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0c9e8c3287
| Author | SHA1 | Date | |
|---|---|---|---|
| 0c9e8c3287 | |||
| 506e45ac19 | |||
| 8b07ed5579 | |||
| c368552724 | |||
| 934cabafc5 | |||
| 05107ab828 | |||
| 7ef9d3a556 | |||
| a84891bc06 | |||
| 21b4b0b4f5 | |||
| 5faa373cad | |||
| 32d481c031 | |||
| 3e8e2c2b4b | |||
| 458b6f53a2 | |||
| aea3f0b2d4 | |||
| bcf59ff458 | |||
| 065bcfa40b |
@@ -23,19 +23,6 @@ android {
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}
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}
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repositories {
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maven {
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url = 'https://maven.brott.dev/'
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}
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}
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dependencies {
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implementation project(':FtcRobotController')
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implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
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implementation "com.acmerobotics.roadrunner:core:1.0.1"
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implementation "com.acmerobotics.roadrunner:actions:1.0.1"
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implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
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implementation 'org.ftclib.ftclib:core:2.1.1' // core
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}
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@@ -1,920 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
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import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.TranslationalVelConstraint;
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import com.acmerobotics.roadrunner.Vector2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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|
||||
import org.firstinspires.ftc.teamcode.constants.Poses_V2;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.Flywheel;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import org.firstinspires.ftc.teamcode.utils.Spindexer;
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import org.firstinspires.ftc.teamcode.utils.Targeting;
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import org.firstinspires.ftc.teamcode.utils.Turret;
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||||
@Disabled
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@Config
|
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class Auto_LT_Close_12Ball extends LinearOpMode {
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public static double shoot0Vel = 2300, shoot0Hood = 0.93;
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public static double autoSpinStartPos = 0.2;
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public static double shoot0SpinSpeedIncrease = 0.014;
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public static double spindexerSpeedIncrease = 0.02;
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public static double obeliskTurrPos = 0.53;
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public static double normalIntakeTime = 3.0;
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public static double shoot1Turr = 0.57;
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public static double shoot0XTolerance = 1.0;
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public static double turretShootPos = 0.53;
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public static double shootAllTime = 1.8;
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public static double shoot0Time = 1.6;
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public static double intake1Time = 3.0;
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public static double flywheel0Time = 3.5;
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public static double pickup1Speed = 17;
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// ---- SECOND SHOT / PICKUP ----
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public static double shoot1Vel = 2300;
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public static double shoot1Hood = 0.93;
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public static double shootAllVelocity = 2500;
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public static double shootAllHood = 0.78;
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// ---- PICKUP TIMING ----
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public static double pickup1Time = 3.0;
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// ---- PICKUP POSITION TOLERANCES ----
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public static double pickup1XTolerance = 2.0;
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public static double pickup1YTolerance = 2.0;
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// ---- OBELISK DETECTION ----
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public static double obelisk1Time = 1.5;
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public static double obelisk1XTolerance = 2.0;
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||||
public static double obelisk1YTolerance = 2.0;
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public static double shoot1ToleranceX = 2.0;
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public static double shoot1ToleranceY = 2.0;
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public static double shoot1Time = 2.0;
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public static double shootCycleTime = 2.5;
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public int motif = 0;
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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Servos servos;
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Spindexer spindexer;
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Flywheel flywheel;
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Turret turret;
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Targeting targeting;
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Targeting.Settings targetingSettings;
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private double x1, y1, h1;
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||||
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||||
private double x2a, y2a, h2a, t2a;
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||||
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||||
private double x2b, y2b, h2b, t2b;
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||||
private double x2c, y2c, h2c, t2c;
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||||
|
||||
private double x3a, y3a, h3a;
|
||||
private double x3b, y3b, h3b;
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||||
private double x4a, y4a, h4a;
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||||
private double x4b, y4b, h4b;
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||||
|
||||
private double xShoot, yShoot, hShoot;
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||||
private double xGate, yGate, hGate;
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||||
private double xPrep, yPrep, hPrep;
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||||
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||||
private double shoot1Tangent;
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||||
|
||||
|
||||
public Action prepareShootAll(double time) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
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||||
|
||||
@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.manualSetTurret(turretShootPos);
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||||
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||||
robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
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||||
drive.updatePoseEstimate();
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||||
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||||
teleStart = drive.localizer.getPose();
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||||
TELE.addData("Velocity", flywheel.getVelo());
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||||
TELE.addData("Hood", robot.hood.getPosition());
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||||
TELE.update();
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||||
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||||
return (System.currentTimeMillis() - stamp) < (time * 1000);
|
||||
|
||||
}
|
||||
};
|
||||
}
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||||
|
||||
public Action shootAll(int vel, double shootTime, double spindexSpeed) {
|
||||
return new Action() {
|
||||
int ticker = 1;
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||||
|
||||
double stamp = 0.0;
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||||
|
||||
double velo = vel;
|
||||
|
||||
int shooterTicker = 0;
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||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", flywheel.getVelo());
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||||
TELE.addData("Hood", robot.hood.getPosition());
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TELE.update();
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flywheel.manageFlywheel(vel);
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velo = flywheel.getVelo();
|
||||
|
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drive.updatePoseEstimate();
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|
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teleStart = drive.localizer.getPose();
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|
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robot.intake.setPower(-0.3);
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|
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if (ticker == 1) {
|
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stamp = getRuntime();
|
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}
|
||||
ticker++;
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||||
|
||||
robot.intake.setPower(0);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
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|
||||
if (getRuntime() - stamp < shootTime) {
|
||||
|
||||
if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
|
||||
robot.spin1.setPosition(autoSpinStartPos);
|
||||
robot.spin2.setPosition(1 - autoSpinStartPos);
|
||||
} else {
|
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robot.transferServo.setPosition(transferServo_in);
|
||||
shooterTicker++;
|
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double prevSpinPos = robot.spin1.getPosition();
|
||||
robot.spin1.setPosition(prevSpinPos + spindexSpeed);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
|
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}
|
||||
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
spindexer.resetSpindexer();
|
||||
spindexer.processIntake();
|
||||
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action shootAllAuto(double shootTime, double spindexSpeed) {
|
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return new Action() {
|
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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);
|
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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
|
||||
Pose2d deltaPose = new Pose2d(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.manualSetTurret(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
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,804 +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.Poses.bh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
|
||||
import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
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.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.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.List;
|
||||
@Disabled
|
||||
@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;
|
||||
Servos servo;
|
||||
double velo = 0.0;
|
||||
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 Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
return !flywheel.getSteady();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
int id = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
id = fiducial.getFiducialId();
|
||||
TELE.addData("ID", id);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (id == 21) {
|
||||
gpp = true;
|
||||
} else if (id == 22) {
|
||||
pgp = true;
|
||||
} else if (id == 23) {
|
||||
ppg = true;
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg) {
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(3);
|
||||
robot.turr1.setPosition(turret_redClose);
|
||||
robot.turr2.setPosition(1 - turret_redClose);
|
||||
return false;
|
||||
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
double turretPID = turret_blueClose;
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex(double spindexer, int vel) {
|
||||
return new Action() {
|
||||
double spinPID = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
spinPID = servo.setSpinPos(spindexer);
|
||||
robot.spin1.setPosition(spinPID);
|
||||
robot.spin2.setPosition(-spinPID);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (servo.spinEqual(spindexer)) {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
public Action Shoot(int vel) {
|
||||
return new Action() {
|
||||
int ticker = 1;
|
||||
double initPos = 0.0;
|
||||
double finalPos = 0.0;
|
||||
boolean zeroNeeded = false;
|
||||
boolean zeroPassed = false;
|
||||
double currentPos = 0.0;
|
||||
double prevPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
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);
|
||||
|
||||
if (getRuntime() - stamp < 2.7) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
|
||||
robot.spin1.setPosition(-spinPow);
|
||||
robot.spin2.setPosition(spinPow);
|
||||
return true;
|
||||
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindexUnjam(double jamTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
|
||||
|
||||
|
||||
ticker++;
|
||||
|
||||
if (ticker == 1) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
|
||||
if (ticker % 12 < 6) {
|
||||
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
|
||||
} else {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
}
|
||||
|
||||
if (getRuntime() - stamp > jamTime+0.4) {
|
||||
|
||||
robot.intake.setPower(0.5);
|
||||
|
||||
return false;
|
||||
}
|
||||
else if (getRuntime() - stamp > jamTime) {
