiggle *= -1.0;
|
||||
servos.setSpinPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
|
||||
break;
|
||||
|
||||
case SHOOT_PREP_CONTINOUS:
|
||||
if (servos.spinEqual(spinStartPos)){
|
||||
servos.setTransferPos(transferServo_in);
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
||||
} else {
|
||||
servos.setTransferPos(transferServo_out);
|
||||
servos.setSpinPos(spinStartPos);
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOT_CONTINOUS:
|
||||
whileShooting = true;
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
if (servos.getSpinPos() > spinEndPos){
|
||||
whileShooting = false;
|
||||
servos.setTransferPos(transferServo_out);
|
||||
shootTicks = 0;
|
||||
currentIntakeState = IntakeState.FINDNEXT;
|
||||
} else {
|
||||
double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
|
||||
if (spinPos > spinEndPos + 0.03){
|
||||
spinPos = spinEndPos + 0.03;
|
||||
}
|
||||
servos.setSpinPos(spinPos);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
// Statements to execute if no case matches
|
||||
}
|
||||
|
||||
prevIntakeState = currentIntakeState;
|
||||
//TELE.addData("commandedIntakePosition", commandedIntakePosition);
|
||||
//TELE.update();
|
||||
// Signal a successful intake
|
||||
return false;
|
||||
}
|
||||
|
||||
public void setDesiredMotif (StateEnums.Motif newMotif) {
|
||||
desiredMotif = newMotif;
|
||||
}
|
||||
|
||||
// Returns the best fit for the motiff
|
||||
public int bestFitMotif () {
|
||||
switch (desiredMotif) {
|
||||
case GPP:
|
||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
||||
return 2;
|
||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
||||
return 0;
|
||||
} else {
|
||||
return 1;
|
||||
}
|
||||
//break;
|
||||
case PGP:
|
||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
||||
return 0;
|
||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
||||
return 1;
|
||||
} else {
|
||||
return 2;
|
||||
}
|
||||
//break;
|
||||
case PPG:
|
||||
if (ballPositions[0].ballColor == BallColor.GREEN) {
|
||||
return 1;
|
||||
} else if (ballPositions[1].ballColor == BallColor.GREEN) {
|
||||
return 0;
|
||||
} else {
|
||||
return 2;
|
||||
}
|
||||
//break;
|
||||
case NONE:
|
||||
return 0;
|
||||
//break;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void prepareToShootMotif () {
|
||||
commandedIntakePosition = bestFitMotif();
|
||||
}
|
||||
|
||||
public void prepareShootAll(){
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
|
||||
}
|
||||
public void prepareShootAllContinous(){
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
|
||||
}
|
||||
public void shootAll () {
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
|
||||
}
|
||||
public void shootAllContinous(){
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
||||
}
|
||||
|
||||
public boolean shootAllComplete ()
|
||||
{
|
||||
return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
|
||||
(currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
|
||||
}
|
||||
|
||||
void shootAllToIntake () {
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
}
|
||||
|
||||
public BallColor GetFrontDriverColor () {
|
||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
|
||||
}
|
||||
|
||||
public BallColor GetFrontPassengerColor () {
|
||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
|
||||
}
|
||||
|
||||
public BallColor GetRearCenterColor () {
|
||||
return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
|
||||
}
|
||||
private double prevPow = 0.501;
|
||||
public void setIntakePower(double pow){
|
||||
if (prevPow != 0.501 && prevPow != pow){
|
||||
robot.intake.setPower(pow);
|
||||
}
|
||||
prevPow = pow;
|
||||
}
|
||||
}
|
||||
@@ -1,264 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import java.lang.Math;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
|
||||
public class Targeting {
|
||||
// Known settings discovered using shooter test.
|
||||
// Keep the fidelity at 1 floor tile for now but we could also half it if more
|
||||
// accuracy is needed.
|
||||
public static final Settings[][] KNOWNTARGETING;
|
||||
|
||||
static {
|
||||
KNOWNTARGETING = new Settings[6][6];
|
||||
// ROW 0 - Closet to the goals
|
||||
KNOWNTARGETING[0][0] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[0][1] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[0][2] = new Settings(2500.0, 0.78);
|
||||
KNOWNTARGETING[0][3] = new Settings(2800.0, 0.68);
|
||||
KNOWNTARGETING[0][4] = new Settings(3000.0, 0.58);
|
||||
KNOWNTARGETING[0][5] = new Settings(3000.0, 0.58);
|
||||
// ROW 1
|
||||
KNOWNTARGETING[1][0] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[1][1] = new Settings(2300.0, 0.93);
|
||||
KNOWNTARGETING[1][2] = new Settings(2600.0, 0.78);
|
||||
// KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
|
||||
// KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
|
||||
// KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
|
||||
KNOWNTARGETING[1][3] = new Settings(2800.0, 0.68); // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
|
||||
KNOWNTARGETING[1][4] = new Settings(3000.0, 0.58); // Real setting replaced with (0,4) new Settings (3000.0, 0.55);
|
||||
KNOWNTARGETING[1][5] = new Settings(3200.0, 0.50);
|
||||
// ROW 2
|
||||
// KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
|
||||
// KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
|
||||
// KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
|
||||
// KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
|
||||
// KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
|
||||
// KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
|
||||
KNOWNTARGETING[2][0] = new Settings(2500.0, 0.78);
|
||||
KNOWNTARGETING[2][1] = new Settings(2500.0, 0.78);
|
||||
KNOWNTARGETING[2][2] = new Settings(2700.0, 0.60);
|
||||
KNOWNTARGETING[2][3] = new Settings(2800.0, 0.62); // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
|
||||
KNOWNTARGETING[2][4] = new Settings(3000.0, 0.55); // real settings replaces with (1,4) new Settings (3100.0, 0.50);
|
||||
KNOWNTARGETING[2][5] = new Settings(3200.0, 0.50); // real settings replaced with (1,5) new Settings (3100.0, 0.50);
|
||||
// ROW 3
|
||||
KNOWNTARGETING[3][0] = new Settings(2900.0, 0.50);
|
||||
KNOWNTARGETING[3][1] = new Settings(2900.0, 0.50);
|
||||
KNOWNTARGETING[3][2] = new Settings(2900.0, 0.50);
|
||||
KNOWNTARGETING[3][3] = new Settings(3100.0, 0.47);
|
||||
KNOWNTARGETING[3][4] = new Settings(3100.0, 0.47);
|
||||
KNOWNTARGETING[3][5] = new Settings(3100.0, 0.47);
|
||||
// ROW 4
|
||||
KNOWNTARGETING[4][0] = new Settings(3100, 0.49);
|
||||
KNOWNTARGETING[4][1] = new Settings(3100, 0.49);
|
||||
KNOWNTARGETING[4][2] = new Settings(3100, 0.5);
|
||||
KNOWNTARGETING[4][3] = new Settings(3200, 0.5);
|
||||
KNOWNTARGETING[4][4] = new Settings(3250, 0.49);
|
||||
KNOWNTARGETING[4][5] = new Settings(3300, 0.49);
|
||||
// ROW 5
|
||||
KNOWNTARGETING[5][0] = new Settings(3200, 0.48);
|
||||
KNOWNTARGETING[5][1] = new Settings(3200, 0.48);
|
||||
KNOWNTARGETING[5][2] = new Settings(3300, 0.48);
|
||||
KNOWNTARGETING[5][3] = new Settings(3350, 0.48);
|
||||
KNOWNTARGETING[5][4] = new Settings(3350, 0.48);
|
||||
KNOWNTARGETING[5][5] = new Settings(3350, 0.48);
|
||||
|
||||
}
|
||||
|
||||
public final int TILE_UPPER_QUARTILE = 18;
|
||||
public final int TILE_LOWER_QUARTILE = 6;
|
||||
public double robotInchesX, robotInchesY = 0.0;
|
||||
public int robotGridX = 0, robotGridY = 0;
|
||||
MultipleTelemetry TELE;
|
||||
double cancelOffsetX = 0.0; // was -40.0
|
||||
double cancelOffsetY = 0.0; // was 7.0
|
||||
double unitConversionFactor = 0.95;
|
||||
int tileSize = 24; //inches
|
||||
public static boolean turretInterpolate = false;
|
||||
|
||||
public Targeting() {
|
||||
}
|
||||
|
||||
//TODO: change code so it uses pedropathing paths
|
||||
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
|
||||
Settings recommendedSettings = new Settings(0.0, 0.0);
|
||||
int gridX;
|
||||
int gridY;
|
||||
int remX = 0;
|
||||
int remY = 0;
|
||||
// Old code
|
||||
// if (!redAlliance){
|
||||
// sin54 = Math.sin(Math.toRadians(54));
|
||||
// double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
|
||||
// double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
|
||||
//
|
||||
// // Convert robot coordinates to inches
|
||||
// robotInchesX = rotatedX * unitConversionFactor + 20;
|
||||
// robotInchesY = rotatedY * unitConversionFactor + 20;
|
||||
//
|
||||
// // Find approximate location in the grid
|
||||
// gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize));
|
||||
// gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
|
||||
// } else {
|
||||
// sin54 = Math.sin(Math.toRadians(-54));
|
||||
// double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
|
||||
// double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
|
||||
//
|
||||
// // Convert robot coordinates to inches
|
||||
// robotInchesX = rotatedX * unitConversionFactor;
|
||||
// robotInchesY = rotatedY * unitConversionFactor;
|
||||
//
|
||||
// // Find approximate location in the grid
|
||||
// gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
|
||||
// gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
|
||||
// }
|
||||
//
|
||||
//
|
||||
remX = Math.floorMod((int) robotX, tileSize);
|
||||
remY = Math.floorMod((int) robotY, tileSize);
|
||||
//
|
||||
// //clamp
|
||||
//
|
||||
// if (redAlliance) {
|
||||
// robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
// robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
// } else {
|
||||
// robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
// robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
// }
|
||||
|
||||
// New code
|
||||
if (redAlliance){
|
||||
gridY = Math.round((float) (((144-robotX)-12) / 24));
|
||||
} else {
|
||||
gridY = Math.round((float) ((robotX-12) / 24));
|
||||
}
|
||||
gridX = Math.round((float) (((144-robotY)-12) / 24));
|
||||
|
||||
robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
|
||||
// Determine if we need to interpolate based on tile position.
