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KeshavAnandCode:master KeshavAnandCode:LimelightPID KeshavAnandCode:SpindexerUpgrades KeshavAnandCode:Targeting KeshavAnandCode:SpindexerPosUpdate KeshavAnandCode:SpindexerRefactor KeshavAnandCode:danielv2 KeshavAnandCode:organize/expand KeshavAnandCode:extracontrolhub KeshavAnandCode:daniel
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compare: KeshavAnandCode:d586e3b4dfeb7f8f6a6e2d3ec03ac741ccf742cb
Branches Tags
KeshavAnandCode:master KeshavAnandCode:LimelightPID KeshavAnandCode:SpindexerUpgrades KeshavAnandCode:Targeting KeshavAnandCode:SpindexerPosUpdate KeshavAnandCode:SpindexerRefactor KeshavAnandCode:danielv2 KeshavAnandCode:organize/expand KeshavAnandCode:extracontrolhub KeshavAnandCode:daniel

4 Commits
organize/e ... d586e3b4df

Author SHA1 Message Date
KeshavAnandCode
d586e3b4df yayyyyy 2025-12-05 22:48:05 -06:00
KeshavAnandCode
2f5d4638ec Add coloooor sensooooooer!!!! 2025-12-05 21:57:23 -06:00
KeshavAnandCode
1642e161c5 fixed???? 2025-12-05 20:56:51 -06:00
KeshavAnandCode
46a565c2c8 Working hood angle regression 2025-12-05 20:46:52 -06:00
22 changed files with 490 additions and 3134 deletions
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606
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoClose_V3.java
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@@ -1,606 +0,0 @@
package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Color.*;
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ParallelAction;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
import org.firstinspires.ftc.teamcode.utils.LimelightManager;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
@Config
@Autonomous(preselectTeleOp = "TeleopV3")
public class AutoClose_V3 extends LinearOpMode {
Robot robot;
MultipleTelemetry TELE;
MecanumDrive drive;
FlywheelV2 flywheel;
Servos servo;
LimelightManager limelightManager;
double velo = 0.0;
public static double intake1Time = 2.7;
public static double intake2Time = 3.0;
public static double colorDetect = 3.0;
public static double holdTurrPow = 0.1;
// Ball color detection: 0 = no ball, 1 = green, 2 = purple
int b1 = 0, b2 = 0, b3 = 0;
boolean gpp = false, pgp = false, ppg = false;
double powPID = 0.0;
double bearing = 0.0;
public Action initShooter(int vel) {
return new Action() {
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
TELE.addData("Velocity", velo);
TELE.update();
return !flywheel.getSteady();
}
};
}
public Action Obelisk() {
return new Action() {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
limelightManager.update();
int id = limelightManager.detectFiducial();
if (id == 21) gpp = true;
else if (id == 22) pgp = true;
else if (id == 23) ppg = true;
TELE.addData("Fiducial ID", id);
TELE.addData("21", gpp);
TELE.addData("22", pgp);
TELE.addData("23", ppg);
TELE.update();
if (gpp || pgp || ppg) {
LimelightManager.LimelightMode mode = redAlliance ?
LimelightManager.LimelightMode.RED_GOAL :
LimelightManager.LimelightMode.BLUE_GOAL;
limelightManager.switchMode(mode);
double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
double turretPID = servo.setTurrPos(turretTarget);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
return !servo.turretEqual(turretTarget);
}
return true;
}
};
}
public Action spindex(double spindexer, int vel) {
return new Action() {
double spinPID = 0.0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
spinPID = servo.setSpinPos(spindexer);
robot.spin1.setPower(spinPID);
robot.spin2.setPower(-spinPID);
TELE.addData("Velocity", velo);
TELE.addLine("spindex");
TELE.update();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
if (servo.spinEqual(spindexer)){
robot.spin1.setPower(0);
robot.spin2.setPower(0);
return false;
} else {
return true;
}
}
};
}
public Action Shoot(int vel) {
return new Action() {
double transferStamp = 0.0;
int ticker = 1;
boolean transferIn = false;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", velo);
TELE.addLine("shooting");
TELE.update();
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
drive.updatePoseEstimate();
detectTag();
teleStart = drive.localizer.getPose();
if (ticker == 1) {
transferStamp = getRuntime();
ticker++;
}
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
robot.transferServo.setPosition(transferServo_in);
TELE.addData("Velocity", velo);
TELE.addData("ticker", ticker);
TELE.update();
transferIn = true;
return true;
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
robot.transferServo.setPosition(transferServo_out);
robot.turr1.setPower(holdTurrPow);
robot.turr2.setPower(holdTurrPow);
TELE.addData("Velocity", velo);
TELE.addLine("shot once");
TELE.update();
return false;
} else {
return true;
}
}
};
}
public Action intake(double intakeTime) {
return new Action() {
double position = spindexer_intakePos1;
double stamp = 0.0;
int ticker = 0;
double pow = 1.0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = getRuntime();
}
ticker++;
robot.intake.setPower(pow);
double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM);
double s3D = robot.color3.getDistance(DistanceUnit.MM);
if (!servo.spinEqual(position)){
double spinPID = servo.setSpinPos(position);
robot.spin1.setPower(spinPID);
robot.spin2.setPower(-spinPID);
}
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
if (s2D > 60){
if (servo.spinEqual(spindexer_intakePos1)){
position = spindexer_intakePos2;
} else if (servo.spinEqual(spindexer_intakePos2)){
position = spindexer_intakePos3;
} else if (servo.spinEqual(spindexer_intakePos3)){
position = spindexer_intakePos1;
}
} else if (s3D > 33){
if (servo.spinEqual(spindexer_intakePos1)){
position = spindexer_intakePos3;
} else if (servo.spinEqual(spindexer_intakePos2)){
position = spindexer_intakePos1;
} else if (servo.spinEqual(spindexer_intakePos3)){
position = spindexer_intakePos2;
}
}
stamp = getRuntime();
}
TELE.addData("Velocity", velo);
TELE.addLine("Intaking");
TELE.update();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
robot.intake.setPower(1);
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
if (getRuntime() - stamp - intakeTime < 1){
pow = -2*(getRuntime() - stamp - intakeTime);
return true;
} else {
robot.intake.setPower(0);
return false;
}
} else {
return true;
}
}
};
}
public Action ColorDetect(int vel) {
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = getRuntime();
}
ticker++;
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM);
double s3D = robot.color3.getDistance(DistanceUnit.MM);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
if (s1D < 43) {
double green = robot.color1.getNormalizedColors().green;
double red = robot.color1.getNormalizedColors().red;
double blue = robot.color1.getNormalizedColors().blue;
double gP = green / (green + red + blue);
if (gP >= 0.4) {
b1 = 2;
} else {
b1 = 1;
}
}
if (s2D < 60) {
double green = robot.color2.getNormalizedColors().green;
double red = robot.color2.getNormalizedColors().red;
double blue = robot.color2.getNormalizedColors().blue;
double gP = green / (green + red + blue);
if (gP >= 0.4) {
b2 = 2;
} else {
b2 = 1;
}
}
if (s3D < 33) {
double green = robot.color3.getNormalizedColors().green;
double red = robot.color3.getNormalizedColors().red;
double blue = robot.color3.getNormalizedColors().blue;
double gP = green / (green + red + blue);
if (gP >= 0.4) {
b3 = 2;
} else {
b3 = 1;
}
}
TELE.addData("Velocity", velo);
TELE.addLine("Detecting");
TELE.addData("Distance 1", s1D);
TELE.addData("Distance 2", s2D);
TELE.addData("Distance 3", s3D);
TELE.addData("B1", b1);
TELE.addData("B2", b2);
TELE.addData("B3", b3);
TELE.update();
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
}
};
}
@Override
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
flywheel = new FlywheelV2();
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
servo = new Servos(hardwareMap);
limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
limelightManager.init();
limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
while (opModeInInit()) {
if (gamepad2.dpadUpWasPressed()) {
hoodAuto -= 0.01;
}
if (gamepad2.dpadDownWasPressed()) {
hoodAuto += 0.01;
}
if (gamepad2.crossWasPressed()){
redAlliance = !redAlliance;
}
double turrPID;
if (redAlliance){
turrPID = servo.setTurrPos(turret_detectRedClose);
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
} else {
turrPID = servo.setTurrPos(turret_detectBlueClose);
shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
}
robot.turr1.setPower(turrPID);
robot.turr2.setPower(-turrPID);
robot.hood.setPosition(hoodAuto);
robot.transferServo.setPosition(transferServo_out);
TELE.addData("Velocity", velo);
TELE.addData("Turret Pos", servo.getTurrPos());
TELE.addData("Spin Pos", servo.getSpinPos());
TELE.update();
}
waitForStart();
if (isStopRequested()) return;
if (opModeIsActive()) {
Actions.runBlocking(
new ParallelAction(
shoot0.build(),
initShooter(AUTO_CLOSE_VEL),
Obelisk()
)
);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
robot.transfer.setPower(1);
shootingSequence();
robot.transfer.setPower(0);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
Actions.runBlocking(
new ParallelAction(
pickup1.build(),
intake(intake1Time)
)
);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
Actions.runBlocking(
new ParallelAction(
shoot1.build(),
ColorDetect(AUTO_CLOSE_VEL)
)
);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
robot.transfer.setPower(1);
shootingSequence();
robot.transfer.setPower(0);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
Actions.runBlocking(
new ParallelAction(
pickup2.build(),
intake(intake2Time)
)
);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
Actions.runBlocking(
new ParallelAction(
shoot2.build(),
ColorDetect(AUTO_CLOSE_VEL)
)
);
robot.transfer.setPower(1);
shootingSequence();
robot.transfer.setPower(0);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Velocity", velo);
TELE.addLine("finished");
TELE.update();
sleep(2000);
}
}
//TODO: adjust this according to Teleop numbers
public void detectTag() {
limelightManager.update();
bearing = limelightManager.getBearing();
double turretPos = servo.getTurrPos() - (bearing / 1300);
double turretPID = servo.setTurrPos(turretPos);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
}
public void shootingSequence() {
TELE.addData("Velocity", velo);
// Define sequences based on obelisk configuration
double[][] sequences = {
{1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
};
double[] sequence = null;
if (gpp) {
if (b1 + b2 + b3 == 4) {
if (b1 == 2 && b2 == b3) sequence = sequences[0]; // 1,2,3
else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
else sequence = sequences[0];
} else if (b1 + b2 + b3 >= 5) {
if (b1 == 2) sequence = sequences[0];
else if (b2 == 2) sequence = sequences[2];
else if (b3 == 2) sequence = sequences[4];
} else sequence = sequences[0];
} else if (pgp) {
if (b1 + b2 + b3 == 4) {
if (b1 == 2 && b2 == b3) sequence = sequences[2]; // 2,1,3
else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
else sequence = sequences[0];
} else if (b1 + b2 + b3 >= 5) {
if (b1 == 2) sequence = sequences[2];
else if (b2 == 2) sequence = sequences[0];
else if (b3 == 2) sequence = sequences[3];
} else sequence = sequences[2];
} else if (ppg) {
if (b1 + b2 + b3 == 4) {
if (b1 == 2 && b2 == b3) sequence = sequences[4]; // 3,1,2
else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
else sequence = sequences[0];
} else if (b1 + b2 + b3 >= 5) {
if (b1 == 2) sequence = sequences[4];
else if (b2 == 2) sequence = sequences[5];
else if (b3 == 2) sequence = sequences[0];
} else sequence = sequences[4];
} else sequence = sequences[0];
executeShootingSequence(sequence);
TELE.update();
}
private void executeShootingSequence(double[] sequence) {
double[] ballPositions = {
spindexer_outtakeBall1,
spindexer_outtakeBall2,
spindexer_outtakeBall3
};
for (double ball : sequence) {
Actions.runBlocking(
new SequentialAction(
spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
Shoot(AUTO_CLOSE_VEL)
)
);
}
}
}