|
||||
|
||||
robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
else {
|
||||
robot.intake.setPower(1);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double spinCurrentPos = 0.0;
|
||||
double spinInitPos = 0.0;
|
||||
boolean reverse = false;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (ticker % 60 < 12) {
|
||||
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(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);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
|
||||
if (getRuntime() - stamp > intakeTime) {
|
||||
if (reverse) {
|
||||
robot.spin1.setPosition(-1);
|
||||
robot.spin2.setPosition(1);
|
||||
} else {
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(-1);
|
||||
}
|
||||
return false;
|
||||
} else {
|
||||
if (ticker % 4 == 0) {
|
||||
spinCurrentPos = servo.getSpinPos();
|
||||
reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
|
||||
spinInitPos = spinCurrentPos;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect(int vel) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
flywheel.manageFlywheel(vel);
|
||||
velo = flywheel.getVelo();
|
||||
|
||||
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 Flywheel(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
servo = new Servos(hardwareMap);
|
||||
|
||||
robot.limelight.pipelineSwitch(1);
|
||||
robot.limelight.start();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
//
|
||||
// TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto -= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
redAlliance = !redAlliance;
|
||||
|
||||
}
|
||||
|
||||
double turretPID;
|
||||
if (redAlliance) {
|
||||
turretPID = turret_redClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
// lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
// .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
|
||||
.strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
} else {
|
||||
turretPID = turret_blueClose;
|
||||
|
||||
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
|
||||
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
|
||||
.strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
|
||||
new TranslationalVelConstraint(slowSpeed));
|
||||
shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
}
|
||||
|
||||
robot.turr1.setPosition(turretPID);
|
||||
robot.turr2.setPosition(1 - turretPID);
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
TELE.addData("Red?", redAlliance);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.transfer.setPower(0);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
shoot1.build(),
|
||||
spindexUnjam(spinUnjamTime)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
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(),
|
||||
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)
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
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 = (bearing / 1300);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addLine("Shooting");
|
||||
TELE.update();
|
||||
Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
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 colorFilterAlpha = 1;
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Poses {
|
||||
|
||||
public static double goalHeight = 42; //in inches
|
||||
|
||||
public static double turretHeight = 12;
|
||||
|
||||
public static double relativeGoalHeight = goalHeight - turretHeight;
|
||||
|
||||
public static Pose2d goalPose = new Pose2d(-10, 0, 0);
|
||||
|
||||
public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
|
||||
public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
|
||||
public static double rx2b = 19, ry2b = 40, rh2b = Math.toRadians(140.1);
|
||||
|
||||
public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
|
||||
|
||||
public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
|
||||
|
||||
public static double rx3aG = 60, ry3aG = 34, rh3aG = Math.toRadians(140);
|
||||
|
||||
public static double rx3b = 36, ry3b = 58, rh3b = Math.toRadians(140.1);
|
||||
|
||||
public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
|
||||
public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
|
||||
|
||||
public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
|
||||
public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
|
||||
public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
|
||||
public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
|
||||
|
||||
public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
|
||||
public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
|
||||
public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
|
||||
|
||||
|
||||
public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
|
||||
public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
|
||||
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
|
||||
|
||||
public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
|
||||
public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
|
||||
|
||||
public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
|
||||
public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
|
||||
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(0, 0, 0);
|
||||
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@Config
|
||||
public class Poses_V2 {
|
||||
|
||||
public static double goalHeight = 42; //in inches
|
||||
|
||||
public static double turretHeight = 12;
|
||||
|
||||
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);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos1 = 0.07; //0.13;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
|
||||
public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
|
||||
public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
|
||||
public static double spinStartPos = 0.22;
|
||||
public static double spinEndPos = 0.85;
|
||||
|
||||
public static double shootAllAutoSpinStartPos = 0.2;
|
||||
public static double shootAllSpindexerSpeedIncrease = 0.014;
|
||||
public static double shootAllTime = 1.8;
|
||||
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
public static double transferServo_in = 0.38;
|
||||
|
||||
public static double turret_range = 0.9;
|
||||
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double hoodAuto = 0.27;
|
||||
|
||||
public static double hoodOffset = -0.05;
|
||||
|
||||
public static double turret_redClose = 0.42;
|
||||
public static double turret_blueClose = 0.38;
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ShooterVars {
|
||||
public static double turret_GearRatio = 0.9974;
|
||||
|
||||
public static double turret_Range = 355;
|
||||
|
||||
public static int velTolerance = 300;
|
||||
|
||||
public static int initTolerance = 1000;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
public static double waitTransferOut = 0.3;
|
||||
public static double waitTransfer = 0.4;
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3175; //3300;
|
||||
public static int AUTO_FAR_VEL = 4000; //TODO: test this
|
||||
|
||||
public static Types.Motif currentMotif = Types.Motif.NONE;
|
||||
}
|
||||
@@ -1,10 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class Types {
|
||||
public enum Motif {
|
||||
NONE,
|
||||
GPP, // Green, Purple, Purple
|
||||
PGP, // Purple, Green, Purple
|
||||
PPG // Purple, Purple, Green
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.disabled;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,5 +1,6 @@
|
||||
package org.firstinspires.ftc.teamcode.libs.RR;
|
||||
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
||||
@@ -34,7 +35,6 @@ import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.IMU;
|
||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
||||
@@ -58,33 +58,33 @@ public final class MecanumDrive {
|
||||
// TODO: fill in these values based on
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
|
||||
RevHubOrientationOnRobot.LogoFacingDirection.UP;
|
||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
|
||||
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
|
||||
|
||||
// drive model parameters
|
||||
public double inPerTick = 0.001978956;
|
||||
public double lateralInPerTick = 0.0013863732202094405;
|
||||
public double trackWidthTicks = 6488.883015684446;
|
||||
public double inPerTick = 1;
|
||||
public double lateralInPerTick = inPerTick;
|
||||
public double trackWidthTicks = 0;
|
||||
|
||||
// feedforward parameters (in tick units)
|
||||
public double kS = 1.2147826978829488;
|
||||
public double kV = 0.00032;
|
||||
public double kA = 0.000046;
|
||||
public double kS = 0;
|
||||
public double kV = 0;
|
||||
public double kA = 0;
|
||||
|
||||
// path profile parameters (in inches)
|
||||
public double maxWheelVel = 180;
|
||||
public double minProfileAccel = -40;
|
||||
public double maxProfileAccel = 180;
|
||||
public double maxWheelVel = 50;
|
||||
public double minProfileAccel = -30;
|
||||
public double maxProfileAccel = 50;
|
||||
|
||||
// turn profile parameters (in radians)
|
||||
public double maxAngVel = 4* Math.PI; // shared with path
|
||||
public double maxAngAccel = 4* Math.PI;
|
||||
public double maxAngVel = Math.PI; // shared with path
|
||||
public double maxAngAccel = Math.PI;
|
||||
|
||||
// path controller gains
|
||||
public double axialGain = 4;
|
||||
public double lateralGain = 4;
|
||||
public double headingGain = 4; // shared with turn
|
||||
public double axialGain = 0.0;
|
||||
public double lateralGain = 0.0;
|
||||
public double headingGain = 0.0; // shared with turn
|
||||
|
||||
public double axialVelGain = 0.0;
|
||||
public double lateralVelGain = 0.0;
|
||||
@@ -212,6 +212,7 @@ public final class MecanumDrive {
|
||||
headingDelta
|
||||
));
|
||||
|
||||
|
||||
return twist.velocity().value();
|
||||
}
|
||||
}
|
||||
@@ -223,12 +224,12 @@ public final class MecanumDrive {
|
||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||
}
|
||||
|
||||
// TODO: make sure your config has motors with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has motors with these names (or change them)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
leftFront = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
leftBack = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
rightBack = hardwareMap.get(DcMotorEx.class, "br");
|
||||
rightFront = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
|
||||
leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
|
||||
rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
|
||||
rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
|
||||
|
||||
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
@@ -236,19 +237,16 @@ public final class MecanumDrive {
|
||||
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
// TODO: reverse motor directions if needed
|
||||
//
|
||||
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
||||
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||
|
||||
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
||||
|
||||
localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
|
||||
localizer = new DriveLocalizer(pose);
|
||||
|
||||
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
||||
}
|
||||
@@ -454,14 +452,14 @@ public final class MecanumDrive {
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
@@ -28,7 +28,7 @@ public class OTOSLocalizer implements Localizer {
|
||||
private Pose2d currentPose;
|
||||
|
||||
public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
|
||||
// TODO: make sure your config has an OTOS device with this name
|
||||
// TODO: make sure your HardwareConfig has an OTOS device with this name
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
|
||||
currentPose = initialPose;
|
||||
|
||||
@@ -16,8 +16,8 @@ import java.util.Objects;
|
||||
@Config
|
||||
public final class PinpointLocalizer implements Localizer {
|
||||
public static class Params {
|
||||
public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
|
||||
public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
|
||||
public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
|
||||
}
|
||||
|
||||
public static Params PARAMS = new Params();
|
||||
@@ -29,7 +29,7 @@ public final class PinpointLocalizer implements Localizer {
|
||||
private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
|
||||
|
||||
public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
||||
// TODO: make sure your config has a Pinpoint device with this name
|
||||
// TODO: make sure your HardwareConfig has a Pinpoint device with this name
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
|
||||
|
||||
@@ -38,7 +38,7 @@ public final class PinpointLocalizer implements Localizer {
|
||||
driver.setOffsets(mmPerTick * PARAMS.parYTicks, mmPerTick * PARAMS.perpXTicks, DistanceUnit.MM);
|
||||
|
||||
// TODO: reverse encoder directions if needed
|
||||
initialParDirection = GoBildaPinpointDriver.EncoderDirection.REVERSED;
|
||||
initialParDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
||||
initialPerpDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
|
||||
|
||||
driver.setEncoderDirections(initialParDirection, initialPerpDirection);
|
||||
|
||||
@@ -232,7 +232,7 @@ public final class TankDrive {
|
||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
||||
}
|
||||
|
||||
// TODO: make sure your config has motors with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has motors with these names (or change them)
|
||||
// add additional motors on each side if you have them
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
|
||||
@@ -248,7 +248,7 @@ public final class TankDrive {
|
||||
// TODO: reverse motor directions if needed
|
||||
// leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
||||
// TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
||||
|
||||
@@ -37,7 +37,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
|
||||
private Pose2d pose;
|
||||
|
||||
public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
|
||||
// TODO: make sure your config has **motors** with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
|
||||
// the encoders should be plugged into the slot matching the named motor
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
|
||||
|
||||
@@ -46,7 +46,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
|
||||
private Pose2d pose;
|
||||
|
||||
public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
|
||||
// TODO: make sure your config has **motors** with these names (or change them)
|
||||
// TODO: make sure your HardwareConfig has **motors** with these names (or change them)
|
||||
// the encoders should be plugged into the slot matching the named motor
|
||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
||||
par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
|
||||
|
||||
@@ -1,130 +1,147 @@
|
||||
## TeamCode Module
|
||||
# Team FTC Git Workflow Guide
|
||||
|
||||
Welcome!