|
||||
// if near upper or lower quarter or tile interpolate with next tile.
|
||||
int x0 = 0;
|
||||
int y0 = 0;
|
||||
int x1 = 0;
|
||||
int y1 = 0;
|
||||
interpolate = false;
|
||||
if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
|
||||
(robotGridX < 5) && (robotGridY < 5)) {
|
||||
// +X, +Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX + 1;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY + 1;
|
||||
} else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
|
||||
(robotGridX > 0) && (robotGridY > 0)) {
|
||||
// -X, -Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX - 1;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY - 1;
|
||||
y1 = robotGridY;
|
||||
} else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
|
||||
(robotGridX < 5) && (robotGridY > 0)) {
|
||||
// +X, -Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX + 1;
|
||||
y0 = robotGridY - 1;
|
||||
y1 = robotGridY;
|
||||
} else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
|
||||
(robotGridX > 0) && (robotGridY < 5)) {
|
||||
// -X, +Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX - 1;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY + 1;
|
||||
} else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
|
||||
// -X, Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX - 1;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY;
|
||||
} else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
|
||||
// X, -Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY - 1;
|
||||
y1 = robotGridY;
|
||||
} else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
|
||||
// +X, Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX + 1;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY;
|
||||
} else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
|
||||
// X, +Y
|
||||
interpolate = true;
|
||||
x0 = robotGridX;
|
||||
x1 = robotGridX;
|
||||
y0 = robotGridY;
|
||||
y1 = robotGridY + 1;
|
||||
} else {
|
||||
interpolate = false;
|
||||
}
|
||||
|
||||
// basic search
|
||||
if (true) { //!interpolate) {
|
||||
if ((robotGridY < 6) && (robotGridX < 6)) {
|
||||
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
|
||||
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + hoodOffset;
|
||||
}
|
||||
return recommendedSettings;
|
||||
} else {
|
||||
|
||||
// bilinear interpolation
|
||||
//int x0 = robotGridX;
|
||||
//int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
|
||||
//int y0 = robotGridY;
|
||||
//int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
|
||||
|
||||
// double x = (robotInchesX - (x0 * tileSize)) / tileSize;
|
||||
// double y = (robotInchesY - (y0 * tileSize)) / tileSize;
|
||||
|
||||
// double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
|
||||
// double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
|
||||
// double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
|
||||
// double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
|
||||
//
|
||||
// double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
|
||||
// double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
|
||||
// double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
|
||||
// double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
|
||||
|
||||
// recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
|
||||
// recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
|
||||
// Average target tiles
|
||||
recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM) / 2.0;
|
||||
recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle) / 2.0;
|
||||
return recommendedSettings;
|
||||
}
|
||||
}
|
||||
|
||||
public static class Settings {
|
||||
public double flywheelRPM = 0.0;
|
||||
public double hoodAngle = 0.0;
|
||||
|
||||
public Settings(double flywheelRPM, double hoodAngle) {
|
||||
this.flywheelRPM = flywheelRPM;
|
||||
this.hoodAngle = hoodAngle;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,371 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static java.lang.Math.abs;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.controller.PIDController;
|
||||
import com.pedropathing.geometry.Pose;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.teleop.TeleopV3;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
|
||||
public class Turret {
|
||||
|
||||
public static double turretTolerance = 0.02;
|
||||
public static double turrPosScalar = 0.00011264432;
|
||||
public static double turret180Range = 0.58;
|
||||
public static double turrDefault = 0.51;
|
||||
public static double turrMin = 0.05;
|
||||
public static double turrMax = 0.95;
|
||||
public static boolean limelightUsed = true;
|
||||
public static double limelightPosOffset = 5;
|
||||
public static double manualOffset = 0.0;
|
||||
|
||||
// public static double visionCorrectionGain = 0.08; // Single tunable gain
|
||||
// public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
|
||||
// public static double cameraBearingEqual = 0.5; // Deadband
|
||||
|
||||
// public static double clampTolerance = 0.03;
|
||||
//public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
|
||||
public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Limelight3A webcam;
|
||||
double tx = 0.0;
|
||||
double ty = 0.0;
|
||||
double limelightPosX = 0.0;
|
||||
double limelightPosY = 0.0;
|
||||
LLResult result;
|
||||
public static double TARGET_POSITION_TOLERANCE = 0.5;
|
||||
public static double COLOR_OK_TOLERANCE = 2;
|
||||
boolean bearingAligned = false;
|
||||
private boolean lockOffset = false;
|
||||
private int obeliskID = 0;
|
||||
private double offset = 0.0;
|
||||
private double currentTrackOffset = 0.0;
|
||||
private double lightColor = Color.LightRed;
|
||||
private int currentTrackCount = 0;
|
||||
double permanentOffset = 0.0;
|
||||
private int prevPipeline = -1;
|
||||
PIDController bearingPID;
|
||||
|
||||
public int llCoast = 0;
|
||||
public int LL_COAST_TICKS = 60;
|
||||
|
||||
public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
|
||||
this.TELE = tele;
|
||||
this.robot = rob;
|
||||
this.webcam = cam;
|
||||
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
|
||||
}
|
||||
|
||||
public double getLightColor() {
|
||||
return lightColor;
|
||||
}
|
||||
|
||||
public void zeroTurretEncoder() {
|
||||
robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return robot.turr1.getPosition();
|
||||
|
||||
}
|
||||
private double prevTurrPos = 0;
|
||||
private boolean isFirstTurretPos = true;
|
||||
public void setTurret(double pos) {
|
||||
if (isFirstTurretPos || prevTurrPos != pos){
|
||||
robot.turr1.setPosition(pos);
|
||||
robot.turr2.setPosition(1-pos);
|
||||
isFirstTurretPos = false;
|
||||
}
|
||||
prevTurrPos = pos;
|
||||
}
|
||||
public void pipelineSwitch(int pipeline){
|
||||
if (prevPipeline != pipeline){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
}
|
||||
prevPipeline = pipeline;
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos) {
|
||||
return Math.abs(pos - this.getTurrPos()) < turretTolerance;
|
||||
}
|
||||
|
||||