619
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoFar_V1.java
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@@ -1,619 +0,0 @@
package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Color.*;
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ParallelAction;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
import org.firstinspires.ftc.teamcode.utils.LimelightManager;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
@Config
@Autonomous(preselectTeleOp = "TeleopV3")
public class AutoFar_V1 extends LinearOpMode {
Robot robot;
MultipleTelemetry TELE;
MecanumDrive drive;
FlywheelV2 flywheel;
Servos servo;
LimelightManager limelightManager;
double velo = 0.0;
public static double intake1Time = 2.7;
public static double intake2Time = 3.0;
public static double colorDetect = 3.0;
public static double holdTurrPow = 0.1;
// Ball color detection: 0 = no ball, 1 = green, 2 = purple
int b1 = 0, b2 = 0, b3 = 0;
boolean gpp = false, pgp = false, ppg = false;
double powPID = 0.0;
double bearing = 0.0;
public Action initShooter(int vel) {
return new Action() {
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
TELE.addData("Velocity", velo);
TELE.update();
return !flywheel.getSteady();
}
};
}
public Action Obelisk() {
return new Action() {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
limelightManager.update();
int id = limelightManager.detectFiducial();
if (id == 21) gpp = true;
else if (id == 22) pgp = true;
else if (id == 23) ppg = true;
TELE.addData("Fiducial ID", id);
TELE.addData("21", gpp);
TELE.addData("22", pgp);
TELE.addData("23", ppg);
TELE.update();
if (gpp || pgp || ppg) {
LimelightManager.LimelightMode mode = redAlliance ?
LimelightManager.LimelightMode.RED_GOAL :
LimelightManager.LimelightMode.BLUE_GOAL;
limelightManager.switchMode(mode);
double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
double turretPID = servo.setTurrPos(turretTarget);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
return !servo.turretEqual(turretTarget);
}
return true;
}
};
}
public Action spindex(double spindexer, int vel) {
return new Action() {
double spinPID = 0.0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
spinPID = servo.setSpinPos(spindexer);
robot.spin1.setPower(spinPID);
robot.spin2.setPower(-spinPID);
TELE.addData("Velocity", velo);
TELE.addLine("spindex");
TELE.update();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
if (servo.spinEqual(spindexer)){
robot.spin1.setPower(0);
robot.spin2.setPower(0);
return false;
} else {
return true;
}
}
};
}
public Action Shoot(int vel) {
return new Action() {
double transferStamp = 0.0;
int ticker = 1;
boolean transferIn = false;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", velo);
TELE.addLine("shooting");
TELE.update();
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
drive.updatePoseEstimate();
detectTag();
teleStart = drive.localizer.getPose();
if (ticker == 1) {
transferStamp = getRuntime();
ticker++;
}
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
robot.transferServo.setPosition(transferServo_in);
TELE.addData("Velocity", velo);
TELE.addData("ticker", ticker);
TELE.update();
transferIn = true;
return true;
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
robot.transferServo.setPosition(transferServo_out);
robot.turr1.setPower(holdTurrPow);
robot.turr2.setPower(holdTurrPow);
TELE.addData("Velocity", velo);
TELE.addLine("shot once");
TELE.update();
return false;
} else {
return true;
}
}
};
}
public Action intake(double intakeTime) {
return new Action() {
double position = spindexer_intakePos1;
double stamp = 0.0;
int ticker = 0;
double pow = 1.0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = getRuntime();
}
ticker++;
robot.intake.setPower(pow);
double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM);
double s3D = robot.color3.getDistance(DistanceUnit.MM);
if (!servo.spinEqual(position)){
double spinPID = servo.setSpinPos(position);
robot.spin1.setPower(spinPID);
robot.spin2.setPower(-spinPID);
}
if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
if (s2D > 60){
if (servo.spinEqual(spindexer_intakePos1)){
position = spindexer_intakePos2;
} else if (servo.spinEqual(spindexer_intakePos2)){
position = spindexer_intakePos3;
} else if (servo.spinEqual(spindexer_intakePos3)){
position = spindexer_intakePos1;
}
} else if (s3D > 33){
if (servo.spinEqual(spindexer_intakePos1)){
position = spindexer_intakePos3;
} else if (servo.spinEqual(spindexer_intakePos2)){
position = spindexer_intakePos1;
} else if (servo.spinEqual(spindexer_intakePos3)){
position = spindexer_intakePos2;
}
}
stamp = getRuntime();
}
TELE.addData("Velocity", velo);
TELE.addLine("Intaking");
TELE.update();
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
robot.intake.setPower(1);
if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
if (getRuntime() - stamp - intakeTime < 1){
pow = -2*(getRuntime() - stamp - intakeTime);
return true;
} else {
robot.intake.setPower(0);
return false;
}
} else {
return true;
}
}
};
}
public Action ColorDetect(int vel) {
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = getRuntime();
}
ticker++;
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM);
double s3D = robot.color3.getDistance(DistanceUnit.MM);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
if (s1D < 43) {
double green = robot.color1.getNormalizedColors().green;
double red = robot.color1.getNormalizedColors().red;
double blue = robot.color1.getNormalizedColors().blue;
double gP = green / (green + red + blue);
if (gP >= 0.4) {
b1 = 2;
} else {
b1 = 1;
}
}
if (s2D < 60) {
double green = robot.color2.getNormalizedColors().green;
double red = robot.color2.getNormalizedColors().red;
double blue = robot.color2.getNormalizedColors().blue;
double gP = green / (green + red + blue);
if (gP >= 0.4) {
b2 = 2;
} else {
b2 = 1;
}
}
if (s3D < 33) {
double green = robot.color3.getNormalizedColors().green;
double red = robot.color3.getNormalizedColors().red;
double blue = robot.color3.getNormalizedColors().blue;
double gP = green / (green + red + blue);
if (gP >= 0.4) {
b3 = 2;
} else {
b3 = 1;
}
}
TELE.addData("Velocity", velo);
TELE.addLine("Detecting");
TELE.addData("Distance 1", s1D);
TELE.addData("Distance 2", s2D);
TELE.addData("Distance 3", s3D);
TELE.addData("B1", b1);
TELE.addData("B2", b2);
TELE.addData("B3", b3);
TELE.update();
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
}
};
}
@Override
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
flywheel = new FlywheelV2();
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
servo = new Servos(hardwareMap);
limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
limelightManager.init();
limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
//TODO: add positions to develop auto
TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
.strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
while (opModeInInit()) {
if (gamepad2.dpadUpWasPressed()) {
hoodAuto -= 0.01;
}
if (gamepad2.dpadDownWasPressed()) {
hoodAuto += 0.01;
}
if (gamepad2.crossWasPressed()){
redAlliance = !redAlliance;
}
double turrPID;
if (redAlliance){
turrPID = servo.setTurrPos(turret_detectRedClose);
} else {
turrPID = servo.setTurrPos(turret_detectBlueClose);
}
robot.turr1.setPower(turrPID);
robot.turr2.setPower(-turrPID);
robot.hood.setPosition(hoodAutoFar);
robot.transferServo.setPosition(transferServo_out);
TELE.addData("Velocity", velo);
TELE.addData("Turret Pos", servo.getTurrPos());
TELE.addData("Spin Pos", servo.getSpinPos());
TELE.update();
}
waitForStart();
if (isStopRequested()) return;
if (opModeIsActive()) {
Actions.runBlocking(
new ParallelAction(
initShooter(AUTO_FAR_VEL),
Obelisk()
)
);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
robot.transfer.setPower(1);
shootingSequence();
robot.transfer.setPower(0);
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
Actions.runBlocking(park.build());
drive.updatePoseEstimate();
teleStart = drive.localizer.getPose();
TELE.addData("Velocity", velo);
TELE.addLine("finished");
TELE.update();
sleep(2000);
}
}
//TODO: adjust this according to Teleop numbers
public void detectTag() {
limelightManager.update();
bearing = limelightManager.getBearing();
double turretPos = servo.getTurrPos() - (bearing / 1300);
double turretPID = servo.setTurrPos(turretPos);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
}
public void shootingSequence() {
TELE.addData("Velocity", velo);
if (gpp) {
if (b1 + b2 + b3 == 4) {
if (b1 == 2 && b2 - b3 == 0) {
sequence1();
TELE.addLine("sequence1");
} else if (b2 == 2 && b1 - b3 == 0) {
sequence3();
TELE.addLine("sequence3");
} else if (b3 == 2 && b1 - b2 == 0) {
sequence6();
TELE.addLine("sequence6");
} else {
sequence1();
TELE.addLine("sequence1");
}
} else if (b1 + b2 + b3 >= 5) {
if (b1 == 2) {
sequence1();
TELE.addLine("sequence1");
} else if (b2 == 2) {
sequence3();
TELE.addLine("sequence3");
} else if (b3 == 2) {
sequence6();
TELE.addLine("sequence6");
}
} else {
sequence1();
TELE.addLine("sequence1");
}
} else if (pgp) {
if (b1 + b2 + b3 == 4) {
if (b1 == 2 && b2 - b3 == 0) {
sequence3();
TELE.addLine("sequence3");
} else if (b2 == 2 && b1 - b3 == 0) {
sequence1();
TELE.addLine("sequence1");
} else if (b3 == 2 && b1 - b2 == 0) {
sequence4();
TELE.addLine("sequence4");
} else {
sequence1();
TELE.addLine("sequence1");
}
} else if (b1 + b2 + b3 >= 5) {
if (b1 == 2) {
sequence3();
TELE.addLine("sequence3");
} else if (b2 == 2) {
sequence1();
TELE.addLine("sequence1");
} else if (b3 == 2) {
sequence4();
TELE.addLine("sequence4");
}
} else {
sequence3();
TELE.addLine("sequence3");
}
} else if (ppg) {
if (b1 + b2 + b3 == 4) {
if (b1 == 2 && b2 - b3 == 0) {
sequence6();
TELE.addLine("sequence6");
} else if (b2 == 2 && b1 - b3 == 0) {
sequence5();
TELE.addLine("sequence5");
} else if (b3 == 2 && b1 - b2 == 0) {
sequence1();
TELE.addLine("sequence1");
} else {
sequence1();
TELE.addLine("sequence1");
}
} else if (b1 + b2 + b3 >= 5) {
if (b1 == 2) {
sequence6();
TELE.addLine("sequence6");
} else if (b2 == 2) {
sequence5();
TELE.addLine("sequence5");
} else if (b3 == 2) {
sequence1();
TELE.addLine("sequence1");
}
} else {
sequence6();
TELE.addLine("sequence6");
}
} else {
sequence1();
TELE.addLine("sequence1");
}
TELE.update();
}
public void sequence1() {
Actions.runBlocking(
new SequentialAction(
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL)
)
);
}
public void sequence2() {
Actions.runBlocking(
new SequentialAction(
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL)
)
);
}
public void sequence3() {
Actions.runBlocking(
new SequentialAction(
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL)
)
);
}
public void sequence4() {
Actions.runBlocking(
new SequentialAction(
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL)
)
);
}
public void sequence5() {
Actions.runBlocking(
new SequentialAction(
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL)
)
);
}
public void sequence6() {
Actions.runBlocking(
new SequentialAction(
spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL),
spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
Shoot(AUTO_FAR_VEL)
)
);
}
}