|
||||
|
||||
This module, TeamCode, is the place where you will write/paste the code for your team's
|
||||
robot controller App. This module is currently empty (a clean slate) but the
|
||||
process for adding OpModes is straightforward.
|
||||
## 1. Cloning the Repository
|
||||
|
||||
## Creating your own OpModes
|
||||
1. Open a terminal (or the terminal inside Android Studio).
|
||||
2. Navigate to the folder where you want to keep the project.
|
||||
3. Run:
|
||||
|
||||
The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
|
||||
```bash
|
||||
git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
|
||||
cd DecodeFTCMain
|
||||
```
|
||||
|
||||
Sample opmodes exist in the FtcRobotController module.
|
||||
To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
|
||||
4. Verify your remotes:
|
||||
|
||||
Expand the following tree elements:
|
||||
FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
|
||||
```bash
|
||||
git remote -v
|
||||
```
|
||||
|
||||
### Naming of Samples
|
||||
You should see:
|
||||
```
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
|
||||
```
|
||||
|
||||
To gain a better understanding of how the samples are organized, and how to interpret the
|
||||
naming system, it will help to understand the conventions that were used during their creation.
|
||||
---
|
||||
|
||||
These conventions are described (in detail) in the sample_conventions.md file in this folder.
|
||||
## 2. Keeping `master` Clean
|
||||
|
||||
To summarize: A range of different samples classes will reside in the java/external/samples.
|
||||
The class names will follow a naming convention which indicates the purpose of each class.
|
||||
The prefix of the name will be one of the following:
|
||||
- `master` should only contain clean, tested code.
|
||||
- Nobody should ever code directly on `master`.
|
||||
- To stay up to date:
|
||||
|
||||
Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure
|
||||
of a particular style of OpMode. These are bare bones examples.
|
||||
```bash
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
```
|
||||
|
||||
Sensor: This is a Sample OpMode that shows how to use a specific sensor.
|
||||
It is not intended to drive a functioning robot, it is simply showing the minimal code
|
||||
required to read and display the sensor values.
|
||||
---
|
||||
|
||||
Robot: This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
|
||||
It may be used to provide a common baseline driving OpMode, or
|
||||
to demonstrate how a particular sensor or concept can be used to navigate.
|
||||
## 3. Creating a Feature Branch
|
||||
|
||||
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
|
||||
These may be complex, but their operation should be explained clearly in the comments,
|
||||
or the comments should reference an external doc, guide or tutorial.
|
||||
Each OpMode should try to only demonstrate a single concept so they are easy to
|
||||
locate based on their name. These OpModes may not produce a drivable robot.
|
||||
Whenever you start a new task (feature, fix, experiment):
|
||||
|
||||
After the prefix, other conventions will apply:
|
||||
1. Update `master` (see above).
|
||||
2. Create a new branch from `master`:
|
||||
|
||||
* Sensor class names are constructed as: Sensor - Company - Type
|
||||
* Robot class names are constructed as: Robot - Mode - Action - OpModetype
|
||||
* Concept class names are constructed as: Concept - Topic - OpModetype
|
||||
```bash
|
||||
git checkout master
|
||||
git pull origin master
|
||||
git checkout -b feature/short-description
|
||||
```
|
||||
|
||||
Once you are familiar with the range of samples available, you can choose one to be the
|
||||
basis for your own robot. In all cases, the desired sample(s) needs to be copied into
|
||||
your TeamCode module to be used.
|
||||
### Branch Naming Standard
|
||||
|
||||
This is done inside Android Studio directly, using the following steps:
|
||||
|
||||
1) Locate the desired sample class in the Project/Android tree.
|
||||
|
||||
2) Right click on the sample class and select "Copy"
|
||||
|
||||
3) Expand the TeamCode/java folder
|
||||
|
||||
4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
|
||||
|
||||
5) You will be prompted for a class name for the copy.
|
||||
Choose something meaningful based on the purpose of this class.
|
||||
Start with a capital letter, and remember that there may be more similar classes later.
|
||||
|
||||
Once your copy has been created, you should prepare it for use on your robot.
|
||||
This is done by adjusting the OpMode's name, and enabling it to be displayed on the
|
||||
Driver Station's OpMode list.
|
||||
|
||||
Each OpMode sample class begins with several lines of code like the ones shown below:
|
||||
Branches **must** follow the format:
|
||||
|
||||
```
|
||||
@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
|
||||
@Disabled
|
||||
<type>/<short-description>
|
||||
```
|
||||
|
||||
The name that will appear on the driver station's "opmode list" is defined by the code:
|
||||
``name="Template: Linear OpMode"``
|
||||
You can change what appears between the quotes to better describe your opmode.
|
||||
The "group=" portion of the code can be used to help organize your list of OpModes.
|
||||
Where `<type>` is one of:
|
||||
- `feature/` → new functionality
|
||||
- `fix/` → bug fixes
|
||||
- `experiment/` → prototypes or tests
|
||||
- `docs/` → documentation updates
|
||||
- `chore/` → maintenance or cleanup
|
||||
|
||||
As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
|
||||
``@Disabled`` annotation which has been included.
|
||||
This line can simply be deleted , or commented out, to make the OpMode visible.
|
||||
Examples:
|
||||
- `feature/autonomous-path`
|
||||
- `fix/motor-init`
|
||||
- `experiment/vision-test`
|
||||
- `docs/setup-instructions`
|
||||
- `chore/gradle-update`
|
||||
|
||||
## ADVANCED Multi-Team App management: Cloning the TeamCode Module
|
||||
**Rules for names:**
|
||||
- Use lowercase letters and hyphens (`-`) only.
|
||||
- Keep it short but clear (3–5 words).
|
||||
- One branch = one task. Never mix unrelated work.
|
||||
|
||||
In some situations, you have multiple teams in your club and you want them to all share
|
||||
a common code organization, with each being able to *see* the others code but each having
|
||||
their own team module with their own code that they maintain themselves.
|
||||
---
|
||||
|
||||
In this situation, you might wish to clone the TeamCode module, once for each of these teams.
|
||||
Each of the clones would then appear along side each other in the Android Studio module list,
|
||||
together with the FtcRobotController module (and the original TeamCode module).
|
||||
## 4. Working on Your Branch
|
||||
|
||||
Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
|
||||
prior to clicking to the green Run arrow.
|
||||
- Make changes in Android Studio.
|
||||
- Stage and commit your changes:
|
||||
|
||||
Warning: This is not for the inexperienced Software developer.
|
||||
You will need to be comfortable with File manipulations and managing Android Studio Modules.
|
||||
These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
|
||||
```bash
|
||||
git add .
|
||||
git commit -m "short message about what changed"
|
||||
```
|
||||
|
||||
Also.. Make a full project backup before you start this :)
|
||||
- Push your branch to GitHub:
|
||||
|
||||
To clone TeamCode, do the following:
|
||||
```bash
|
||||
git push origin feature/short-description
|
||||
```
|
||||
|
||||
Note: Some names start with "Team" and others start with "team". This is intentional.
|
||||
---
|
||||
|
||||
1) Using your operating system file management tools, copy the whole "TeamCode"
|
||||
folder to a sibling folder with a corresponding new name, eg: "Team0417".
|
||||
## 5. Sharing Your Work
|
||||
|
||||
2) In the new Team0417 folder, delete the TeamCode.iml file.
|
||||
- Once your branch is ready:
|
||||
1. Open a Pull Request (PR) on GitHub to merge into `master`.
|
||||
2. At least one teammate should review before merging.
|
||||
|
||||
3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
|
||||
to a matching name with a lowercase 'team' eg: "team0417".
|
||||
---
|
||||
|
||||
4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
|
||||
contains
|
||||
package="org.firstinspires.ftc.teamcode"
|
||||
to be
|
||||
package="org.firstinspires.ftc.team0417"
|
||||
## 6. Branching Rules
|
||||
|
||||
5) Add: include ':Team0417' to the "/settings.gradle" file.
|
||||
**Do:**
|
||||
- Always branch from `master`.
|
||||
- Follow the naming standard exactly.
|
||||
- Keep branches small and focused.
|
||||
- Delete branches after they’re merged.
|
||||
|
||||
6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
|
||||
**Don’t:**
|
||||
- Don’t push commits directly to `master`.
|
||||
- Don’t leave unfinished work on `master`.
|
||||
- Don’t mix unrelated changes in one branch.
|
||||
|
||||
---
|
||||
|
||||
## 7. Example Workflow
|
||||
|
||||
```bash
|
||||
# Get latest code
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
|
||||
# Start a new feature
|
||||
git checkout -b feature/teleop-improvements
|
||||
|
||||
# Work on code, then commit
|
||||
git add .