public static double alphaPosConstant = 0.3;
|
||||
private void limelightRead() { // only for tracking purposes, not general reads
|
||||
Double xPos = null;
|
||||
Double yPos = null;
|
||||
double zPos;
|
||||
Double hPos = null;
|
||||
result = webcam.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
tx = result.getTx();
|
||||
ty = result.getTy();
|
||||
if (TeleopV3.relocalize){
|
||||
zPos = result.getBotpose().getPosition().z;
|
||||
if (zPos < 0.15){
|
||||
xPos = result.getBotpose().getPosition().x;
|
||||
yPos = result.getBotpose().getPosition().y;
|
||||
hPos = result.getBotpose().getOrientation().getYaw();
|
||||
limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
|
||||
limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
|
||||
limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public double getBearing() {
|
||||
tx = 1000;
|
||||
limelightRead();
|
||||
return tx;
|
||||
}
|
||||
|
||||
public double getTy() {
|
||||
return ty;
|
||||
}
|
||||
|
||||
double limelightTagX = 0.0;
|
||||
double limelightTagY = 0.0;
|
||||
double limelightTagZ = 0.0;
|
||||
double limelightTagH = 0.0;
|
||||
public double getLimelightX() {
|
||||
return limelightTagX;
|
||||
}
|
||||
public double getLimelightY() {return limelightTagY;}
|
||||
public double getLimelightZ(){return limelightTagZ;}
|
||||
public double getLimelightH(){return limelightTagH;}
|
||||
|
||||
public void relocalize(){
|
||||
setTurret(turrDefault);
|
||||
limelightRead();
|
||||
}
|
||||
|
||||
public int detectObelisk() {
|
||||
webcam.pipelineSwitch(1);
|
||||
LLResult result = webcam.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
double prevTx = -1000;
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
double currentTx = fiducial.getTargetXDegrees();
|
||||
if (currentTx > prevTx){
|
||||
obeliskID = fiducial.getFiducialId();
|
||||
}
|
||||
}
|
||||
}
|
||||
return obeliskID;
|
||||
}
|
||||
|
||||
public int getObeliskID() {
|
||||
return obeliskID;
|
||||
}
|
||||
|
||||
public void zeroOffset() {
|
||||
offset = 0.0;
|
||||
}
|
||||
|
||||
public void lockOffset(boolean lock) {
|
||||
lockOffset = lock;
|
||||
}
|
||||
|
||||
/*
|
||||
Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
|
||||
*/
|
||||
private double targetTx = 0;
|
||||
public static double alphaTX = 0.5;
|
||||
private double bearingAlign(LLResult llResult) {
|
||||
double bearingOffset = 0.0;
|
||||
double tx = llResult.getTx(); // How far left or right the target is (degrees)
|
||||
targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
|
||||
// final double MIN_OFFSET_POWER = 0.15;
|
||||
// // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
|
||||
// final double HORIZONTAL_FOV_RANGE = 26.0; // Total usable horizontal degrees from center +/-
|
||||
// final double DRIVE_POWER_REDUCTION = 2.0;
|
||||
|
||||
if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
|
||||
bearingAligned = true;
|
||||
lightColor = Color.LightBlue;
|
||||
} else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
|
||||
bearingAligned = false;
|
||||
lightColor = Color.LightPurple;
|
||||
} else {
|
||||
bearingAligned = false;
|
||||
lightColor = Color.LightOrange;
|
||||
}
|
||||
|
||||
// Only with valid data and if too far off target
|
||||
if (llResult.isValid() && !bearingAligned) {
|
||||
|
||||
// Adjust Robot Speed based on how far the target is located
|
||||
// Only drive at half speed max
|
||||
// switched to PID but original formula left for reference in comments
|
||||
//drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
|
||||
bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
|
||||
|
||||
// // Make sure we have enough power to actually drive the wheels
|
||||
// if (abs(bearingOffset) < MIN_OFFSET_POWER) {
|
||||
// if (bearingOffset > 0.0) {
|
||||
// bearingOffset = MIN_OFFSET_POWER;
|
||||
// } else {
|
||||
// bearingOffset = -MIN_OFFSET_POWER;
|
||||
// }
|
||||
//
|
||||
// }
|
||||
}
|
||||
|
||||
return bearingOffset;
|
||||
}
|
||||
|
||||
double targetTurretPos;
|
||||
public void trackGoal(Pose deltaPos) {
|
||||
|
||||
/* ---------------- FIELD → TURRET GEOMETRY ---------------- */
|
||||
double posX;
|
||||
if (Color.redAlliance){
|
||||
posX = 134 - deltaPos.getX();
|
||||
} else {
|
||||
posX = deltaPos.getX() - 10;
|
||||
}
|
||||
double posY = 140 - deltaPos.getY();
|
||||
double posH = Math.toDegrees(deltaPos.getHeading());
|
||||
while (posH > 180) posH -= 360;
|
||||
while (posH < -180) posH += 360;
|
||||
|
||||
// Angle from robot to goal in robot frame
|
||||
double desiredTurretAngleDeg = Math.toDegrees(Math.atan2(posY, posX)) - 45;
|
||||
|
||||
// Robot heading (field → robot)
|
||||
double robotHeadingDeg;
|
||||
if (Color.redAlliance){
|
||||
robotHeadingDeg = posH + 135;
|
||||
} else {
|
||||
robotHeadingDeg = posH + 45;
|
||||
}
|
||||
|
||||
// Turret angle needed relative to robot
|
||||
double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
|
||||
turretAngleDeg = -turretAngleDeg;
|
||||
|
||||
// Normalize to [-180, 180]
|
||||
while (turretAngleDeg > 180) turretAngleDeg -= 360;
|
||||
while (turretAngleDeg < -180) turretAngleDeg += 360;
|
||||
|
||||
|
||||
/* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
|
||||
// Update local limelight results
|
||||
//double tagBearingDeg = getBearing(); // + = target is to the left
|
||||
//boolean hasValidTarget = (tagBearingDeg != 1000.0);
|
||||
|
||||
turretAngleDeg += permanentOffset;
|
||||
|
||||
|
||||
limelightRead();
|
||||
// Active correction if we see the target
|
||||
if (result.isValid() && !lockOffset && limelightUsed && targetTurretPos > turrMin && targetTurretPos < turrMax) {
|
||||
currentTrackOffset += bearingAlign(result);
|
||||
currentTrackCount++;
|
||||
|
||||
TELE.addData("LL Tracking: ", llCoast);
|
||||
|
||||
// Assume the last tracked value is always better than
|
||||
// any previous value, even if its not fully aligned.
|
||||
llCoast = LL_COAST_TICKS;
|
||||
// double bearingError = Math.abs(tagBearingDeg);
|
||||
//
|
||||
// if (bearingError > cameraBearingEqual) {
|
||||
// // Apply sqrt scaling to reduce aggressive corrections at large errors
|
||||
// double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
|
||||
//
|
||||
// // Calculate correction
|
||||
// double offsetChange = visionCorrectionGain * filteredBearing;
|
||||
//
|
||||
// // Limit rate of change to prevent jumps
|
||||
// offsetChange = Math.max(-maxOffsetChangePerCycle,
|
||||
// Math.min(maxOffsetChangePerCycle, offsetChange));
|
||||
//
|
||||
// // Accumulate the correction
|
||||
// offset += offsetChange;
|
||||
//
|
||||
// TELE.addData("Bearing Error", tagBearingDeg);
|
||||
// TELE.addData("Offset Change", offsetChange);
|
||||
// TELE.addData("Total Offset", offset);
|
||||
// } else {
|
||||
// // When centered, lock in the learned offset
|
||||
// permanentOffset = offset;
|
||||
// offset = 0.0;
|
||||
// }
|
||||
} else {
|
||||
// only store perma update after 20+ successful tracks
|
||||
// this did not work good in testing; only current works best so far.