73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue_V2.java
View File

@@ -3,9 +3,8 @@ package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Poses.*; import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*; import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*; import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
import androidx.annotation.NonNull; import androidx.annotation.NonNull;
@@ -30,7 +29,7 @@ import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
@Config @Config
@Autonomous(preselectTeleOp = "TeleopV2") @Autonomous
public class Blue_V2 extends LinearOpMode { public class Blue_V2 extends LinearOpMode {
Robot robot; Robot robot;
@@ -45,9 +44,9 @@ public class Blue_V2 extends LinearOpMode {
double velo = 0.0; double velo = 0.0;
double targetVelocity = 0.0; double targetVelocity = 0.0;
public static double intake1Time = 2.9; public static double intake1Time = 6.5;
public static double intake2Time = 2.9; public static double intake2Time = 6.5;
public static double colorDetect = 3.0; public static double colorDetect = 3.0;
@@ -178,8 +177,8 @@ public class Blue_V2 extends LinearOpMode {
TELE.update(); TELE.update();
if (gpp || pgp || ppg){ if (gpp || pgp || ppg){
robot.turr1.setPower(turret_blueClose); robot.turr1.setPosition(turret_blue);
robot.turr2.setPower(1 - turret_blueClose); robot.turr2.setPosition(1 - turret_blue);
return false; return false;
} else { } else {
return true; return true;
@@ -188,39 +187,6 @@ public class Blue_V2 extends LinearOpMode {
}; };
} }
public Action intakeReject() {
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
double position = 0.0;
if ((getRuntime() % 0.3) > 0.15) {
position = spindexer_intakePos1 + 0.02;
} else {
position = spindexer_intakePos1 - 0.02;
}
robot.spin1.setPower(position);
robot.spin2.setPower(1 - position);
if (ticker == 0) {
stamp = getRuntime();
}
ticker++;
if (getRuntime() - stamp < 0.3){
return true;
}else {
robot.intake.setPower(0);
return false;
}
}
};
}
public Action spindex (double spindexer, double vel){ public Action spindex (double spindexer, double vel){
return new Action() { return new Action() {
double currentPos = 0.0; double currentPos = 0.0;
@@ -264,8 +230,8 @@ public class Blue_V2 extends LinearOpMode {
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
robot.spin1.setPower(spindexer); robot.spin1.setPosition(spindexer);
robot.spin2.setPower(1-spindexer); robot.spin2.setPosition(1-spindexer);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("spindex"); TELE.addLine("spindex");
TELE.update(); TELE.update();
@@ -380,8 +346,8 @@ public class Blue_V2 extends LinearOpMode {
} else { } else {
position = spindexer_intakePos1 - 0.02; position = spindexer_intakePos1 - 0.02;
} }
robot.spin1.setPower(position); robot.spin1.setPosition(position);
robot.spin2.setPower(1 - position); robot.spin2.setPosition(1 - position);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("Intaking"); TELE.addLine("Intaking");
@@ -393,6 +359,7 @@ public class Blue_V2 extends LinearOpMode {
robot.intake.setPower(1); robot.intake.setPower(1);
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) { if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
robot.intake.setPower(0);
return false; return false;
} else { } else {
return true; return true;
@@ -418,8 +385,8 @@ public class Blue_V2 extends LinearOpMode {
} else { } else {
position = spindexer_intakePos1 - 0.02; position = spindexer_intakePos1 - 0.02;
} }
robot.spin1.setPower(position); robot.spin1.setPosition(position);
robot.spin2.setPower(1 - position); robot.spin2.setPosition(1 - position);
double s1D = robot.color1.getDistance(DistanceUnit.MM); double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM); double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -541,13 +508,13 @@ public class Blue_V2 extends LinearOpMode {
robot.hood.setPosition(hoodAuto); robot.hood.setPosition(hoodAuto);
robot.turr1.setPower(turret_detectBlueClose); robot.turr1.setPosition(turret_detectBlue);
robot.turr2.setPower(1 - turret_detectBlueClose); robot.turr2.setPosition(1 - turret_detectBlue);
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
robot.spin1.setPower(spindexer_intakePos1); robot.spin1.setPosition(spindexer_intakePos1);
robot.spin2.setPower(1 - spindexer_intakePos1); robot.spin2.setPosition(1 - spindexer_intakePos1);
aprilTag.update(); aprilTag.update();
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
@@ -600,8 +567,7 @@ public class Blue_V2 extends LinearOpMode {
new ParallelAction( new ParallelAction(
shoot1.build(), shoot1.build(),
ColorDetect(), ColorDetect(),
steadyShooter(AUTO_CLOSE_VEL, true), steadyShooter(AUTO_CLOSE_VEL, true)
intakeReject()
) )
); );
@@ -633,8 +599,7 @@ public class Blue_V2 extends LinearOpMode {
new ParallelAction( new ParallelAction(
shoot2.build(), shoot2.build(),
ColorDetect(), ColorDetect(),
steadyShooter(AUTO_CLOSE_VEL, true), steadyShooter(AUTO_CLOSE_VEL, true)
intakeReject()
) )
); );