|
||||
git commit -m "improved joystick scaling in TeleOp"
|
||||
|
||||
# Push branch
|
||||
git push origin feature/teleop-improvements
|
||||
```
|
||||
|
||||
@@ -1,340 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
|
||||
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.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Drivetrain;
|
||||
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;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class TeleopV3 extends LinearOpMode {
|
||||
public static double manualVel = 3000;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
|
||||
public static double spinPow = 0.09;
|
||||
public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
|
||||
public static double spinSpeedIncrease = 0.03;
|
||||
public static int resetSpinTicks = 4;
|
||||
public static double hoodSpeedOffset = 0.01;
|
||||
public static double turretSpeedOffset = 0.01;
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public boolean targetingHood = true;
|
||||
public boolean autoHood = true;
|
||||
public double shootStamp = 0.0;
|
||||
boolean fixedTurret = false;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
Flywheel flywheel;
|
||||
MecanumDrive drive;
|
||||
Spindexer spindexer;
|
||||
Targeting targeting;
|
||||
Targeting.Settings targetingSettings;
|
||||
Drivetrain drivetrain;
|
||||
double autoHoodOffset = 0.0;
|
||||
int shooterTicker = 0;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
|
||||
boolean autoSpintake = false;
|
||||
boolean enableSpindexerManager = true;
|
||||
|
||||
boolean overrideTurr = false;
|
||||
|
||||
int intakeTicker = 0;
|
||||
|
||||
boolean turretInterpolate = false;
|
||||
private boolean shootAll = false;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
robot.light.setPosition(0);
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
servo = new Servos(hardwareMap);
|
||||
flywheel = new Flywheel(hardwareMap);
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
spindexer = new Spindexer(hardwareMap);
|
||||
targeting = new Targeting();
|
||||
targetingSettings = new Targeting.Settings(0.0, 0.0);
|
||||
|
||||
drivetrain = new Drivetrain(robot, drive);
|
||||
|
||||
PIDFController tController = new PIDFController(tp, ti, td, tf);
|
||||
|
||||
tController.setTolerance(0.001);
|
||||
|
||||
Turret turret = new Turret(robot, TELE, robot.limelight);
|
||||
robot.light.setPosition(1);
|
||||
while (opModeInInit()) {
|
||||
robot.limelight.start();
|
||||
if (redAlliance) {
|
||||
robot.limelight.pipelineSwitch(4);
|
||||
} else {
|
||||
robot.limelight.pipelineSwitch(2);
|
||||
}
|
||||
}
|
||||
|
||||
limelightUsed= true;
|
||||
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
//TELE.addData("Is limelight on?", robot.limelight.getStatus());
|
||||
|
||||
// LIGHT COLORS
|
||||
spindexer.ballCounterLight();
|
||||
|
||||
//DRIVETRAIN:
|
||||
|
||||
drivetrain.drive(
|
||||
-gamepad1.right_stick_y,
|
||||
gamepad1.right_stick_x,
|
||||
gamepad1.left_stick_x,
|
||||
gamepad1.left_trigger
|
||||
);
|
||||
|
||||
if (gamepad1.right_bumper) {
|
||||
shootAll = false;
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
}
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
double offset;
|
||||
|
||||
double robX = drive.localizer.getPose().position.x;
|
||||
double robY = drive.localizer.getPose().position.y;
|
||||
|
||||
double robotX = robX - xOffset;
|
||||
double robotY = robY - yOffset;
|
||||
double robotHeading = drive.localizer.getPose().heading.toDouble();
|
||||
|
||||
double goalX = -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, turretInterpolate);
|
||||
|
||||
turret.trackGoal(deltaPose);
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
if (autoVel) {
|
||||
vel = targetingSettings.flywheelRPM;
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4600;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
flywheel.manageFlywheel(vel);
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (targetingHood) {
|
||||
robot.hood.setPosition(targetingSettings.hoodAngle + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
autoHoodOffset -= hoodSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
autoHoodOffset += hoodSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadLeftWasPressed()) {
|
||||
Turret.manualOffset -= turretSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
} else if (gamepad2.dpadRightWasPressed()) {
|
||||
Turret.manualOffset += turretSpeedOffset;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
limelightUsed = true;
|
||||
gamepad2.rumble(80);
|
||||
} else if (gamepad2.leftBumperWasPressed()) {
|
||||
limelightUsed = false;
|
||||
gamepad2.rumble(80);
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (enableSpindexerManager) {
|
||||
//if (!shootAll) {
|
||||
spindexer.processIntake();
|
||||
//}
|
||||
|
||||
// RIGHT_BUMPER
|
||||
if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
|
||||
robot.intake.setPower(1);
|
||||
} else if (gamepad1.cross) {
|
||||
robot.intake.setPower(-1);
|
||||
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
|
||||
}
|
||||
|
||||
// LEFT_BUMPER
|
||||
if (!shootAll && gamepad1.leftBumperWasReleased()) {
|
||||
shootStamp = getRuntime();
|
||||
shootAll = true;
|
||||
|
||||
shooterTicker = 0;
|
||||
|
||||
}
|
||||
intakeTicker++;
|
||||
if (shootAll) {
|
||||
intakeTicker = 0;
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (shooterTicker == 0) {
|
||||
spindexer.prepareShootAllContinous();
|
||||
//TELE.addLine("preparing to shoot");
|
||||
// } else if (shooterTicker == 2) {
|
||||
// //robot.transferServo.setPosition(transferServo_in);
|
||||
// spindexer.shootAll();
|
||||
// TELE.addLine("starting to shoot");
|
||||
} else if (!spindexer.shootAllComplete()) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
//TELE.addLine("shoot");
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
shootAll = false;
|
||||
spindexer.resetSpindexer();
|
||||
//spindexer.processIntake();
|
||||
//TELE.addLine("stop shooting");
|
||||
}
|
||||
shooterTicker++;
|
||||
//spindexer.processIntake();
|
||||
}
|
||||
|
||||
if (gamepad1.left_stick_button) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
//spindexPos = spindexer_intakePos1;
|
||||
|
||||
shootAll = false;
|
||||
spindexer.resetSpindexer();
|
||||
}
|
||||
}
|
||||
|
||||
//EXTRA STUFFINESS:
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
//
|
||||
// TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
// TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
// TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
//
|
||||
// TELE.addData("pose", drive.localizer.getPose());
|
||||
// TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
// TELE.addData("distanceToGoal", distanceToGoal);
|
||||
// TELE.addData("hood", robot.hood.getPosition());
|
||||
// TELE.addData("targetVel", vel);
|
||||
// TELE.addData("Velocity", flywheel.getVelo());
|
||||
// TELE.addData("Velo1", flywheel.velo1);
|
||||
// TELE.addData("Velo2", flywheel.velo2);
|
||||
// TELE.addData("shootOrder", shootOrder);
|
||||
// TELE.addData("oddColor", oddBallColor);
|
||||
//
|
||||
// // Spindexer Debug
|
||||
// TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
|
||||
// TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
|
||||
// TELE.addData("spinIntakeState", spindexer.currentIntakeState);
|
||||
// TELE.addData("spinTestCounter", spindexer.counter);
|
||||
// TELE.addData("autoSpintake", autoSpintake);
|
||||
//
|
||||
TELE.addData("shootall commanded", shootAll);
|
||||
// Targeting Debug
|
||||
TELE.addData("robotX", robotX);
|
||||
TELE.addData("robotY", robotY);
|
||||
TELE.addData("robotInchesX", targeting.robotInchesX);
|
||||
TELE.addData( "robotInchesY", targeting.robotInchesY);
|
||||
TELE.addData("Targeting Interpolate", turretInterpolate);
|
||||
TELE.addData("Targeting GridX", targeting.robotGridX);
|
||||
TELE.addData("Targeting GridY", targeting.robotGridY);
|
||||
TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
|
||||
TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
|
||||
TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,15 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class Test extends LinearOpMode {
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
public class blank {
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class AprilTagWebcamExample extends OpMode {
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
|
||||
@Override
|
||||
public void init() {
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void loop() {
|
||||
|
||||
aprilTagWebcam.update();
|
||||
aprilTagWebcam.displayAllTelemetry();
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,61 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
|
||||
@Disabled
|
||||
public class ColorSensorTester extends LinearOpMode {
|
||||
|
||||
|
||||
public static String portAName = "pin0";
|
||||
|
||||
public static String portBName = "pin1";
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
|
||||
DigitalChannel pinA = hardwareMap.digitalChannel.get(portAName);
|
||||
DigitalChannel pinB = hardwareMap.digitalChannel.get(portBName);
|
||||
|
||||
|
||||
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry,
|
||||
FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
TELE.addData("pinA", pinA.getState());
|
||||
TELE.addData("pinB", pinB.getState());
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,66 +0,0 @@
|
||||
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 org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ColorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
double color1Distance = 0;
|
||||
double color2Distance = 0;
|
||||
double color3Distance = 0;
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
double dist1 = robot.color1.getDistance(DistanceUnit.MM);
|
||||
color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", color1Distance);
|
||||
|
||||
// ----- 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);
|
||||
|
||||
// ----- 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.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,222 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Servos;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
|
||||
public class IntakeTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Servos servo;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
public static int mode = 0; // 0 for teleop, 1 for auto
|
||||
public static double manualPow = 0.15;
|
||||
double stamp = 0;
|
||||
int ticker = 0;
|
||||
boolean steadySpin = false;
|
||||
double powPID = 0.0;
|
||||
boolean intake = true;
|
||||
double spindexerPos = spindexer_intakePos1;
|
||||
boolean wasMoving = false;
|
||||