|
||||
// if (currentTrackCount > 20) {
|
||||
// offset = currentTrackOffset;
|
||||
// }
|
||||
if (llCoast <= 0) {
|
||||
TELE.addData("LL No Track: ", llCoast);
|
||||
lightColor = Color.LightRed;
|
||||
currentTrackOffset = 0.0;
|
||||
currentTrackCount = 0;
|
||||
} else {
|
||||
TELE.addData("LL Coasting: ", llCoast);
|
||||
llCoast--;
|
||||
}
|
||||
}
|
||||
|
||||
// Apply accumulated offset
|
||||
turretAngleDeg += offset + currentTrackOffset;
|
||||
|
||||
|
||||
/* ---------------- ANGLE → SERVO POSITION ---------------- */
|
||||
|
||||
targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
|
||||
|
||||
// Clamp to physical servo limits
|
||||
targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
|
||||
|
||||
// Interpolate towards target position
|
||||
// double currentPos = getTurrPos();
|
||||
double turretPos = targetTurretPos;
|
||||
|
||||
if (targetTurretPos == turrMin) {
|
||||
turretPos = turrMin;
|
||||
} else if (targetTurretPos == turrMax) {
|
||||
turretPos = turrMax;
|
||||
}
|
||||
|
||||
// Set servo positions
|
||||
if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
|
||||
setTurret(turretPos + manualOffset);
|
||||
}
|
||||
|
||||
|
||||
/* ---------------- TELEMETRY ---------------- */
|
||||
|
||||
// TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
|
||||
// TELE.addData("Target Pos", "%.3f", targetTurretPos);
|
||||
// TELE.addData("Current Localization Pos", deltaPos);
|
||||
// TELE.addData("Commanded Pos", "%.3f", turretPos);
|
||||
// TELE.addData("LL Valid", result.isValid());
|
||||
// TELE.addData("LL getTx", result.getTx());
|
||||
// TELE.addData("LL Offset", offset);
|
||||
// TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
|
||||
// TELE.addData("Learned Offset", "%.2f", offset);
|
||||
// TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,108 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
@Config
|
||||
public class Drivetrain {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry telemetry;
|
||||
|
||||
private static final double DEADZONE = 0.15;
|
||||
private static final double AXIS_SNAP_THRESHOLD = 0.12;
|
||||
|
||||
private static final double STRAFE_MULTIPLIER = 1.2;
|
||||
|
||||
public static double FORWARD_ROTATION_CORRECTION = 0;
|
||||
public static double STRAFE_ROTATION_CORRECTION = -0;
|
||||
|
||||
private boolean tele = false;
|
||||
|
||||
public Drivetrain(Robot rob, MultipleTelemetry TELE) {
|
||||
|
||||
this.robot = rob;
|
||||
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
this.telemetry = TELE;
|
||||
}
|
||||
|
||||
public void setTelemetry(boolean input) {
|
||||
tele = input;
|
||||
}
|
||||
|
||||
public void drive(double y, double x, double rx, double stop) {
|
||||
|
||||
boolean snappedForward = false;
|
||||
boolean snappedStrafe = false;
|
||||
|
||||
if (Math.abs(y) < DEADZONE) y = 0;
|
||||
if (Math.abs(x) < DEADZONE) x = 0;
|
||||
if (Math.abs(rx) < DEADZONE) rx = 0;
|
||||
|
||||
if (Math.abs(x) < AXIS_SNAP_THRESHOLD) {
|
||||
x = 0;
|
||||
snappedForward = true;
|
||||
}
|
||||
|
||||
if (Math.abs(y) < AXIS_SNAP_THRESHOLD) {
|
||||
y = 0;
|
||||
snappedStrafe = true;
|
||||
}
|
||||
|
||||
x *= STRAFE_MULTIPLIER;
|
||||
|
||||
double correctionRX = 0;
|
||||
|
||||
if (rx == 0) {
|
||||
correctionRX += (y * FORWARD_ROTATION_CORRECTION);
|
||||
correctionRX += (x * STRAFE_ROTATION_CORRECTION);
|
||||
|
||||
rx += correctionRX;
|
||||
}
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.setFrontLeftPower(frontLeftPower);
|
||||
robot.setBackLeftPower(backLeftPower);
|
||||
robot.setFrontRightPower(frontRightPower);
|
||||
robot.setBackRightPower(backRightPower);
|
||||
|
||||
if (stop > 0.5){
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
robot.setFrontLeftPower(0);
|
||||
robot.setBackLeftPower(0);
|
||||
robot.setFrontRightPower(0);
|
||||
robot.setBackRightPower(0);
|
||||
}
|
||||
|
||||
// if (tele) {
|
||||
//
|
||||
// telemetry.addData("Forward Snap", snappedForward);
|
||||
// telemetry.addData("Strafe Snap", snappedStrafe);
|
||||
//
|
||||
// telemetry.addData("Correction RX", correctionRX);
|
||||
//
|
||||
// telemetry.addData("FL", frontLeftPower);
|
||||
// telemetry.addData("BL", backLeftPower);
|
||||
// telemetry.addData("FR", frontRightPower);
|
||||
// telemetry.addData("BR", backRightPower);
|
||||
//
|
||||
// }
|
||||
}
|
||||
}
|
||||
@@ -1,189 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.arcrobotics.ftclib.controller.wpilibcontroller.SimpleMotorFeedforward;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utilsv2.Robot;
|
||||
|
||||
import java.util.LinkedList;
|
||||
|
||||
@Config
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
|
||||
// public PIDFCoefficients shooterPIDF1, shooterPIDF2;
|
||||
public static PIDFCoefficients shooterPIDF;
|
||||
PIDFController pidf;
|
||||
SimpleMotorFeedforward feedforward;
|
||||
|
||||
public static double kS = 0.01; // Static feedforward
|
||||
public static double kV = 0.0001935; // Velocity feedforward
|
||||
|
||||
public static double shooterPIDF_P = 500;
|
||||
public static double shooterPIDF_I = 1;
|
||||
public static double shooterPIDF_D = 0.0;
|
||||
public static double shooterPIDF_F = 93;
|
||||
// public static double shooterPIDF_P = 0.0001;
|
||||
// public static double shooterPIDF_I = 0;
|
||||
// public static double shooterPIDF_D = 0.00001;
|
||||
// public static double shooterPIDF_F = 0;
|
||||
|
||||
private double velo = 0.0;
|
||||
private double velo1 = 0.0;
|
||||
private double velo2 = 0.0;
|
||||
|
||||
private double averageVelocity = 0.0;
|
||||
|
||||
double targetVelocity = 0.0;
|
||||
|
||||
boolean steady = false;
|
||||
|
||||
private final LinkedList<Double> velocityHistory = new LinkedList<>();
|
||||
|
||||
public Flywheel(Robot rob) {
|
||||
robot = rob;
|
||||
shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
|
||||
// pidf = new PIDFController(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, 0);
|
||||
// feedforward = new SimpleMotorFeedforward(kS, kV);
|
||||
}
|
||||
|
||||
public double getVelo() {
|
||||
return velo;
|
||||
}
|
||||
|
||||
public double getVelo1() {
|
||||
return velo1;
|
||||
}
|
||||
|
||||
public double getVelo2() {
|
||||
return velo2;
|
||||
}
|
||||
|
||||
public double getAverageVelocity() {
|
||||
return averageVelocity;
|
||||
}
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
// Set the robot PIDF for the next cycle.