191
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red_V2.java
View File

@@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.autonomous;
import static org.firstinspires.ftc.teamcode.constants.Poses.*; import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*; import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
import androidx.annotation.NonNull; import androidx.annotation.NonNull;
@@ -25,11 +26,9 @@ import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel; import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam; import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
@Config @Config
@Autonomous(preselectTeleOp = "TeleopV2") @Autonomous
public class Red_V2 extends LinearOpMode { public class Red_V2 extends LinearOpMode {
Robot robot; Robot robot;
@@ -42,12 +41,11 @@ public class Red_V2 extends LinearOpMode {
Flywheel flywheel; Flywheel flywheel;
Servos servo;
double velo = 0.0; double velo = 0.0;
public static double intake1Time = 2.9; double targetVelocity = 0.0;
public static double intake1Time = 6.5;
public static double intake2Time = 2.9; public static double intake2Time = 6.5;
public static double colorDetect = 3.0; public static double colorDetect = 3.0;
@@ -59,33 +57,42 @@ public class Red_V2 extends LinearOpMode {
double powPID = 0.0; double powPID = 0.0;
double bearing = 0.0;
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
int b2 = 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 int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
boolean spindexPosEqual(double spindexer) {
TELE.addData("Velocity", velo);
TELE.addLine("spindex equal");
TELE.update();
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
}
public Action initShooter(int vel) { public Action initShooter(int vel) {
return new Action() { return new Action() {
double initPos = 0.0;
double stamp = 0.0; double stamp = 0.0;
double stamp1 = 0.0; double stamp1 = 0.0;
double ticker = 0.0; double ticker = 0.0;
double stamp2 = 0.0; double stamp2 = 0.0;
double currentPos = 0.0;
boolean steady = false; boolean steady = false;
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) { if (ticker == 0) {
stamp2 = getRuntime(); stamp2 = getRuntime();
} }
targetVelocity = (double) vel;
ticker++; ticker++;
if (ticker % 16 == 0) { if (ticker % 16 == 0) {
stamp = getRuntime(); stamp = getRuntime();
stamp1 = stamp; stamp1 = stamp;
} }
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition()); powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
@@ -114,7 +121,7 @@ public class Red_V2 extends LinearOpMode {
double stamp = 0.0; double stamp = 0.0;
boolean steady = false; boolean steady = false;
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition()); powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
steady = flywheel.getSteady(); steady = flywheel.getSteady();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
@@ -123,7 +130,7 @@ public class Red_V2 extends LinearOpMode {
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.update(); TELE.update();
detectTag();
if (last && !steady){ if (last && !steady){
stamp = getRuntime(); stamp = getRuntime();
@@ -169,10 +176,9 @@ public class Red_V2 extends LinearOpMode {
TELE.update(); TELE.update();
if (gpp || pgp || ppg){ if (gpp || pgp || ppg){
double turretPID = servo.setTurrPos(turret_redClose); robot.turr1.setPosition(turret_red);
robot.turr1.setPower(turretPID); robot.turr2.setPosition(1 - turret_red);
robot.turr2.setPower(-turretPID); return false;
return !servo.turretEqual(turret_redClose);
} else { } else {
return true; return true;
} }
@@ -180,17 +186,51 @@ public class Red_V2 extends LinearOpMode {
}; };
} }
public Action spindex (double spindexer, int vel){ public Action spindex (double spindexer, double vel){
return new Action() { return new Action() {
double currentPos = 0.0;
double stamp = 0.0;
double initPos = 0.0;
double stamp1 = 0.0;
int ticker = 0;
@Override @Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
ticker++;
if (ticker % 8 == 0) {
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
stamp = getRuntime();
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
initPos = currentPos;
stamp1 = stamp;
}
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition()); if (vel - velo > 500 && ticker > 16) {
powPID = 1.0;
} else if (velo - vel > 500 && ticker > 16){
powPID = 0.0;
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
// --- PROPORTIONAL CORRECTION ---
double error = vel - velo;
double correction = kP * error;
// limit how fast power changes (prevents oscillation)
correction = Math.max(-maxStep, Math.min(maxStep, correction));
// --- FINAL MOTOR POWER ---
powPID = feed + correction;
// clamp to allowed range
powPID = Math.max(0, Math.min(1, powPID));
}
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
robot.spin1.setPower(spindexer); robot.spin1.setPosition(spindexer);
robot.spin2.setPower(1-spindexer); robot.spin2.setPosition(1-spindexer);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("spindex"); TELE.addLine("spindex");
TELE.update(); TELE.update();
@@ -199,32 +239,65 @@ public class Red_V2 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
return !servo.spinEqual(spindexer); return !spindexPosEqual(spindexer);
} }
}; };
} }
public Action Shoot(int vel) { public Action Shoot(double vel) {
return new Action() { return new Action() {
double transferStamp = 0.0; double transferStamp = 0.0;
int ticker = 1; int ticker = 1;
boolean transferIn = false; boolean transferIn = false;
double currentPos = 0.0;
double stamp = 0.0;
double initPos = 0.0;
double stamp1 = 0.0;
@Override @Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) { public boolean run(@NonNull TelemetryPacket telemetryPacket) {
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("shooting"); TELE.addLine("shooting");
TELE.update(); TELE.update();
powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition()); if (ticker % 8 == 0) {
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
stamp = getRuntime();
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
initPos = currentPos;
stamp1 = stamp;
}
if (vel - velo > 500 && ticker > 16) {
powPID = 1.0;
} else if (velo - vel > 500 && ticker > 16){
powPID = 0.0;
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
// --- PROPORTIONAL CORRECTION ---
double error = vel - velo;
double correction = kP * error;
// limit how fast power changes (prevents oscillation)
correction = Math.max(-maxStep, Math.min(maxStep, correction));
// --- FINAL MOTOR POWER ---
powPID = feed + correction;
// clamp to allowed range
powPID = Math.max(0, Math.min(1, powPID));
}
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
drive.updatePoseEstimate(); drive.updatePoseEstimate();
detectTag();
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
if (ticker == 1) { if (ticker == 1) {
transferStamp = getRuntime(); transferStamp = getRuntime();
ticker++; ticker++;
@@ -272,8 +345,8 @@ public class Red_V2 extends LinearOpMode {
} else { } else {
position = spindexer_intakePos1 - 0.02; position = spindexer_intakePos1 - 0.02;
} }
robot.spin1.setPower(position); robot.spin1.setPosition(position);
robot.spin2.setPower(1 - position); robot.spin2.setPosition(1 - position);
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addLine("Intaking"); TELE.addLine("Intaking");
@@ -285,6 +358,7 @@ public class Red_V2 extends LinearOpMode {
robot.intake.setPower(1); robot.intake.setPower(1);
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) { if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
robot.intake.setPower(0);
return false; return false;
} else { } else {
return true; return true;
@@ -293,27 +367,6 @@ public class Red_V2 extends LinearOpMode {
}; };
} }
public Action intakeReject() {
return new Action() {
double stamp = 0.0;
int ticker = 0;
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
if (ticker == 0) {
stamp = getRuntime();
}
ticker++;
if (getRuntime() - stamp < 0.3){
return true;
}else {
robot.intake.setPower(0);
return false;
}
}
};
}
public Action ColorDetect() { public Action ColorDetect() {
return new Action() { return new Action() {
double stamp = 0.0; double stamp = 0.0;
@@ -331,8 +384,8 @@ public class Red_V2 extends LinearOpMode {
} else { } else {
position = spindexer_intakePos1 - 0.02; position = spindexer_intakePos1 - 0.02;
} }
robot.spin1.setPower(position); robot.spin1.setPosition(position);
robot.spin2.setPower(1 - position); robot.spin2.setPosition(1 - position);
double s1D = robot.color1.getDistance(DistanceUnit.MM); double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM); double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -454,14 +507,16 @@ public class Red_V2 extends LinearOpMode {
robot.hood.setPosition(hoodAuto); robot.hood.setPosition(hoodAuto);
robot.turr1.setPosition(turret_detectRed);
robot.turr2.setPosition(1 - turret_detectRed);
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
robot.spin1.setPower(spindexer_intakePos1); robot.spin1.setPosition(spindexer_intakePos1);
robot.spin2.setPower(1 - spindexer_intakePos1); robot.spin2.setPosition(1 - spindexer_intakePos1);
aprilTag.update(); aprilTag.update();
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
TELE.addData("Turret Pos", servo.getTurrPos());
TELE.update(); TELE.update();
} }
@@ -485,7 +540,7 @@ public class Red_V2 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition()); powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
@@ -512,8 +567,7 @@ public class Red_V2 extends LinearOpMode {
new ParallelAction( new ParallelAction(
shoot1.build(), shoot1.build(),
ColorDetect(), ColorDetect(),
steadyShooter(AUTO_CLOSE_VEL, true), steadyShooter(AUTO_CLOSE_VEL, true)
intakeReject()
) )
); );
@@ -521,7 +575,7 @@ public class Red_V2 extends LinearOpMode {
teleStart = drive.localizer.getPose(); teleStart = drive.localizer.getPose();
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition()); powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
@@ -545,13 +599,11 @@ public class Red_V2 extends LinearOpMode {
new ParallelAction( new ParallelAction(
shoot2.build(), shoot2.build(),
ColorDetect(), ColorDetect(),
steadyShooter(AUTO_CLOSE_VEL, true), steadyShooter(AUTO_CLOSE_VEL, true)
intakeReject()
) )
); );
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition()); powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
velo = flywheel.getVelo(); velo = flywheel.getVelo();
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
@@ -572,25 +624,6 @@ public class Red_V2 extends LinearOpMode {
} }
public void detectTag(){
AprilTagDetection d20 = aprilTag.getTagById(20);
AprilTagDetection d24 = aprilTag.getTagById(24);
if (d20 != null) {
bearing = d20.ftcPose.bearing;
TELE.addData("Bear", bearing);
}
if (d24 != null) {
bearing = d24.ftcPose.bearing;
TELE.addData("Bear", bearing);
}
double turretPos = servo.getTurrPos() - (bearing / 1300);
double turretPID = servo.setTurrPos(turretPos);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
}
public void shootingSequence() { public void shootingSequence() {
TELE.addData("Velocity", velo); TELE.addData("Velocity", velo);
if (gpp) { if (gpp) {

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Color.java
View File

@@ -1,5 +1,4 @@
package org.firstinspires.ftc.teamcode.constants; package org.firstinspires.ftc.teamcode.constants;
public class Color { public class Color {
public static boolean redAlliance = true;
} }

34
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
View File

@@ -12,22 +12,40 @@ public class Poses {
public static double relativeGoalHeight = goalHeight - turretHeight; public static double relativeGoalHeight = goalHeight - turretHeight;
public static double x1 = 50, y1 = 0, h1 = 0;
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
public static double tx = 0, ty = 0, th = 0;
public static Pose2d goalPose = new Pose2d(-15, 0, 0); public static Pose2d goalPose = new Pose2d(-15, 0, 0);
public static double rx1 = 45, ry1 = -7, rh1 = 0;
public static double rx1 = 46, ry1 = -4, rh1 = 0;
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140); public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140); public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140); public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140); public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
public static double bx1 = 45, by1 = 6, bh1 = 0; public static double bx1 = 46, by1 = 4, bh1 = 0;
public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140); public static double bx2a = 45, by2a = -5, bh2a = Math.toRadians(-140);
public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
public static double bx2b = 31, by2b = -32, bh2b = Math.toRadians(-140);
public static double bx3a = 58, by3a = -42, bh3a = Math.toRadians(-140);
public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140); public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this public static Pose2d teleStart = new Pose2d(rx1, 10, 0);
public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
} }