double currentPos = 0.0;
|
||||
double initPos = 0.0;
|
||||
boolean reverse = false;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
robot = new Robot(hardwareMap);
|
||||
servo = new Servos(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
if (mode == 0) {
|
||||
if (gamepad1.right_bumper) {
|
||||
ticker++;
|
||||
if (ticker % 16 == 0){
|
||||
currentPos = servo.getSpinPos();
|
||||
if (Math.abs(currentPos - initPos) == 0.0){
|
||||
reverse = !reverse;
|
||||
}
|
||||
initPos = currentPos;
|
||||
}
|
||||
if (reverse){
|
||||
robot.spin1.setPosition(manualPow);
|
||||
robot.spin2.setPosition(-manualPow);
|
||||
} else {
|
||||
robot.spin1.setPosition(-manualPow);
|
||||
robot.spin2.setPosition(manualPow);
|
||||
}
|
||||
robot.intake.setPower(1);
|
||||
stamp = getRuntime();
|
||||
TELE.addData("Reverse?", reverse);
|
||||
TELE.update();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
|
||||
if (getRuntime() - stamp < 1) {
|
||||
robot.intake.setPower(-(getRuntime() - stamp)*2);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
ticker = 0;
|
||||
}
|
||||
} else if (mode == 1) {
|
||||
|
||||
if (gamepad1.right_bumper && intake){
|
||||
robot.intake.setPower(1);
|
||||
} else if (gamepad1.left_bumper){
|
||||
robot.intake.setPower(-1);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
colorDetect();
|
||||
spindexer();
|
||||
|
||||
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
|
||||
if (!ballIn(2)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
}
|
||||
} else if (!ballIn(3)){
|
||||
if (servo.spinEqual(spindexer_intakePos1)){
|
||||
spindexerPos = spindexer_intakePos3;
|
||||
} else if (servo.spinEqual(spindexer_intakePos2)){
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
} else if (servo.spinEqual(spindexer_intakePos3)){
|
||||
spindexerPos = spindexer_intakePos2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if (mode == 2){ // switch to this mode before switching modes or to reset balls
|
||||
powPID = 0;
|
||||
spindexerPos = spindexer_intakePos1;
|
||||
stamp = getRuntime();
|
||||
ticker = 0;
|
||||
spindexer();
|
||||
intake = true;
|
||||
}
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
|
||||
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
|
||||
double rx = gamepad1.left_stick_x;
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
TELE.addData("Manual Power", manualPow);
|
||||
TELE.addData("PID Power", powPID);
|
||||
TELE.addData("B1", ballIn(1));
|
||||
TELE.addData("B2", ballIn(2));
|
||||
TELE.addData("B3", ballIn(3));
|
||||
TELE.addData("Spindex Pos", servo.getSpinPos());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
public void colorDetect() {
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
TELE.addData("Color 1 Distance", s1D);
|
||||
TELE.addData("Color 2 Distance", s2D);
|
||||
TELE.addData("Color 3 Distance", s3D);
|
||||
TELE.update();
|
||||
|
||||
if (s1D < 43) {
|
||||
s1T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s2D < 60) {
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 33) {
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
}
|
||||
|
||||
public void spindexer() {
|
||||
boolean atTarget = servo.spinEqual(spindexerPos);
|
||||
|
||||
if (!atTarget) {
|
||||
powPID = servo.setSpinPos(spindexerPos);
|
||||
robot.spin1.setPosition(powPID);
|
||||
robot.spin2.setPosition(-powPID);
|
||||
|
||||
steadySpin = false;
|
||||
wasMoving = true; // remember we were moving
|
||||
stamp = getRuntime();
|
||||
} else {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(0);
|
||||
steadySpin = true;
|
||||
wasMoving = false;
|
||||
}
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
List<Double> times;
|
||||
|
||||
if (slot == 1) {times = s1T;}
|
||||
else if (slot == 2) {times = s2T;}
|
||||
else if (slot == 3) {times = s3T;}
|
||||
else return false;
|
||||
|
||||
if (!times.isEmpty()){
|
||||
return times.get(times.size() - 1) > getRuntime() - 2;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -3,67 +3,66 @@ package org.firstinspires.ftc.teamcode.tests;
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
import org.firstinspires.ftc.teamcode.utils.subsystems.Limelight;
|
||||
|
||||
@Autonomous
|
||||
@Config
|
||||
@TeleOp
|
||||
//TODO: fix to get the apriltag that it is reading
|
||||
|
||||
public class LimelightTest extends LinearOpMode {
|
||||
|
||||
public static String MODE = "AT";
|
||||
public static int pipe = 1;
|
||||
|
||||
|
||||
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 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 {
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
robot = new Robot(hardwareMap);
|
||||
turret = new Turret(robot, TELE, robot.limelight);
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (mode == 0){
|
||||
robot.limelight.pipelineSwitch(pipeline);
|
||||
LLResult result = robot.limelight.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
TELE.addData("tx", result.getTx());
|
||||
TELE.addData("ty", result.getTy());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
} 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);
|
||||
}
|
||||
|
||||
if (turretMode){
|
||||
if (turretPos != 0.501){
|
||||
turret.manualSetTurret(turretPos);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
HardwareConfig.USING_LL= true;
|
||||
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Limelight limelight = new Limelight(robot, TELE);
|
||||
|
||||
limelight.setMode(MODE);
|
||||
|
||||
limelight.setTelemetryOn(true);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
limelight.setPipeline(pipe);
|
||||
|
||||
limelight.setMode(MODE);
|
||||
|
||||
limelight.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class MotorDirectionDebugger extends LinearOpMode {
|
||||
|
||||
public static double flPower = 0.0;
|
||||
|
||||
public static double frPower = 0.0;
|
||||
|
||||
public static double blPower = 0.0;
|
||||
public static double brPower = 0.0;
|
||||
|
||||
Robot robot;
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
robot.frontLeft.setPower(flPower);
|
||||
robot.frontRight.setPower(frPower);
|
||||
robot.backRight.setPower(brPower);
|
||||
robot.backLeft.setPower(blPower);
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,62 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class PIDServoTest extends LinearOpMode {
|
||||
|
||||
public static double p = 2, i = 0, d = 0, f = 0;
|
||||
|
||||
public static double target = 0.5;
|
||||
|
||||
public static int mode = 0; //0 is for turret, 1 is for spindexer
|
||||
|
||||
public static double scalar = 1.01;
|
||||
public static double restPos = 0.0;
|
||||
|
||||
Robot robot;
|
||||
|
||||
double pos = 0.0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
PIDFController controller = new PIDFController(p, i, d, f);
|
||||
|
||||
controller.setTolerance(0.001);
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
controller.setPIDF(p, i, d, f);
|
||||
if (mode == 1) {
|
||||
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
|
||||
|
||||
double pid = controller.calculate(pos, target);
|
||||
|
||||
robot.spin1.setPosition(pid);
|
||||
robot.spin2.setPosition(-pid);
|
||||
}
|
||||
|
||||
telemetry.addData("pos", pos);
|
||||
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
|
||||
telemetry.addData("target", target);
|
||||
telemetry.addData("Mode", mode);
|
||||
telemetry.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,12 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
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.teleop.TeleopV3.spinSpeedIncrease;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
@@ -16,42 +9,16 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
|
||||
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;
|
||||
|
||||
@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 ---
|
||||
|
||||
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
|
||||
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 = 7.5;
|
||||
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;
|
||||
Robot robot;
|
||||
Flywheel flywheel;
|
||||
Servos servo;
|
||||
|
||||
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;
|
||||
Spindexer spindexer ;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
@@ -59,9 +26,7 @@ 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);
|
||||
flywheel = new Flywheel();
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
@@ -77,83 +42,27 @@ public class ShooterTest extends LinearOpMode {
|
||||
rightShooter.setPower(parameter);
|
||||
leftShooter.setPower(parameter);
|
||||
} else if (mode == 1) {
|
||||
flywheel.setPIDF(P, I, D, F);
|
||||
flywheel.manageFlywheel((int) Velocity);
|
||||
double powPID = flywheel.manageFlywheel((int) parameter, leftShooter.getCurrentPosition(), rightShooter.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)));
|
||||
} else {
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
robot.intake.setPower(1);
|
||||
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
|
||||
if (shoot) {
|
||||
shootStamp = getRuntime();
|
||||
shootAll = true;
|
||||
shoot = false;
|
||||
robot.transfer.setPower(transferPower);
|
||||
shooterTicker = 0;
|
||||
}
|
||||
if (shootAll) {
|
||||
|
||||
//intake = false;
|
||||
//reject = false;
|
||||
|
||||
// TODO: Change starting position based on desired order to shoot green ball
|
||||
//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();
|
||||
robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
|
||||
robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
|
||||
}
|
||||
|
||||
|
||||
|
||||
} 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();
|
||||
}
|
||||
} else {
|
||||
spindexer.processIntake();
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", flywheel.getVelo());
|
||||
TELE.addData("Velocity 1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity 2", flywheel.getVelo2());
|
||||
TELE.addData("Used Velocity", flywheel.getVelo(leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition()));
|
||||
TELE.addData("Velocity1", flywheel.getVelo1());
|
||||
TELE.addData("Velocity2", flywheel.getVelo2());
|
||||
TELE.addData("Power", robot.shooter1.getPower());
|
||||
TELE.addData("Steady?", flywheel.getSteady());
|
||||
TELE.addData("Position", robot.shooter1.getCurrentPosition());
|
||||
TELE.addData("Position1", robot.shooter1.getCurrentPosition()/28);
|
||||
TELE.addData("Position2", robot.shooter2.getCurrentPosition()/28);
|
||||
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,50 +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.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Turret;
|
||||
|
||||
@Autonomous
|
||||
@Config
|
||||
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);
|
||||