|
||||
|
||||
public void setPIDF(double p, double i, double d, double f) {
|
||||
|
||||
shooterPIDF.p = p;
|
||||
shooterPIDF.i = i;
|
||||
shooterPIDF.d = d;
|
||||
shooterPIDF.f = f;
|
||||
|
||||
// pidf.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, 0);
|
||||
|
||||
if (velo1 != 0){
|
||||
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
} else {
|
||||
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private double prevF = 0;
|
||||
public static double voltagePIDFDifference = 1;
|
||||
double averageVoltage = 0;
|
||||
public void setF(double voltage){
|
||||
averageVoltage = ALPHA * voltage + (1 - ALPHA) * averageVoltage;
|
||||
double f = shooterPIDF_F / voltage;
|
||||
if (Math.abs(prevF - f) > voltagePIDFDifference && !steady) {
|
||||
shooterPIDF.f = f;
|
||||
if (velo1 != 0){
|
||||
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
} else {
|
||||
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
}
|
||||
}
|
||||
prevF = f;
|
||||
}
|
||||
|
||||
// Convert from RPM to Ticks per Second
|
||||
private double RPM_to_TPS(double RPM) {
|
||||
return (RPM * 28.0) / 60.0;
|
||||
}
|
||||
|
||||
// Convert from Ticks per Second to RPM
|
||||
private double TPS_to_RPM(double TPS) {
|
||||
return (TPS * 60.0) / 28.0;
|
||||
}
|
||||
|
||||
double ALPHA = 0.3;
|
||||
private void updateVelocityAverage(double newVelocity) {
|
||||
|
||||
// velocityHistory.add(newVelocity);
|
||||
//
|
||||
// int velocityHistorySize = 5;
|
||||
// if (velocityHistory.size() > velocityHistorySize) {
|
||||
// velocityHistory.removeFirst();
|
||||
// }
|
||||
//
|
||||
// double sum = 0.0;
|
||||
//
|
||||
// for (double v : velocityHistory) {
|
||||
// sum += v;
|
||||
// }
|
||||
//
|
||||
// averageVelocity = sum / velocityHistory.size();
|
||||
|
||||
averageVelocity = ALPHA * newVelocity + (1 - ALPHA) * averageVelocity;
|
||||
}
|
||||
|
||||
double power;
|
||||
double prevTargetTime = 0;
|
||||
double prevTargetVelocity = 0;
|
||||
int veloMode = 0;
|
||||
public void manageFlywheel(double commandedVelocity) {
|
||||
|
||||
if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
|
||||
targetVelocity = commandedVelocity;
|
||||
}
|
||||
|
||||
if (velo1 < 100){
|
||||
|
||||
}
|
||||
velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
|
||||
|
||||
velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
|
||||
|
||||
if (velo1 < 100){
|
||||
velo1 = 0;
|
||||
velo = velo2;
|
||||
robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
|
||||
if (veloMode != 2){
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
veloMode = 2;
|
||||
}
|
||||
power = robot.shooter2.getPower();
|
||||
robot.shooter1.setPower(power);
|
||||
} else {
|
||||
velo2 = 0;
|
||||
velo = velo1;
|
||||
robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
|
||||
if (veloMode != 1){
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
veloMode = 1;
|
||||
}
|
||||
power = robot.shooter1.getPower();
|
||||
robot.shooter2.setPower(power);
|
||||
}
|
||||
|
||||
updateVelocityAverage(velo);
|
||||
|
||||
steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
|
||||
}
|
||||
|
||||
public double getShooterPower(){return power;}
|
||||
}
|
||||
@@ -1,22 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
|
||||
|
||||
public class ParkTilter {
|
||||
Robot robot;
|
||||
public ParkTilter (Robot rob) {
|
||||
this.robot = rob;
|
||||
}
|
||||
|
||||
public void park() {
|
||||
robot.setTilt1Pos(ServoPositions.tilt1_down);
|
||||
robot.setTilt2Pos(ServoPositions.tilt2_down);
|
||||
}
|
||||
|
||||
public void unpark() {
|
||||
robot.setTilt1Pos(ServoPositions.tilt1_up);
|
||||
robot.setTilt2Pos(ServoPositions.tilt2_up);
|
||||
}
|
||||
}
|
||||
@@ -1,353 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import android.view.View;
|
||||
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
import com.qualcomm.robotcore.hardware.TouchSensor;
|
||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
public class Robot {
|
||||
// Singleton instance
|
||||
private static Robot instance;
|
||||
|
||||
|
||||
/**
|
||||
* Returns the existing Robot instance or creates one if it doesn't exist.
|
||||
*/
|
||||
public static Robot getInstance(HardwareMap hardwareMap) {
|
||||
if (instance == null) {
|
||||
instance = new Robot(hardwareMap);
|
||||
}
|
||||
return instance;
|
||||
}
|
||||
|
||||
/**
|
||||
* Optional: clears the singleton.
|
||||
* Useful when switching OpModes.
|
||||
*/
|
||||
public static void resetInstance() {
|
||||
instance = null;
|
||||
}
|
||||
|
||||
public static boolean usingLimelight = true;
|
||||
public static boolean usingCamera = false;
|
||||
public DcMotorEx frontLeft;
|
||||
public DcMotorEx frontRight;
|
||||
public DcMotorEx backLeft;
|
||||
public DcMotorEx backRight;
|
||||
public DcMotorEx intake;
|
||||
public DcMotorEx transfer;
|
||||
// public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
|
||||
public DcMotorEx shooter1;
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
public Servo transferServo;
|
||||
public Servo spindexBlocker;
|
||||
public Servo rapidFireBlocker;
|
||||
public Servo tilt1;
|
||||
public Servo tilt2;
|
||||
public Servo turr1;
|
||||
public Servo turr2;
|
||||
public Servo spin1;
|
||||
public Servo spin2;
|
||||
public TouchSensor insideBeam;
|
||||
public TouchSensor outsideBeam;
|
||||
public RevColorSensorV3 revSensor;
|
||||
|
||||
public VoltageSensor voltage;
|
||||
|
||||
// Below is disregarded
|
||||
public AnalogInput spin1Pos;
|
||||
public AnalogInput spin2Pos;
|
||||
public AnalogInput turr1Pos;
|
||||
public AnalogInput transferServoPos;
|
||||
public AprilTagProcessor aprilTagProcessor;
|
||||
public WebcamName webcam;
|
||||
public RevColorSensorV3 color1;
|
||||
public RevColorSensorV3 color2;
|
||||
public RevColorSensorV3 color3;
|
||||
public Limelight3A limelight;
|
||||
public Servo light;
|
||||
|
||||
// Current Limits
|
||||
public static double intakeCurrentLimit = 6.0;
|
||||
public static double transferCurrentLimit = 5.0;
|
||||
public static double drivetrainCurrentLimit = 7.0;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
backRight = hardwareMap.get(DcMotorEx.class, "br");
|
||||
frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
||||
intake.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
||||
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
||||
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
// shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
// shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(Servo.class, "turr1");
|
||||
|
||||
turr2 = hardwareMap.get(Servo.class, "turr2");
|
||||
|
||||
spin1 = hardwareMap.get(Servo.class, "spin1");
|
||||
|
||||
spin2 = hardwareMap.get(Servo.class, "spin2");
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
|
||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
spindexBlocker = hardwareMap.get(Servo.class, "spinB");
|
||||
|
||||
rapidFireBlocker = hardwareMap.get(Servo.class, "rapidB");
|
||||
|
||||
tilt1 = hardwareMap.get(Servo.class, "tilt1");
|
||||
tilt2 = hardwareMap.get(Servo.class, "tilt2");
|
||||
|
||||
insideBeam = hardwareMap.get(TouchSensor.class, "beam1");
|
||||
outsideBeam = hardwareMap.get(TouchSensor.class, "beam2");
|
||||
|
||||
revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
|
||||
|
||||
frontLeft.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
|
||||
frontRight.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
|
||||
backLeft.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
|
||||
backRight.setCurrentAlert(drivetrainCurrentLimit, CurrentUnit.AMPS);
|
||||
intake.setCurrentAlert(intakeCurrentLimit, CurrentUnit.AMPS);
|
||||
transfer.setCurrentAlert(transferCurrentLimit, CurrentUnit.AMPS);