30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
View File

@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
@Config @Config
public class ServoPositions { public class ServoPositions {
public static double spindexer_intakePos1 = 0.34; public static double spindexer_intakePos1 = 0.665;
public static double spindexer_intakePos2 = 0.5; public static double spindexer_intakePos3 = 0.29;
public static double spindexer_intakePos3 = 0.66; public static double spindexer_intakePos2 = 0.99;
public static double spindexer_outtakeBall3 = 0.42; public static double spindexer_outtakeBall3 = 0.845;
public static double spindexer_outtakeBall2 = 0.74; public static double spindexer_outtakeBall2 = 0.48;
public static double spindexer_outtakeBall1 = 0.58; public static double spindexer_outtakeBall1 = 0.1;
public static double transferServo_out = 0.15; public static double transferServo_out = 0.15;
@@ -24,22 +24,18 @@ public class ServoPositions {
public static double hoodDefault = 0.6; public static double hoodDefault = 0.6;
public static double hoodAuto = 0.55; public static double hoodAuto = 0.59;
public static double hoodAutoFar = 0.5; //TODO: change this; public static double hoodHigh = 0.21;
public static double hoodHigh = 0.21; //TODO: change this; public static double hoodLow = 1.0;
public static double hoodLow = 1.0; //TODO: change this; public static double turret_red = 0.4;
public static double turret_blue = 0.38;
public static double turret_redClose = 0.42; public static double turret_detectRed = 0.2;
public static double turret_blueClose = 0.38;
public static double turret_redFar = 0.5; //TODO: change this
public static double turret_blueFar = 0.5; // TODO: change this
public static double turret_detectRedClose = 0.2; public static double turret_detectBlue = 0.6;
public static double turret_detectBlueClose = 0.6;
public static double turrDefault = 0.40; public static double turrDefault = 0.40;
} }

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
View File

@@ -20,5 +20,4 @@ public class ShooterVars {
// VELOCITY CONSTANTS // VELOCITY CONSTANTS
public static int AUTO_CLOSE_VEL = 3025; //3300; public static int AUTO_CLOSE_VEL = 3025; //3300;
public static int AUTO_FAR_VEL = 4000; //TODO: test this
} }

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
View File

@@ -73,13 +73,13 @@ public final class MecanumDrive {
public double kA = 0.000046; public double kA = 0.000046;
// path profile parameters (in inches) // path profile parameters (in inches)
public double maxWheelVel = 180; public double maxWheelVel = 120;
public double minProfileAccel = -40; public double minProfileAccel = -30;
public double maxProfileAccel = 180; public double maxProfileAccel = 120;
// turn profile parameters (in radians) // turn profile parameters (in radians)
public double maxAngVel = 4* Math.PI; // shared with path public double maxAngVel = 2* Math.PI; // shared with path
public double maxAngAccel = 4* Math.PI; public double maxAngAccel = 2* Math.PI;
// path controller gains // path controller gains
public double axialGain = 4; public double axialGain = 4;
@@ -185,19 +185,19 @@ public final class MecanumDrive {
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(leftFrontPosVel.position - lastLeftFrontPos), (leftFrontPosVel.position - lastLeftFrontPos),
leftFrontPosVel.velocity, leftFrontPosVel.velocity,
}).times(PARAMS.inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(leftBackPosVel.position - lastLeftBackPos), (leftBackPosVel.position - lastLeftBackPos),
leftBackPosVel.velocity, leftBackPosVel.velocity,
}).times(PARAMS.inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(rightBackPosVel.position - lastRightBackPos), (rightBackPosVel.position - lastRightBackPos),
rightBackPosVel.velocity, rightBackPosVel.velocity,
}).times(PARAMS.inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[]{ new DualNum<Time>(new double[]{
(rightFrontPosVel.position - lastRightFrontPos), (rightFrontPosVel.position - lastRightFrontPos),
rightFrontPosVel.velocity, rightFrontPosVel.velocity,
}).times(PARAMS.inPerTick) }).times(PARAMS.inPerTick)
)); ));
lastLeftFrontPos = leftFrontPosVel.position; lastLeftFrontPos = leftFrontPosVel.position;
@@ -454,14 +454,14 @@ public final class MecanumDrive {
public PoseVelocity2d updatePoseEstimate() { public PoseVelocity2d updatePoseEstimate() {
PoseVelocity2d vel = localizer.update(); PoseVelocity2d vel = localizer.update();
poseHistory.add(localizer.getPose()); poseHistory.add(localizer.getPose());
while (poseHistory.size() > 100) { while (poseHistory.size() > 100) {
poseHistory.removeFirst(); poseHistory.removeFirst();
} }
estimatedPoseWriter.write(new PoseMessage(localizer.getPose())); estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
return vel; return vel;
} }