waitForStart();
|
||||
|
||||
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
|
||||
|
||||
while(opModeIsActive()){
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
turret.trackGoal(drive.localizer.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();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,104 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import android.util.Size;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
public class AprilTagWebcam {
|
||||
|
||||
private AprilTagProcessor aprilTagProcessor;
|
||||
private VisionPortal visionPortal;
|
||||
private List<AprilTagDetection> detectedTags = new ArrayList<>();
|
||||
private MultipleTelemetry telemetry;
|
||||
public void init(Robot robot, MultipleTelemetry TELE){
|
||||
|
||||
this.telemetry = TELE;
|
||||
|
||||
aprilTagProcessor = new AprilTagProcessor.Builder()
|
||||
.setDrawTagID(true)
|
||||
.setDrawTagOutline(true)
|
||||
.setDrawAxes(true)
|
||||
.setDrawCubeProjection(true)
|
||||
.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
|
||||
.build();
|
||||
|
||||
VisionPortal.Builder builder = new VisionPortal.Builder();
|
||||
builder.setCamera(robot.webcam);
|
||||
builder.setCameraResolution(new Size(640, 480));
|
||||
builder.addProcessor(aprilTagProcessor);
|
||||
|
||||
visionPortal = builder.build();
|
||||
|
||||
}
|
||||
|
||||
public void update() {
|
||||
detectedTags = aprilTagProcessor.getDetections();
|
||||
}
|
||||
|
||||
public List<AprilTagDetection> getDetectedTags() {
|
||||
return detectedTags;
|
||||
}
|
||||
|
||||
public AprilTagDetection getTagById(int id){
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.id ==id){
|
||||
return detection;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
public void stop(){
|
||||
if (visionPortal != null){
|
||||
visionPortal.close();
|
||||
}
|
||||
}
|
||||
|
||||
//Helper Functions
|
||||
|
||||
public void displayDetectionTelemetry (AprilTagDetection detectedId){
|
||||
if (detectedId ==null){return;}
|
||||
|
||||
if (detectedId.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detectedId.center.x, detectedId.center.y));
|
||||
}
|
||||
}
|
||||
|
||||
public void displayAllTelemetry (){
|
||||
if (detectedTags ==null){return;}
|
||||
|
||||
telemetry.addData("# AprilTags Detected", detectedTags.size());
|
||||
|
||||
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -1,34 +1,25 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
|
||||
|
||||
@Config
|
||||
@Disabled
|
||||
@TeleOp
|
||||
public class ConfigureColorRangefinder extends LinearOpMode {
|
||||
|
||||
|
||||
|
||||
public static double lowerBound = 80;
|
||||
public static double higherBound = 120;
|
||||
|
||||
public static int led = 0;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "color"));
|
||||
ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "Color"));
|
||||
waitForStart();
|
||||
/* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
|
||||
pin0 --> purple
|
||||
pin1 --> green */
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3, 20);
|
||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
|
||||
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
|
||||
crf.setLedBrightness(led);
|
||||
|
||||
crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 160 / 360.0 * 255, 190 / 360.0 * 255); // purple
|
||||
crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
|
||||
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
|
||||
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,87 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.TranslationalVelConstraint;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.Gamepad;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
|
||||
public class Drivetrain {
|
||||
|
||||
Robot robot;
|
||||
boolean autoDrive = false;
|
||||
|
||||
Pose2d brakePos = new Pose2d(0, 0, 0);
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
private final TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
|
||||
private final ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
|
||||
|
||||
|
||||
public Drivetrain (Robot rob, MecanumDrive mecanumDrive){
|
||||
|
||||
this.robot = rob;
|
||||
this.drive = mecanumDrive;
|
||||
|
||||
}
|
||||
|
||||
public void drive(double y, double x, double rx, double brake){
|
||||
|
||||
if (!autoDrive) {
|
||||
|
||||
x = x* 1.1; // Counteract imperfect strafing
|
||||
|
||||
|
||||
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
|
||||
double frontLeftPower = (y + x + rx) / denominator;
|
||||
double backLeftPower = (y - x + rx) / denominator;
|
||||
double frontRightPower = (y - x - rx) / denominator;
|
||||
double backRightPower = (y + x - rx) / denominator;
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
}
|
||||
|
||||
if (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);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
brakePos = drive.localizer.getPose();
|
||||
autoDrive = true;
|
||||
|
||||
} else if (brake > 0.4) {
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
Pose2d currentPos = drive.localizer.getPose();
|
||||
|
||||
TrajectoryActionBuilder traj2 = drive.actionBuilder(currentPos)
|
||||
.strafeToLinearHeading(new Vector2d(brakePos.position.x, brakePos.position.y), brakePos.heading.toDouble(), VEL_CONSTRAINT, ACCEL_CONSTRAINT);
|
||||
|
||||
if (Math.abs(currentPos.position.x - brakePos.position.x) > 1 || Math.abs(currentPos.position.y - brakePos.position.y) > 1) {
|
||||
Actions.runBlocking(
|
||||
traj2.build()
|
||||
);
|
||||
}
|
||||
} else {
|
||||
autoDrive = false;
|
||||
robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,81 +1,104 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
public PIDFCoefficients shooterPIDF1, shooterPIDF2;
|
||||
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;
|
||||
public double velo1 = 0.0;
|
||||
public double velo2 = 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 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 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;
|
||||
}
|
||||
|
||||
// Set the robot PIDF for the next cycle.
|
||||
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;
|
||||
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(double commandedVelocity) {
|
||||
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;
|
||||
|
||||
// Add code here to set PIDF based on desired RPM
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
|
||||
robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
|
||||
robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
|
||||
robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// Record Current Velocity
|
||||
velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
|
||||
velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
|
||||
velo = Math.max(velo1,velo2);
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// really should be a running average of the last 5
|
||||
steady = (Math.abs(targetVelocity - velo) < 200.0);
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
steady = (Math.abs(targetVelocity - velo) < 100.0);
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
public void update() {
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,76 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
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 turretPos = 0.501;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
public static double light = 0.501;
|
||||
|
||||
Turret turret;
|
||||
|
||||
@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 );
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos)){
|
||||
robot.spin1.setPosition(spindexPos);
|
||||
robot.spin2.setPosition(1-spindexPos);
|
||||
}
|
||||
if (turretPos != 0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1-turretPos);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
}
|
||||
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 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.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,132 +1,59 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.hardware.ServoEx;
|
||||
import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
|
||||
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.IMU;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
@Config
|
||||
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 double shooterPIDF_P = 255.0;
|
||||
public double shooterPIDF_I = 0.0;
|
||||
public double shooterPIDF_D = 0.0;
|
||||
public double shooterPIDF_F = 7.5;
|
||||
public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
|
||||
public Limelight3A limelight3A;
|
||||
|
||||
public IMU imu;
|
||||
|
||||
public DcMotorEx shooter1;
|
||||
|
||||
public DcMotorEx shooter2;
|
||||
|
||||
public Servo hood;
|
||||
public Servo transferServo;
|
||||
public Servo turr1;
|
||||
public Servo turr2;
|
||||
|
||||
public Servo spin1;
|
||||
|
||||
public Servo spin2;
|
||||
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;
|
||||
|
||||
public Robot(HardwareMap hardwareMap) {
|
||||
public Robot (HardwareMap hardwareMap) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
//TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
|
||||
frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
|
||||
frontRight = hardwareMap.get(DcMotorEx.class, "fr");
|
||||
backLeft = hardwareMap.get(DcMotorEx.class, "bl");
|
||||
backRight = hardwareMap.get(DcMotorEx.class, "br");
|
||||
frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
|
||||
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
|
||||
intake = hardwareMap.get(DcMotorEx.class, "intake");
|
||||
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
|
||||
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
|
||||
//TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
|
||||
shooter1 = hardwareMap.get(DcMotorEx.class, "s1");
|
||||
shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
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);
|
||||
shooter2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
|
||||
|
||||
//TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
|
||||
spin1 = hardwareMap.get(Servo.class, "spin2");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(Servo.class, "spin1");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
|
||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
||||
|
||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
|
||||
if (usingLimelight) {
|
||||
limelight = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
} else if (usingCamera) {
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
if (USING_LL) {
|
||||
limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
|
||||
limelight3A.start(); // This tells Limelight to start looking!