|
||||
|
||||
// Below is disregarded
|
||||
|
||||
// turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
|
||||
//
|
||||
// spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
//
|
||||
// spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
//
|
||||
// transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
//
|
||||
// color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
//
|
||||
// color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
//
|
||||
// color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight) {
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
} else if (usingCamera) {
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
}
|
||||
|
||||
// light = hardwareMap.get(Servo.class, "light");
|
||||
|
||||
voltage = hardwareMap.voltageSensor.iterator().next();
|
||||
}
|
||||
|
||||
// Voids below are used to minimize hardware calls to minimize loop times
|
||||
|
||||
// Used to cut off digits that are negligible
|
||||
private final int maxDigits = 3;
|
||||
private final int roundingFactor = (int) Math.pow(10, maxDigits);
|
||||
|
||||
private double prevFrontLeftPower = -10.501;
|
||||
public void setFrontLeftPower(double pow){
|
||||
if (frontLeft.isOverCurrent()){
|
||||
double current = frontLeft.getCurrent(CurrentUnit.AMPS);
|
||||
if (current != 0) {
|
||||
pow = pow * drivetrainCurrentLimit / current;
|
||||
}
|
||||
}
|
||||
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevFrontLeftPower){
|
||||
frontLeft.setPower(pow);
|
||||
}
|
||||
prevFrontLeftPower = pow;
|
||||
}
|
||||
|
||||
private double prevFrontRightPower = -10.501;
|
||||
public void setFrontRightPower(double pow){
|
||||
if (frontRight.isOverCurrent()){
|
||||
double current = frontRight.getCurrent(CurrentUnit.AMPS);
|
||||
if (current != 0) {
|
||||
pow = pow * drivetrainCurrentLimit / current;
|
||||
}
|
||||
}
|
||||
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevFrontRightPower){
|
||||
frontRight.setPower(pow);
|
||||
}
|
||||
prevFrontRightPower = pow;
|
||||
}
|
||||
|
||||
private double prevBackLeftPower = -10.501;
|
||||
public void setBackLeftPower(double pow){
|
||||
if (backLeft.isOverCurrent()){
|
||||
double current = backLeft.getCurrent(CurrentUnit.AMPS);
|
||||
if (current != 0) {
|
||||
pow = pow * drivetrainCurrentLimit / current;
|
||||
}
|
||||
}
|
||||
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevBackLeftPower){
|
||||
backLeft.setPower(pow);
|
||||
}
|
||||
prevBackLeftPower = pow;
|
||||
}
|
||||
|
||||
private double prevBackRightPower = -10.501;
|
||||
public void setBackRightPower(double pow){
|
||||
if (backRight.isOverCurrent()){
|
||||
double current = backRight.getCurrent(CurrentUnit.AMPS);
|
||||
if (current != 0) {
|
||||
pow = pow * drivetrainCurrentLimit / current;
|
||||
}
|
||||
}
|
||||
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevBackRightPower){
|
||||
backRight.setPower(pow);
|
||||
}
|
||||
prevBackRightPower = pow;
|
||||
}
|
||||
|
||||
private double prevIntakePower = -10.501;
|
||||
public void setIntakePower(double pow){
|
||||
if (intake.isOverCurrent()){
|
||||
double current = intake.getCurrent(CurrentUnit.AMPS);
|
||||
if (current != 0) {
|
||||
pow = pow * intakeCurrentLimit / current;
|
||||
}
|
||||
}
|
||||
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
|
||||
if (pow != prevIntakePower){
|
||||
intake.setPower(pow);
|
||||
}
|
||||
prevIntakePower = pow;
|
||||
}
|
||||
|
||||
private double prevTransferPower = -10.501;
|
||||
public void setTransferPower(double pow){
|
||||
pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
|
||||
// if (transfer.isOverCurrent()){
|
||||
// double current = transfer.getCurrent(CurrentUnit.AMPS);
|
||||
// if (current != 0) {
|
||||
// pow = pow * transferCurrentLimit / current;
|
||||
// }
|
||||
// }
|
||||
if (pow != prevTransferPower){
|
||||
transfer.setPower(pow);
|
||||
}
|
||||
prevTransferPower = pow;
|
||||
}
|
||||
|
||||
// shooter motors are done in separate class
|
||||
|
||||
private double prevHoodPos = -10.501;
|
||||
public void setHoodPos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevHoodPos){
|
||||
hood.setPosition(pos);
|
||||
}
|
||||
prevHoodPos = pos;
|
||||
}
|
||||
|
||||
private double prevTransferServoPos = -10.501;
|
||||
public void setTransferServoPos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTransferServoPos){
|
||||
transferServo.setPosition(pos);
|
||||
}
|
||||
prevTransferServoPos = pos;
|
||||
}
|
||||
|
||||
private double prevSpinPos = -10.501;
|
||||
public void setSpinPos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevSpinPos){
|
||||
spin1.setPosition(pos);
|
||||
spin2.setPosition(pos);
|
||||
}
|
||||
prevSpinPos = pos;
|
||||
}
|
||||
|
||||
private double prevTurretPos = -10.501;
|
||||
public void setTurretPos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTurretPos){
|
||||
turr1.setPosition(pos);
|
||||
turr2.setPosition(pos);
|
||||
}
|
||||
prevTurretPos = pos;
|
||||
}
|
||||
|
||||
private double prevTilt1Pos = -10.501;
|
||||
public void setTilt1Pos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTilt1Pos){
|
||||
tilt1.setPosition(pos);
|
||||
}
|
||||
prevTilt1Pos = pos;
|
||||
}
|
||||
|
||||
private double prevTilt2Pos = -10.501;
|
||||
public void setTilt2Pos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevTilt2Pos){
|
||||
tilt2.setPosition(pos);
|
||||
}
|
||||
prevTilt2Pos = pos;
|
||||
}
|
||||
|
||||
private double prevSpindexBlockerPos = -10.501;
|
||||
public void setSpindexBlockerPos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevSpindexBlockerPos){
|
||||
spindexBlocker.setPosition(pos);
|
||||
}
|
||||
prevSpindexBlockerPos = pos;
|
||||
}
|
||||
|
||||
private double prevRapidFireBlockerPos = -10.501;
|
||||
public void setRapidFireBlockerPos(double pos){
|
||||
pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
|
||||
if (pos != prevRapidFireBlockerPos){
|
||||
rapidFireBlocker.setPosition(pos);
|
||||
}
|
||||
prevRapidFireBlockerPos = pos;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,223 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.utilsv2.Flywheel.*;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.pedropathing.follower.Follower;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
|
||||
|
||||
@Config
|
||||
public class Shooter {
|
||||
|
||||
Robot robot;
|
||||
Flywheel fly;
|
||||
Turret turr;
|
||||
VelocityCommander commander;
|
||||
|
||||
double goalX = 0.0;
|
||||
double goalY = 0.0;
|
||||
double obeliskX = 72;
|
||||
double obeliskY = 144;
|
||||
double turretGoalX = 0;
|
||||
double turretGoalY = 0;
|
||||
|
||||
private boolean red = true;
|
||||
public static boolean manualFlywheel = false;
|
||||
|
||||
|
||||
Follower follow;
|
||||
|
||||
public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance, Turret turret, Flywheel flywheel, VelocityCommander com) {
|
||||
this.robot = rob;
|
||||
this.fly = flywheel;
|
||||
this.turr = turret;
|
||||
this.follow = follower;
|
||||
this.commander = com;
|
||||
|
||||
setRedAlliance(redAlliance);
|
||||
|
||||
}
|
||||
|
||||
public void setRedAlliance(boolean input) {
|
||||
this.red = input;
|
||||
|
||||
if (this.red) {
|
||||
goalX = 72;
|
||||
turretGoalX = 68;
|
||||
} else {
|
||||
goalX = -72;
|
||||
turretGoalX = -68;
|
||||
}
|
||||
goalY = 72;
|
||||
turretGoalY = 68;
|
||||
}
|
||||
|
||||
private double flywheelVelocity = 0.0;
|
||||
private double turretPosition = 0.5;
|
||||
|
||||
public enum ShooterState {
|
||||
READ_OBELISK,
|
||||
TRACK_GOAL,
|
||||
MANUAL_FLYWHEEL_TRACK_TURR,
|
||||
MANUAL_TURRET_TRACK_FLY,
|
||||
MANUAL,
|
||||
NOTHING
|
||||
}
|
||||
|
||||
|
||||
private ShooterState state = ShooterState.NOTHING;