304
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
View File

@@ -1,9 +1,19 @@
package org.firstinspires.ftc.teamcode.teleop; package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Poses.*; import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turrDefault;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
@@ -16,9 +26,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam; import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import java.util.ArrayList; import java.util.ArrayList;
@@ -27,8 +35,7 @@ import java.util.List;
@TeleOp @TeleOp
@Config @Config
public class TeleopV2 extends LinearOpMode { public class TeleopV2 extends LinearOpMode {
Servos servo;
Flywheel flywheel;
public static double manualVel = 3000; public static double manualVel = 3000;
public static double hood = 0.5; public static double hood = 0.5;
public static double hoodDefaultPos = 0.5; public static double hoodDefaultPos = 0.5;
@@ -36,6 +43,7 @@ public class TeleopV2 extends LinearOpMode {
public static double velMultiplier = 20; public static double velMultiplier = 20;
public static double shootStamp2 = 0.0; public static double shootStamp2 = 0.0;
public double vel = 3000; public double vel = 3000;
public boolean autoVel = true; public boolean autoVel = true;
public double manualOffset = 0.0; public double manualOffset = 0.0;
@@ -56,7 +64,6 @@ public class TeleopV2 extends LinearOpMode {
double yOffset = 0.0; double yOffset = 0.0;
double headingOffset = 0.0; double headingOffset = 0.0;
int ticker = 0; int ticker = 0;
int camTicker = 0;
List<Double> s1G = new ArrayList<>(); List<Double> s1G = new ArrayList<>();
List<Double> s2G = new ArrayList<>(); List<Double> s2G = new ArrayList<>();
List<Double> s3G = new ArrayList<>(); List<Double> s3G = new ArrayList<>();
@@ -82,6 +89,7 @@ public class TeleopV2 extends LinearOpMode {
boolean outtake3 = false; boolean outtake3 = false;
boolean overrideTurr = false; boolean overrideTurr = false;
List<Integer> shootOrder = new ArrayList<>(); List<Integer> shootOrder = new ArrayList<>();
boolean emergency = false; boolean emergency = false;
private double lastEncoderRevolutions = 0.0; private double lastEncoderRevolutions = 0.0;
@@ -92,11 +100,6 @@ public class TeleopV2 extends LinearOpMode {
private double transferStamp = 0.0; private double transferStamp = 0.0;
private int tickerA = 1; private int tickerA = 1;
private boolean transferIn = false; private boolean transferIn = false;
double turretPID = 0.0;
double turretPos = 0.5;
double spindexPID = 0.0;
double spindexPos = spindexer_intakePos1;
double error = 0.0;
public static double velPrediction(double distance) { public static double velPrediction(double distance) {
@@ -128,8 +131,6 @@ public class TeleopV2 extends LinearOpMode {
TELE = new MultipleTelemetry( TELE = new MultipleTelemetry(
telemetry, FtcDashboard.getInstance().getTelemetry() telemetry, FtcDashboard.getInstance().getTelemetry()
); );
servo = new Servos(hardwareMap);
flywheel = new Flywheel();
drive = new MecanumDrive(hardwareMap, teleStart); drive = new MecanumDrive(hardwareMap, teleStart);
@@ -137,6 +138,9 @@ public class TeleopV2 extends LinearOpMode {
aprilTagWebcam.init(new Robot(hardwareMap), TELE); aprilTagWebcam.init(new Robot(hardwareMap), TELE);
robot.turr1.setPosition(0.4);
robot.turr2.setPosition(1 - 0.4);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()) { while (opModeIsActive()) {
@@ -158,21 +162,6 @@ public class TeleopV2 extends LinearOpMode {
robot.frontRight.setPower(frontRightPower); robot.frontRight.setPower(frontRightPower);
robot.backRight.setPower(backRightPower); robot.backRight.setPower(backRightPower);
// PID SERVOS
turretPID = servo.setTurrPos(turretPos);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
//TODO: make sure changing position works throughout opmode
if (!servo.spinEqual(spindexPos)){
spindexPID = servo.setSpinPos(spindexPos);
robot.spin1.setPower(spindexPID);
robot.spin2.setPower(-spindexPID);
} else{
robot.spin1.setPower(0);
robot.spin2.setPower(0);
}
//INTAKE: //INTAKE:
if (gamepad1.rightBumperWasPressed()) { if (gamepad1.rightBumperWasPressed()) {
@@ -182,11 +171,15 @@ public class TeleopV2 extends LinearOpMode {
emergency = false; emergency = false;
overrideTurr = false; overrideTurr = false;
} }
if (gamepad1.leftBumperWasPressed()) { if (gamepad1.leftBumperWasPressed()) {
intake = false; intake = false;
emergency = !emergency; reject = true;
shootAll = false;
overrideTurr = false;
} }
@@ -196,15 +189,22 @@ public class TeleopV2 extends LinearOpMode {
robot.intake.setPower(1); robot.intake.setPower(1);
double position;
if ((getRuntime() % 0.3) > 0.15) { if ((getRuntime() % 0.3) > 0.15) {
spindexPos = spindexer_intakePos1 + 0.015; position = spindexer_intakePos1 + 0.015;
} else { } else {
spindexPos = spindexer_intakePos1 - 0.015; position = spindexer_intakePos1 - 0.015;
} }
robot.spin1.setPosition(position);
robot.spin2.setPosition(1 - position);
} else if (reject) { } else if (reject) {
robot.intake.setPower(-1); robot.intake.setPower(-1);
spindexPos = spindexer_intakePos1; double position = spindexer_intakePos1;
robot.spin1.setPosition(position);
robot.spin2.setPosition(1 - position);
} else { } else {
robot.intake.setPower(0); robot.intake.setPower(0);
} }
@@ -286,7 +286,46 @@ public class TeleopV2 extends LinearOpMode {
//SHOOTER: //SHOOTER:
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition()); double penguin = 0;
if (ticker % 8 == 0) {
penguin = (double) robot.shooterEncoder.getCurrentPosition() / 2048;
double stamp = getRuntime();
velo1 = -60 * ((penguin - initPos) / (stamp - stamp1));
initPos = penguin;
stamp1 = stamp;
}
velo = velo1;
double feed = vel / 4500;
if (vel > 500) {
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
}
// --- PROPORTIONAL CORRECTION ---
double error = vel - velo1;
double correction = kP * error;
// limit how fast power changes (prevents oscillation)
correction = Math.max(-maxStep, Math.min(maxStep, correction));
// --- FINAL MOTOR POWER ---
double powPID = feed + correction;
// clamp to allowed range
powPID = Math.max(0, Math.min(1, powPID));
if (vel - velo > 1000) {
powPID = 1;
} else if (velo - vel > 1000) {
powPID = 0;
}
TELE.addData("PIDPower", powPID);
TELE.addData("vel", velo1);
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);
@@ -297,11 +336,8 @@ public class TeleopV2 extends LinearOpMode {
double offset; double offset;
double robX = drive.localizer.getPose().position.x; double robotX = drive.localizer.getPose().position.x - xOffset;
double robY = drive.localizer.getPose().position.y; double robotY = drive.localizer.getPose().position.y - xOffset;
double robotX = robX - xOffset;
double robotY = robY - yOffset;
double robotHeading = drive.localizer.getPose().heading.toDouble(); double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -10; double goalX = -10;
@@ -322,8 +358,7 @@ public class TeleopV2 extends LinearOpMode {