|
||||
}
|
||||
|
||||
light = hardwareMap.get(Servo.class, "light");
|
||||
imu = hardwareMap.get(IMU.class, "imu");
|
||||
|
||||
RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
|
||||
|
||||
RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
|
||||
|
||||
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoFacingDirection, usbFacingDirection);
|
||||
|
||||
imu.initialize(new IMU.Parameters(orientationOnRobot));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,55 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.arcrobotics.ftclib.controller.PIDFController;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
|
||||
@Config
|
||||
public class Servos {
|
||||
//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;
|
||||
public static double turret_scalar = 1.009;
|
||||
public static double turret_restPos = 0.0;
|
||||
Robot robot;
|
||||
PIDFController spinPID;
|
||||
PIDFController turretPID;
|
||||
|
||||
public Servos(HardwareMap hardwareMap) {
|
||||
robot = new Robot(hardwareMap);
|
||||
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
|
||||
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
|
||||
|
||||
turretPID.setTolerance(0.001);
|
||||
}
|
||||
|
||||
// In the code below, encoder = robot.servo.getVoltage()
|
||||
// TODO: set the restPos and scalar
|
||||
public double getSpinPos() {
|
||||
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
|
||||
}
|
||||
|
||||
public double setSpinPos(double pos) {
|
||||
|
||||
return pos;
|
||||
}
|
||||
|
||||
public boolean spinEqual(double pos) {
|
||||
return Math.abs(pos - this.getSpinPos()) < 0.03;
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return 1.0;
|
||||
}
|
||||
|
||||
public double setTurrPos(double pos) {
|
||||
return 1.0;
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -1,626 +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 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.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.Types;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
|
||||
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 = 0.01;
|
||||
|
||||
public double spindexerOuttakeWiggle = 0.01;
|
||||
private double prevPos = 0.0;
|
||||
public double spindexerPosOffset = 0.00;
|
||||
public Types.Motif desiredMotif = Types.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 boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
|
||||
|
||||
boolean newPos1Detection = false;
|
||||
int spindexerBallPos = 0;
|
||||
|
||||
// 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 < 60) {
|
||||
|
||||
// Mark Ball Found
|
||||
newPos1Detection = true;
|
||||
|
||||
if (detectRearColor) {
|
||||
// Detect which color
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + 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 < 56) {
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor) {
|
||||
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) {
|
||||
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 < 29) {
|
||||
|
||||
// reset FoundEmpty because looking for 3 in a row before reset
|
||||
ballPositions[spindexerBallPos].foundEmpty = 0;
|
||||
if (detectFrontColor) {
|
||||
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 >= 0.42) {
|
||||
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) {
|
||||
robot.spin1.setPosition(pos);
|
||||
robot.spin2.setPosition(1-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 = currentPos;
|
||||
}
|
||||
|
||||
public void stopSpindexer() {
|
||||
|
||||
}
|
||||
|
||||
public void ballCounterLight(){
|
||||
int counter = 0;
|
||||
if (!ballPositions[0].isEmpty){
|
||||
counter++;
|
||||
}
|
||||
if (!ballPositions[1].isEmpty){
|
||||
counter++;
|
||||
}
|
||||
if (!ballPositions[2].isEmpty){
|
||||
counter++;
|
||||
}
|
||||
if (counter == 3){
|
||||
robot.light.setPosition(Light3);
|
||||
} else if (counter == 2){
|
||||
robot.light.setPosition(Light2);
|
||||
} else if (counter == 1){
|
||||
robot.light.setPosition(Light1);
|
||||
} else {
|
||||
robot.light.setPosition(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;
|
||||
moveSpindexerToPos(intakePositions[0]);
|
||||
currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
|
||||
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
|
||||
moveSpindexerToPos(intakePositions[commandedIntakePosition]);
|
||||
}
|
||||
break;
|
||||
case UNKNOWN_DETECT:
|
||||
if (unknownColorDetect >5) {
|
||||
currentIntakeState = Spindexer.IntakeState.FINDNEXT;
|
||||
} else {
|
||||
//detectBalls(true, true);
|
||||
unknownColorDetect++;
|
||||
}
|
||||
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;
|
||||
moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
||||
}
|
||||
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;
|
||||
}
|
||||
moveSpindexerToPos(intakePositions[commandedIntakePosition]);
|
||||
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
|
||||
moveSpindexerToPos(intakePositions[commandedIntakePosition]);
|
||||
}
|
||||
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;
|
||||
moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
|
||||
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
|
||||
moveSpindexerToPos(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
|
||||
moveSpindexerToPos(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;
|
||||
}
|
||||
moveSpindexerToPos(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
|
||||
moveSpindexerToPos(outakePositions[commandedIntakePosition]);
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOTWAIT:
|
||||
double shootWaitMax = 4;
|
||||
// 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;
|
||||
moveSpindexerToPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
|
||||
break;
|
||||
|
||||
case SHOOT_PREP_CONTINOUS:
|
||||
if (servos.spinEqual(spinStartPos)){
|
||||
currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
|
||||
} else {
|
||||
moveSpindexerToPos(spinStartPos);
|
||||
}
|
||||
break;
|
||||
|
||||
case SHOOT_CONTINOUS:
|
||||
ballPositions[0].isEmpty = false;
|
||||
ballPositions[1].isEmpty = false;
|
||||
ballPositions[2].isEmpty = false;
|
||||
if (servos.getSpinPos() > spinEndPos){
|
||||
currentIntakeState = IntakeState.FINDNEXT;
|
||||
} else {
|
||||
double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
|
||||
if (spinPos > spinEndPos + 0.03){
|
||||
spinPos = spinEndPos + 0.03;
|
||||
}
|
||||
moveSpindexerToPos(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 (Types.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;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
public interface Subsystem {
|
||||
|
||||
public void update();
|
||||
|
||||
|
||||
}
|
||||
@@ -1,230 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
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, 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 Targeting() {
|
||||
}
|
||||
|
||||
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
|
||||
Settings recommendedSettings = new Settings(0.0, 0.0);
|
||||
|
||||
double cos45 = Math.cos(Math.toRadians(-45));
|
||||
double sin45 = Math.sin(Math.toRadians(-45));
|
||||
double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
|
||||
double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
|
||||
|
||||
// Convert robot coordinates to inches
|
||||
robotInchesX = rotatedX * unitConversionFactor;
|
||||
robotInchesY = rotatedY * unitConversionFactor;
|
||||
|
||||
// Find approximate location in the grid
|
||||
int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
|
||||
int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
|
||||
|
||||
int remX = Math.floorMod((int) robotInchesX, tileSize);
|
||||
int remY = Math.floorMod((int) robotInchesX, tileSize);
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
//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 {
|
||||
robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
|
||||
robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
|
||||
}
|
||||
|
||||
// basic search
|
||||
if (true) { //!interpolate) {
|
||||
if ((robotGridY < 6) && (robotGridX < 6)) {
|
||||
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
|
||||
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.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;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,290 +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.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 java.util.List;
|
||||
|
||||
@Config
|
||||
public class Turret {
|
||||
|
||||
public static double turretTolerance = 0.02;
|
||||
public static double turrPosScalar = 0.00011264432;
|
||||
public static double turret180Range = 0.4;
|
||||
public static double turrDefault = 0.39;
|
||||
public static double turrMin = 0.15;
|
||||
public static double turrMax = 0.85;
|
||||
public static boolean limelightUsed = true;
|
||||
|
||||
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
|
||||
|
||||
// TODO: tune these values for limelight
|
||||
|
||||
public static double clampTolerance = 0.03;
|
||||
public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
Limelight3A webcam;
|
||||
double tx = 0.0;
|
||||
double ty = 0.0;
|
||||
double limelightPosX = 0.0;
|
||||
double limelightPosY = 0.0;
|
||||
LLResult result;
|
||||
boolean bearingAligned = false;
|
||||
private boolean lockOffset = false;
|
||||
private int obeliskID = 0;
|
||||
private double offset = 0.0;
|
||||
private double currentTrackOffset = 0.0;
|
||||
private int currentTrackCount = 0;
|
||||
private double permanentOffset = 0.0;
|
||||
private PIDController bearingPID;
|
||||
|
||||
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 void zeroTurretEncoder() {
|
||||
robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
}
|
||||
|
||||
public double getTurrPos() {
|
||||
return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
|
||||
|
||||
}
|
||||
|
||||
public void manualSetTurret(double pos) {
|
||||
robot.turr1.setPosition(pos);
|
||||
robot.turr2.setPosition(1 - pos);
|
||||
}
|
||||
|
||||
public boolean turretEqual(double pos) {
|
||||
return Math.abs(pos - this.getTurrPos()) < turretTolerance;
|
||||
}
|
||||
|
||||
private void limelightRead() { // only for tracking purposes, not general reads
|
||||
|
||||
result = webcam.getLatestResult();
|
||||
if (result != null) {
|
||||
if (result.isValid()) {
|
||||
tx = result.getTx();
|
||||
ty = result.getTy();
|
||||
// MegaTag1 code for receiving position
|
||||
Pose3D botpose = result.getBotpose();
|
||||
if (botpose != null) {
|
||||
limelightPosX = botpose.getPosition().x;
|
||||
limelightPosY = botpose.getPosition().y;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public double getBearing() {
|
||||
tx = 1000;
|
||||
limelightRead();
|
||||
return tx;
|
||||
}
|
||||
|
||||
public double getTy() {
|
||||
return ty;
|
||||
}
|
||||
|
||||
public double getLimelightX() {
|
||||
return limelightPosX;
|
||||
}
|
||||
|
||||
public double getLimelightY() {
|
||||