|
||||
|
||||
public void setState(ShooterState shooterState) {
|
||||
this.state = shooterState;
|
||||
}
|
||||
|
||||
public ShooterState getState(){
|
||||
return state;
|
||||
}
|
||||
|
||||
public void setTurretPosition(double input) {
|
||||
this.turretPosition = input;
|
||||
}
|
||||
|
||||
public void setFlywheelVelocity(double input) {
|
||||
this.flywheelVelocity = input;
|
||||
}
|
||||
|
||||
public int getObeliskID() {
|
||||
return turr.getObeliskID();
|
||||
}
|
||||
|
||||
private final double shooterDistFromCenter = 1.545;
|
||||
public void update(double voltage) {
|
||||
setRedAlliance(Color.redAlliance);
|
||||
switch (state) {
|
||||
case NOTHING:
|
||||
break;
|
||||
case MANUAL:
|
||||
manualFlywheel = true;
|
||||
commander.getVeloPredictive(
|
||||
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent(),
|
||||
voltage,
|
||||
fly.getAverageVelocity()
|
||||
);
|
||||
|
||||
fly.manageFlywheel(flywheelVelocity);
|
||||
fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);
|
||||
turr.manual(turretPosition);
|
||||
break;
|
||||
case TRACK_GOAL:
|
||||
manualFlywheel = false;
|
||||
turr.trackGoal(
|
||||
(turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getHeading(),
|
||||
follow.getAngularVelocity(),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent()
|
||||
);
|
||||
|
||||
commander.getVeloPredictive(
|
||||
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent(),
|
||||
voltage,
|
||||
fly.getAverageVelocity()
|
||||
);
|
||||
|
||||
flywheelVelocity = commander.getPredictedRPM();
|
||||
double hood1 = Math.max(0.35, Math.min(0.88, commander.getHoodPredicted() + TeleopV4.hoodOffset));
|
||||
robot.setHoodPos(hood1);
|
||||
fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset);
|
||||
fly.setF(voltage);
|
||||
break;
|
||||
case READ_OBELISK:
|
||||
manualFlywheel = false;
|
||||
robot.setTurretPos(Turret.neutralPosition);
|
||||
|
||||
turr.detectObelisk();
|
||||
|
||||
commander.getVeloPredictive(
|
||||
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent(),
|
||||
voltage,
|
||||
fly.getAverageVelocity()
|
||||
);
|
||||
|
||||
flywheelVelocity = commander.getPredictedRPM();
|
||||
|
||||
fly.manageFlywheel(0);
|
||||
fly.setF(voltage);
|
||||
break;
|
||||
|
||||
case MANUAL_TURRET_TRACK_FLY:
|
||||
manualFlywheel = false;
|
||||
turr.manual(turretPosition);
|
||||
commander.getVeloPredictive(
|
||||
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent(),
|
||||
voltage,
|
||||
fly.getAverageVelocity()
|
||||
);
|
||||
|
||||
flywheelVelocity = commander.getPredictedRPM();
|
||||
double hood2 = Math.max(0.35, Math.min(0.88, commander.getHoodPredicted() + TeleopV4.hoodOffset));
|
||||
robot.setHoodPos(hood2);
|
||||
fly.manageFlywheel(flywheelVelocity + TeleopV4.flywheelOffset);
|
||||
break;
|
||||
|
||||
case MANUAL_FLYWHEEL_TRACK_TURR:
|
||||
manualFlywheel = true;
|
||||
turr.trackGoal(
|
||||
(turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getHeading(),
|
||||
follow.getAngularVelocity(),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent()
|
||||
);
|
||||
commander.getVeloPredictive(
|
||||
(goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
|
||||
(goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
|
||||
follow.getVelocity().getXComponent(),
|
||||
follow.getAcceleration().getXComponent(),
|
||||
follow.getVelocity().getYComponent(),
|
||||
follow.getAcceleration().getYComponent(),
|
||||
voltage,
|
||||
fly.getAverageVelocity()
|
||||
);
|
||||
fly.manageFlywheel(flywheelVelocity);
|
||||
fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);
|
||||
fly.setF(voltage);
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public double getDistance(){return commander.getDistance();}
|
||||
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,181 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDController;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.robotcore.util.Range;
|
||||
|
||||
|
||||
import org.firstinspires.ftc.teamcode.constants.Color;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
public class Turret {
|
||||
Robot robot;
|
||||
|
||||
private final double servoTicksPer180 = 0.58;
|
||||
public static double neutralPosition = 0.51;
|
||||
private final double turretMin = 0.13;
|
||||
private final double turretMax = 0.87;
|
||||
public static boolean limelightUsed = true;
|
||||
public static double B_PID_P = 0.0001, B_PID_I = 0.0, B_PID_D = 0.000005;
|
||||
LLResult result;
|
||||
PIDController bearingPID;
|
||||
boolean bearingAligned = false;
|
||||
public int LL_COAST_TICKS = 5;
|
||||
public static double TARGET_POSITION_TOLERANCE = 1.5;
|
||||
public static double alphaTX = 0.3;
|
||||
private double targetTx = 0;
|
||||
private double currentTrackOffset = 0;
|
||||
private double llCoast = 0;
|
||||
private double servoAngle = 0.51;
|
||||
double tx = 0.0;
|
||||
private final double hVelK = 0; // TODO: Tune
|
||||
private final double xVelK = 0; // TODO: Tune
|
||||
private final double xAccK = 0; // TODO: Tune
|
||||
private final double yVelK = 0; // TODO: Tune
|
||||
private final double yAccK = 0; // TODO: Tune
|
||||
|
||||
private int obeliskID = 0;
|
||||
|
||||
|
||||
|
||||
public Turret(Robot rob) {
|
||||
this.robot = rob;
|
||||
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
|
||||
}
|
||||
|
||||
private double wrapAngle(double angle) {
|
||||
while (angle > Math.PI) angle -= 2.0 * Math.PI;
|
||||
while (angle < -Math.PI) angle += 2.0 * Math.PI;
|
||||
return angle;
|
||||
}
|
||||
|
||||
private void limelightRead() { // only for tracking purposes, not general reads
|
||||
switchPipeline(PipelineMode.TRACKING);
|
||||
result = robot.limelight.getLatestResult();
|
||||
tx = 1000;
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
tx = result.getTx();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public double getTX(){return tx;}
|
||||
|
||||
public enum PipelineMode{
|
||||
OBELISK,
|
||||
TRACKING
|
||||
}
|
||||
|
||||
private int prevPipeline = 0;
|
||||
public void switchPipeline(PipelineMode pipelineMode){
|
||||
int pipeline = 0;
|
||||
if (pipelineMode == PipelineMode.OBELISK){
|
||||
pipeline = 1;
|
||||
} else if (pipelineMode == PipelineMode.TRACKING){
|
||||
if (Color.redAlliance){
|
||||
pipeline = 4;
|
||||
} else {
|
||||
pipeline = 2;
|
||||
}
|
||||
}
|
||||
if (pipeline != prevPipeline){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
}
|
||||
prevPipeline = pipeline;
|
||||
}
|
||||
public int pipeline(){return prevPipeline;}
|
||||
|
||||
public void trackObelisk(double dx, double dy, double h) {
|
||||
|
||||
double heading = wrapAngle(h);
|
||||
|
||||
double fieldRelativeHeading = Math.atan2(dy, dx);
|
||||
|
||||
double desiredAngle = fieldRelativeHeading - heading;
|
||||
double angleDelta = desiredAngle - Math.PI;
|
||||
angleDelta = wrapAngle(angleDelta);
|
||||
|
||||
double servoTicksFromNeutral = (angleDelta / (2.0 * Math.PI)) * (2.0 * servoTicksPer180);
|
||||
|
||||
double servoAngle = neutralPosition + servoTicksFromNeutral;
|
||||
|
||||
servoAngle = Range.clip(servoAngle, turretMin, turretMax);
|
||||
|
||||
robot.setTurretPos(servoAngle);
|
||||
|
||||
detectObelisk();
|
||||
|
||||
}
|
||||
|
||||
public int getObeliskID() {
|
||||
return obeliskID;
|
||||
}
|
||||
|
||||
public void detectObelisk() {
|
||||
result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
obeliskID = fiducial.getFiducialId();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void manual (double pos) {
|
||||
robot.setTurretPos(pos);
|
||||
}
|
||||
|
||||
public void trackGoal(double dx, double dy, double h, double hVel, double xVel, double xAcc, double yVel, double yAcc) {
|
||||
// dx, dy, dz is target - robot
|
||||