offset -= 360; offset -= 360;
} }
//TODO: test the camera teleop code double pos = turrDefault;
double pos = turrDefault + (error/8); // adds the overall error to the default
TELE.addData("offset", offset); TELE.addData("offset", offset);
@@ -335,51 +370,14 @@ public class TeleopV2 extends LinearOpMode {
pos = 0.97; pos = 0.97;
} }
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
double bearing = 0.0;
if (d20 != null || d24 != null){
if (d20 != null) {
bearing = d20.ftcPose.bearing;
}
if (d24 != null) {
bearing = d24.ftcPose.bearing;
}
overrideTurr = true;
turretPos = servo.getTurrPos() - (bearing/1300);
TELE.addData("Bear", bearing);
double bearingCorrection = bearing / 1300;
// deadband: ignore tiny noise
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
// only accumulate if bearing direction is consistent
if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
error += bearingCorrection;
}
}
camTicker++;
}
} else {
camTicker = 0;
overrideTurr = false;
}
if (manualTurret) { if (manualTurret) {
pos = turrDefault + (manualOffset / 100); pos = turrDefault + (manualOffset / 100);
} }
if (!overrideTurr) { if (!overrideTurr) {
turretPos = pos;
robot.turr1.setPosition(pos);
robot.turr2.setPosition(1 - pos);
} }
if (gamepad2.dpad_right) { if (gamepad2.dpad_right) {
@@ -433,11 +431,13 @@ public class TeleopV2 extends LinearOpMode {
if (gamepad2.left_stick_x > 0.5) { if (gamepad2.left_stick_x > 0.5) {
manualTurret = false; manualTurret = false;
} else if (gamepad2.left_stick_x < -0.5) { } else if (gamepad2.left_stick_x < -0.5) {
manualTurret = true;
manualOffset = 0; manualOffset = 0;
manualTurret = false; autoHoodOffset = 0;
if (gamepad2.left_bumper) { if (gamepad2.left_bumper) {
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0)); xOffset = robotX;
sleep(1200); yOffset = robotY;
headingOffset = robotHeading;
} }
} }
@@ -457,15 +457,23 @@ public class TeleopV2 extends LinearOpMode {
if (emergency) { if (emergency) {
intake = false; intake = false;
reject = true; reject = false;
if (getRuntime() % 3 > 1.5) { if (getRuntime() % 3 > 1.5) {
spindexPos = 1; robot.spin1.setPosition(0);
robot.spin2.setPosition(1);
} else { } else {
spindexPos = 0;
robot.spin1.setPosition(1);
robot.spin2.setPosition(0);
} }
robot.transferServo.setPosition(transferServo_out); if (getRuntime() % 1 < 0.5) {
robot.transferServo.setPosition(transferServo_in);
} else {
robot.transferServo.setPosition(transferServo_out);
}
robot.transfer.setPower(1); robot.transfer.setPower(1);
@@ -480,14 +488,42 @@ public class TeleopV2 extends LinearOpMode {
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
boolean shootingDone = false; boolean shootingDone = false;
AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
if (d20 != null) {
overrideTurr = true;
double bearing = d20.ftcPose.bearing;
double finalPos =robot.turr1.getPosition() - (bearing/1300);
robot.turr1.setPosition(finalPos);
robot.turr2.setPosition(1-finalPos);
TELE.addData("Bear", bearing);
}
if (d24 != null) {
overrideTurr = true;
double bearing = d24.ftcPose.bearing;
double finalPos = turretPos() + (bearing/720);
robot.turr1.setPosition(finalPos);
robot.turr2.setPosition(1-finalPos);
}
if (!outtake1) { if (!outtake1) {
outtake1 = (servo.spinEqual(spindexer_outtakeBall1)); outtake1 = (spindexPosEqual(spindexer_outtakeBall1));
} }
if (!outtake2) { if (!outtake2) {
outtake2 = (servo.spinEqual(spindexer_outtakeBall2)); outtake2 = (spindexPosEqual(spindexer_outtakeBall2));
} }
if (!outtake3) { if (!outtake3) {
outtake3 = (servo.spinEqual(spindexer_outtakeBall3)); outtake3 = (spindexPosEqual(spindexer_outtakeBall3));
} }
switch (currentSlot) { switch (currentSlot) {
@@ -530,7 +566,8 @@ public class TeleopV2 extends LinearOpMode {
} else { } else {
// Finished shooting all balls // Finished shooting all balls
spindexPos = spindexer_intakePos1; robot.spin1.setPosition(spindexer_intakePos1);
robot.spin2.setPosition(1 - spindexer_intakePos1);
shootA = true; shootA = true;
shootB = true; shootB = true;
shootC = true; shootC = true;
@@ -540,9 +577,10 @@ public class TeleopV2 extends LinearOpMode {
outtake1 = false; outtake1 = false;
outtake2 = false; outtake2 = false;
outtake3 = false; outtake3 = false;
overrideTurr = false; overrideTurr = false;
} }
} }
@@ -622,17 +660,17 @@ public class TeleopV2 extends LinearOpMode {
// Fastest order (example: slot 3 → 2 → 1) // Fastest order (example: slot 3 → 2 → 1)
if (ballIn(3)) { if (ballIn(3)){
shootOrder.add(3); shootOrder.add(3);
} }
if (ballIn(2)) { if (ballIn(2)){
shootOrder.add(2); shootOrder.add(2);
} }
if (ballIn(1)) { if (ballIn(1)){
shootOrder.add(1); shootOrder.add(1);
} }
@@ -652,44 +690,41 @@ public class TeleopV2 extends LinearOpMode {
shootOrder.add(1); shootOrder.add(1);
} }
shootAll = true; shootAll = true;
shootPos = drive.localizer.getPose(); shootPos = drive.localizer.getPose();
} }
// // Right bumper shoots all balls fastest, ignoring colors // Right bumper shoots all balls fastest, ignoring colors
// if (gamepad2.leftBumperWasPressed()) { if (gamepad2.leftBumperWasPressed()) {
// shootOrder.clear(); shootOrder.clear();
// shootStamp = getRuntime(); shootStamp = getRuntime();
//
// outtake1 = false; outtake1 = false;
// outtake2 = false; outtake2 = false;
// outtake3 = false; outtake3 = false;
//
// // Fastest order (example: slot 3 → 2 → 1) // Fastest order (example: slot 3 → 2 → 1)
//
// if (ballIn(3)) { if (ballIn(3)) {
// shootOrder.add(3); shootOrder.add(3);
// } }
//
// if (ballIn(2)) { if (ballIn(2)) {
// shootOrder.add(2); shootOrder.add(2);
// } }
// if (ballIn(1)) { if (ballIn(1)) {
// shootOrder.add(1); shootOrder.add(1);
// } }
// shootAll = true; shootAll = true;
// shootPos = drive.localizer.getPose(); shootPos = drive.localizer.getPose();
//
// }
//
if (gamepad2.crossWasPressed()) {
emergency = true;
} }
if (gamepad2.leftBumperWasPressed()) { if (gamepad2.crossWasPressed()) {
emergency = false; emergency = !emergency;
} }
//MISC: //MISC:
@@ -743,9 +778,15 @@ public class TeleopV2 extends LinearOpMode {
return countTrue > countWindow / 2.0; // more than 50% true return countTrue > countWindow / 2.0; // more than 50% true
} }
boolean spindexPosEqual(double spindexer) {
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
}
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) { public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
// Set spin positions // Set spin positions
spindexPos = spindexer; robot.spin1.setPosition(spindexer);
robot.spin2.setPosition(1 - spindexer);
// Check if spindexer has reached the target position // Check if spindexer has reached the target position
if (spinOk || getRuntime() - stamp > 1.5) { if (spinOk || getRuntime() - stamp > 1.5) {
@@ -900,4 +941,9 @@ public class TeleopV2 extends LinearOpMode {
} }
return true; // default return true; // default
} }
public double turretPos() {
return (scalar*((robot.turr1Pos.getVoltage()-restPos) /3.3 ));
}
} }