return limelightPosY;
|
||||
}
|
||||
|
||||
public int detectObelisk() {
|
||||
webcam.pipelineSwitch(1);
|
||||
LLResult result = webcam.getLatestResult();
|
||||
if (result != null && result.isValid()) {
|
||||
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
|
||||
for (LLResultTypes.FiducialResult fiducial : fiducials) {
|
||||
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 bearingAlign(LLResult llResult) {
|
||||
double bearingOffset = 0.0;
|
||||
double targetTx = llResult.getTx(); // How far left or right the target is (degrees)
|
||||
final double MIN_OFFSET_POWER = 0.15;
|
||||
final double TARGET_POSITION_TOLERANCE = 1.0;
|
||||
// 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;
|
||||
} else {
|
||||
bearingAligned = false;
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
public void trackGoal(Pose2d deltaPos) {
|
||||
|
||||
/* ---------------- FIELD → TURRET GEOMETRY ---------------- */
|
||||
|
||||
// Angle from robot to goal in robot frame
|
||||
double desiredTurretAngleDeg = Math.toDegrees(
|
||||
Math.atan2(deltaPos.position.y, deltaPos.position.x)
|
||||
);
|
||||
|
||||
// Robot heading (field → robot)
|
||||
double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
|
||||
|
||||
// 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) {
|
||||
currentTrackOffset += bearingAlign(result);
|
||||
currentTrackCount++;
|
||||
// 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;
|
||||
// }
|
||||
currentTrackOffset = 0.0;
|
||||
currentTrackCount = 0;
|
||||
}
|
||||
|
||||
// Apply accumulated offset
|
||||
turretAngleDeg += offset + currentTrackOffset;
|
||||
|
||||
|
||||
/* ---------------- ANGLE → SERVO POSITION ---------------- */
|
||||
|
||||
double 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
|
||||
robot.turr1.setPosition(turretPos + manualOffset);
|
||||
robot.turr2.setPosition(1.0 - turretPos - manualOffset);
|
||||
|
||||
|
||||
/* ---------------- TELEMETRY ---------------- */
|
||||
|
||||
// TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
|
||||
// TELE.addData("Target Pos", "%.3f", targetTurretPos);
|
||||
// TELE.addData("Current Pos", "%.3f", currentPos);
|
||||
// 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);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,224 @@
|
||||
package org.firstinspires.ftc.teamcode.utils.subsystems;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.hardware.limelightvision.LLResult;
|
||||
import com.qualcomm.hardware.limelightvision.LLResultTypes;
|
||||
import com.qualcomm.hardware.limelightvision.LLStatus;
|
||||
import com.qualcomm.hardware.limelightvision.Limelight3A;
|
||||
import com.qualcomm.robotcore.hardware.IMU;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.Position;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
||||
import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.utils.Subsystem;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
import java.util.Objects;
|
||||
|
||||
public class Limelight implements Subsystem {
|
||||
|
||||
private final Limelight3A limelight;
|
||||
private final MultipleTelemetry telemetry;
|
||||
|
||||
private LLResult result;
|
||||
private LLStatus status;
|
||||
|
||||
private boolean telemetryOn = false;
|
||||
private String mode = "AT";
|
||||
|
||||
// ✅ Internal cached data
|
||||
private Pose3D botpose;
|
||||
|
||||
private double captureLatency = 0.0;
|
||||
private double targetingLatency = 0.0;
|
||||
private double parseLatency = 0.0;
|
||||
private double[] pythonOutput = new double[0];
|
||||
|
||||
private double tx = 0.0;
|
||||
private double txnc = 0.0;
|
||||
private double ty = 0.0;
|
||||
private double tync = 0.0;
|
||||
|
||||
private double ta = 0.0;
|
||||
|
||||
private List<LLResultTypes.BarcodeResult> barcodeResults = new ArrayList<>();
|
||||
private List<LLResultTypes.ClassifierResult> classifierResults = new ArrayList<>();
|
||||
private List<LLResultTypes.DetectorResult> detectorResults = new ArrayList<>();
|
||||
private List<LLResultTypes.FiducialResult> fiducialResults = new ArrayList<>();
|
||||
private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
|
||||
|
||||
private IMU imu;
|
||||
|
||||
public Limelight(Robot robot, MultipleTelemetry tele) {
|
||||
|
||||
HardwareConfig.USING_LL= true;
|
||||
|
||||
this.limelight = robot.limelight3A;
|
||||
this.telemetry = tele;
|
||||
limelight.pipelineSwitch(1);
|
||||
|
||||
this.imu = robot.imu;
|
||||
|
||||
this.imu.resetYaw();
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void setPipeline(int pipeline) {limelight.pipelineSwitch(pipeline);}
|
||||
|
||||
public void setTelemetryOn(boolean state) { telemetryOn = state; }
|
||||
|
||||
public void setMode(String newMode) { this.mode = newMode; }
|
||||
|
||||
|
||||
|
||||
/** ✅ MAIN UPDATE LOOP */
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
|
||||
|
||||
result = limelight.getLatestResult();
|
||||
status = limelight.getStatus();
|
||||
|
||||
|
||||
|
||||
if (result != null && (Objects.equals(status.getPipelineType(), "pipe_python") || result.isValid())){
|
||||
// Refresh all cached values
|
||||
botpose = result.getBotpose();
|
||||
captureLatency = result.getCaptureLatency();
|
||||
targetingLatency= result.getTargetingLatency();
|
||||
parseLatency = result.getParseLatency();
|
||||
pythonOutput = result.getPythonOutput();
|
||||
tx = result.getTx();
|
||||
txnc = result.getTxNC();
|
||||
ty = result.getTy();
|
||||
tync = result.getTyNC();
|
||||
ta = result.getTa();
|
||||
barcodeResults = result.getBarcodeResults();
|
||||
classifierResults = result.getClassifierResults();
|
||||
detectorResults = result.getDetectorResults();
|
||||
fiducialResults = result.getFiducialResults();
|
||||
colorResults = result.getColorResults();
|
||||
}
|
||||
|
||||
if (telemetryOn) telemetryUpdate();
|
||||
}
|
||||
|
||||
/** ✅ Telemetry Output */
|
||||
private void telemetryUpdate() {
|
||||
// ✅ Use getters instead of directly accessing 'status' or cached fields
|
||||
telemetry.addData("Name", "%s", getStatus().getName());
|
||||
telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
|
||||
getStatus().getTemp(),
|
||||
getStatus().getCpu(),
|
||||
(int) getStatus().getFps());
|
||||
telemetry.addData("Pipeline", "Index: %d, Type: %s",
|
||||
getStatus().getPipelineIndex(),
|
||||
getStatus().getPipelineType());
|
||||
telemetry.addData("ResultNull", result == null);
|
||||
telemetry.addData("ResultValid", result.isValid());
|
||||
|
||||
|
||||
|
||||
|
||||
if (result != null && result.isValid()) {
|
||||
telemetry.addData("LL Latency", getTotalLatency());
|
||||
telemetry.addData("Capture Latency", getCaptureLatency());
|
||||
telemetry.addData("Targeting Latency", getTargetingLatency());
|
||||
telemetry.addData("Parse Latency", getParseLatency());
|
||||
telemetry.addData("PythonOutput", java.util.Arrays.toString(getPythonOutput()));
|
||||
telemetry.addData("tx", getTx());
|
||||
telemetry.addData("txnc", getTxNC());
|
||||
telemetry.addData("ty", getTy());
|
||||
telemetry.addData("tync", getTyNC());
|
||||
telemetry.addData("ta", getTa());
|
||||
|
||||
|
||||
|
||||
|
||||
telemetry.addData("BotX", getBotX());
|
||||
|
||||
telemetry.addData("BotY", getBotY());
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (Objects.equals(mode, "BR"))
|
||||
for (LLResultTypes.BarcodeResult br : getBarcodeResults())
|
||||
telemetry.addData("Barcode", "Data: %s", br.getData());
|
||||
|
||||
if (Objects.equals(mode, "CL"))
|
||||
for (LLResultTypes.ClassifierResult cr : getClassifierResults())
|
||||
telemetry.addData("Classifier", "Class: %s, Confidence: %.2f",
|
||||
cr.getClassName(), cr.getConfidence());
|
||||
|
||||
if (Objects.equals(mode, "DE"))
|
||||
for (LLResultTypes.DetectorResult dr : getDetectorResults())
|
||||
telemetry.addData("Detector", "Class: %s, Area: %.2f",
|
||||
dr.getClassName(), dr.getTargetArea());
|
||||
|
||||
if (Objects.equals(mode, "FI"))
|
||||
for (LLResultTypes.FiducialResult fr : getFiducialResults())
|
||||
telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f",
|
||||
fr.getFiducialId(), fr.getFamily(),
|
||||
fr.getTargetXDegrees(), fr.getTargetYDegrees());
|
||||
|
||||
if (Objects.equals(mode, "CO"))
|
||||
for (LLResultTypes.ColorResult cr : getColorResults())
|
||||
telemetry.addData("Color", "X: %.2f, Y: %.2f",
|
||||
cr.getTargetXDegrees(), cr.getTargetYDegrees());
|
||||
} else {
|
||||
telemetry.addData("Limelight", "No data available");
|
||||
}
|
||||
}
|
||||
|
||||
// ✅ Getter methods (for use anywhere else in your code)
|
||||
|
||||
public Pose3D getBotPose() {
|
||||
if (botpose == null) {
|
||||
botpose = new Pose3D(
|
||||
new Position(),
|
||||
new YawPitchRollAngles(AngleUnit.DEGREES, 0.0, 0.0, 0.0, 0L)
|
||||
);
|
||||
}
|
||||
return botpose;
|
||||
}
|
||||
|
||||
public double getCaptureLatency() { return captureLatency; }
|
||||
public double getTargetingLatency() { return targetingLatency; }
|
||||
public double getTotalLatency() { return captureLatency + targetingLatency; }
|
||||
public double getParseLatency() { return parseLatency; }
|
||||
public double[] getPythonOutput() { return pythonOutput; }
|
||||
|
||||
public double getTx() { return tx; }
|
||||
public double getTxNC() { return txnc; }
|
||||
public double getTy() { return ty; }
|
||||
public double getTyNC() { return tync;}
|
||||
|
||||
public double getTa() {return ta;}
|
||||
|
||||
public double getBotX() {return getBotPose().getPosition().x;}
|
||||
|
||||
public double getBotY() {return getBotPose().getPosition().y;}
|
||||
|
||||
|
||||
|
||||
|
||||
public List<LLResultTypes.BarcodeResult> getBarcodeResults() { return barcodeResults; }
|
||||
public List<LLResultTypes.ClassifierResult> getClassifierResults() { return classifierResults; }
|
||||
public List<LLResultTypes.DetectorResult> getDetectorResults() { return detectorResults; }
|
||||
public List<LLResultTypes.FiducialResult> getFiducialResults() { return fiducialResults; }
|
||||
public List<LLResultTypes.ColorResult> getColorResults() { return colorResults; }
|
||||
|
||||
public LLStatus getStatus() { return status; }
|
||||
public LLResult getRawResult() { return result; }
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
package org.firstinspires.ftc.teamcode.variables;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class HardwareConfig {
|
||||
|
||||
public static boolean USING_LL = false;
|
||||
|
||||
|
||||
}
|
||||
@@ -29,7 +29,7 @@ dependencies {
|
||||
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:0.5.1" //FTC Dash
|
||||
implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
|
||||
|
||||
implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
|
||||
|
||||
|
||||
@@ -25,9 +25,5 @@ allprojects {
|
||||
}
|
||||
|
||||
repositories {
|
||||
repositories {
|
||||
mavenCentral()
|
||||
google()
|
||||
maven { url 'https://maven.pedropathing.com' }
|
||||
}
|
||||
mavenCentral()
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user