// h is the raw heading where 0 degrees is positive x in the system of x, y
|
||||
|
||||
bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D); // Keep when debugging/tuning, comment out when doing teleop
|
||||
|
||||
double predictedDx = dx - (xVel * xVelK) - (0.5 * xAcc * xAccK); // Negative bc dx = target - robot
|
||||
double predictedDy = dy - (yVel * yVelK) - (0.5 * yAcc * yAccK); // Negative bc dy = target - robot
|
||||
double predictedH = h + (hVel * hVelK); // Positive bc h = robot heading
|
||||
|
||||
predictedH = wrapAngle(predictedH);
|
||||
|
||||
double fieldRelativeHeading = Math.atan2(predictedDy, predictedDx);
|
||||
|
||||
double angleDelta = fieldRelativeHeading - predictedH;
|
||||
angleDelta = wrapAngle(angleDelta) / (2.0 * Math.PI);
|
||||
|
||||
double bearingOffset = 0;
|
||||
if (limelightUsed && servoAngle > turretMin && servoAngle < turretMax){
|
||||
limelightRead();
|
||||
if (result.isValid() && tx < 100){
|
||||
targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
|
||||
bearingAligned = Math.abs(targetTx) < TARGET_POSITION_TOLERANCE;
|
||||
if (!bearingAligned){
|
||||
bearingOffset = (bearingPID.calculate(targetTx, 0.0));
|
||||
}
|
||||
} else {
|
||||
targetTx = 0;
|
||||
bearingOffset = 0;
|
||||
}
|
||||
currentTrackOffset += bearingOffset;
|
||||
llCoast = LL_COAST_TICKS;
|
||||
} else {
|
||||
if (llCoast <= 0){
|
||||
currentTrackOffset = 0;
|
||||
} else {
|
||||
llCoast--;
|
||||
}
|
||||
}
|
||||
|
||||
double servoTicksFromNeutral = (angleDelta+currentTrackOffset) * (2.0 * servoTicksPer180);
|
||||
|
||||
servoAngle = neutralPosition + servoTicksFromNeutral;
|
||||
|
||||
servoAngle = Range.clip(servoAngle, turretMin, turretMax);
|
||||
|
||||
robot.setTurretPos(servoAngle);
|
||||
}
|
||||
}
|
||||
@@ -1,122 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utilsv2;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class VelocityCommander {
|
||||
public static double xVelK = 0.05; // TODO: Tune
|
||||
public static double xAccK = 0.025; // TODO: Tune
|
||||
public static double yVelK = 0.05; // TODO: Tune
|
||||
public static double yAccK = 0.025; // TODO: Tune
|
||||
public static boolean lockFront = false;
|
||||
public static boolean lockBack = false;
|
||||
public static int farBound = 138;
|
||||
public static int closeBound = 112;
|
||||
public static double errorHoodAdjustment = 0.0005;
|
||||
private double hoodPos = 0.88;
|
||||
private double transferPow = -1;
|
||||
private int velo = 0;
|
||||
|
||||
public VelocityCommander() {}
|
||||
|
||||
final double veloA = -0.00000133612;
|
||||
final double veloB = 0.000542733;
|
||||
final double veloC = -0.0739531;
|
||||
final double veloD = 5.16759;
|
||||
final double veloE = 62.45781;
|
||||
final double veloF = -0.0000833333;
|
||||
final double veloG = 0.0377857;
|
||||
final double veloH = -4.55067;
|
||||
final double veloI = 456.97486;
|
||||
private double distToRPM (double dist){
|
||||
double currentVelo;
|
||||
if (lockFront && dist > closeBound){
|
||||
dist = closeBound;
|
||||
} else if (lockBack && dist < farBound){
|
||||
dist = farBound;
|
||||
}
|
||||
if (dist < 54) {
|
||||
velo = 2000;
|
||||
} else if (dist > 174){
|
||||
velo = 3700;
|
||||
} else {
|
||||
currentVelo = veloA*Math.pow(dist, 4) +
|
||||
veloB*Math.pow(dist, 3) +
|
||||
veloC*Math.pow(dist, 2) +
|
||||
veloD*Math.pow(dist, 1) +
|
||||
veloE;
|
||||
velo = 10 * Math.round((float) Math.max(200, Math.min(360, currentVelo)));
|
||||
}
|
||||
return velo;
|
||||
}
|
||||
|
||||
final double hoodA = 9.04203*Math.pow(10, -8);
|
||||
final double hoodB = -0.0000204165;
|
||||
final double hoodC = -0.00252089;
|
||||
final double hoodD = 1.06154;
|
||||
final double hoodE = -0.002;
|
||||
final double hoodF = 0.918;
|
||||
private void distToHood (double dist){
|
||||
if (dist > 174){
|
||||
hoodPos = 0.48;
|
||||
} else if (dist < 54){
|
||||
hoodPos = 0.88;
|
||||
} else {
|
||||
hoodPos = hoodA*Math.pow(dist, 3) +
|
||||
hoodB*Math.pow(dist, 2) +
|
||||
hoodC*Math.pow(dist, 1) +
|
||||
hoodD;
|
||||
}
|
||||
if (lockBack){
|
||||
hoodPos-=0.04;
|
||||
}
|
||||
|
||||
hoodPos = Math.max(0.48, Math.min(0.88, hoodPos));
|
||||
}
|
||||
public double getHoodPredicted(){
|
||||
return hoodPos;
|
||||
}
|
||||
|
||||
private void distToTransferPow(double dist, double voltage){
|
||||
if (dist < 140){
|
||||
transferPow = -0.85;
|
||||
} else {
|
||||
transferPow = -0.7;
|
||||
}
|
||||
}
|
||||
public double getTransferPow(){return transferPow;}
|
||||
|
||||
// 27
|
||||
public double getVeloStationary (double distance){
|
||||
return distToRPM(distance);
|
||||
}
|
||||
|
||||
double predictedDist = 0;
|
||||
public void getVeloPredictive(double dx, double dy, double xVel, double xAcc, double yVel, double yAcc, double voltage, double velocity) {
|
||||
|
||||
double predictedDx = dx - (xVel * xVelK) - (0.5 * xAcc * xAccK); // Negative bc dx = target - robot
|
||||
double predictedDy = dy - (yVel * yVelK) - (0.5 * yAcc * yAccK); // Negative bc dy = target - robot
|
||||
|
||||
double goalHeight = 28;
|
||||
predictedDist = Math.sqrt(predictedDx*predictedDx + predictedDy*predictedDy + goalHeight * goalHeight);
|
||||
|
||||
distToHood(predictedDist);
|
||||
distToTransferPow(predictedDist, voltage);
|
||||
distToRPM(predictedDist);
|
||||
|
||||
// hoodPos += adjustHood(predictedDist, velocity, velo);
|
||||
}
|
||||
|
||||
public double adjustHood(double dist, double currentVelocity, double targetVelocity){
|
||||
double error = targetVelocity - currentVelocity;
|
||||
if (dist < farBound || error < 0){
|
||||
error = 0;
|
||||
}
|
||||
System.out.println("Error "+ error);
|
||||
return error * errorHoodAdjustment;
|
||||
}
|
||||
|
||||
public double getPredictedRPM(){return velo;}
|
||||
|
||||
public double getDistance(){return predictedDist;}
|
||||
}
|
||||
@@ -9,21 +9,28 @@ repositories {
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation 'org.firstinspires.ftc:Inspection:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Blocks:11.1.0'
|
||||
//noinspection Aligned16KB
|
||||
implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Hardware:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Vision:11.1.0'
|
||||
implementation 'org.firstinspires.ftc:Inspection:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:Blocks:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:Hardware:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
|
||||
implementation 'org.firstinspires.ftc:Vision:11.0.0'
|
||||
implementation 'androidx.appcompat:appcompat:1.2.0'
|
||||
|
||||
|
||||
implementation 'com.pedropathing:ftc:2.1.1'
|
||||
implementation 'com.pedropathing:telemetry:1.0.0'
|
||||
implementation 'com.bylazar:fullpanels:1.0.12'
|
||||
|
||||
implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
|
||||
implementation 'com.pedropathing:telemetry:0.0.6' //PedroTele
|
||||
|
||||
implementation 'com.bylazar:fullpanels:1.0.2' //Panels
|
||||
|
||||
implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
|
||||
implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
|
||||
implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
|
||||
implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
|
||||
|
||||
implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
|
||||
|
||||
implementation 'com.rowanmcalpin.nextftc:core:0.6.2' //NEXT FTC
|
||||
@@ -33,5 +40,11 @@ dependencies {
|
||||
implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -25,9 +25,5 @@ allprojects {
|
||||
}
|
||||
|
||||
repositories {
|
||||
repositories {
|
||||
mavenCentral()
|
||||
google()
|
||||
maven { url 'https://maven.pedropathing.com' }
|
||||
}
|
||||
mavenCentral()
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user