797
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
View File

@@ -1,797 +0,0 @@
package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import static org.firstinspires.ftc.teamcode.constants.Color.*;
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel;
import org.firstinspires.ftc.teamcode.utils.LimelightManager;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import java.util.ArrayList;
import java.util.List;
@Config
@TeleOp
public class TeleopV3 extends LinearOpMode {
Robot robot;
MultipleTelemetry TELE;
Servos servo;
Flywheel flywheel;
MecanumDrive drive;
LimelightManager limelightManager;
public static double manualVel = 3000;
public static double hoodDefaultPos = 0.5;
public static double desiredTurretAngle = 180;
public static double shootStamp2 = 0.0;
public double vel = 3000;
public boolean autoVel = true;
public double manualOffset = 0.0;
public boolean autoHood = true;
public boolean green1 = false;
public boolean green2 = false;
public boolean green3 = false;
public double shootStamp = 0.0;
public boolean circle = false;
public boolean square = false;
public boolean triangle = false;
double autoHoodOffset = 0.0;
boolean intake = false;
boolean reject = false;
double xOffset = 0.0;
double yOffset = 0.0;
double headingOffset = 0.0;
int ticker = 0;
int camTicker = 0;
List<Double> s1G = new ArrayList<>();
List<Double> s2G = new ArrayList<>();
List<Double> s3G = new ArrayList<>();
List<Double> s1T = new ArrayList<>();
List<Double> s2T = new ArrayList<>();
List<Double> s3T = new ArrayList<>();
List<Boolean> s1 = new ArrayList<>();
List<Boolean> s2 = new ArrayList<>();
List<Boolean> s3 = new ArrayList<>();
boolean oddBallColor = false;
double hoodOffset = 0.0;
boolean shootA = true;
boolean shootB = true;
boolean shootC = true;
boolean manualTurret = false;
List<Integer> shootOrder = new ArrayList<>();
boolean outtake1 = false;
boolean outtake2 = false;
boolean outtake3 = false;
boolean overrideTurr = false;
private boolean shootAll = false;
private double transferStamp = 0.0;
private int tickerA = 1;
private boolean transferIn = false;
double turretPID = 0.0;
double turretPos = 0.5;
double spindexPID = 0.0;
double spindexPos = spindexer_intakePos1;
double error = 0.0;
double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0, spinningPow = 0.15;
boolean reverse = false;
int intakeTicker = 0;
@Override
public void runOpMode() throws InterruptedException {
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
for (LynxModule hub : allHubs) {
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
}
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
servo = new Servos(hardwareMap);
flywheel = new Flywheel();
drive = new MecanumDrive(hardwareMap, teleStart);
limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
limelightManager.init();
if (redAlliance) {
limelightManager.switchMode(LimelightManager.LimelightMode.RED_GOAL);
} else {
limelightManager.switchMode(LimelightManager.LimelightMode.BLUE_GOAL);
}
waitForStart();
if (isStopRequested()) return;
while (opModeIsActive()) {
//DRIVETRAIN:
double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
double rx = gamepad1.left_stick_x;
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backRightPower = (y + x - rx) / denominator;
robot.frontLeft.setPower(frontLeftPower);
robot.backLeft.setPower(backLeftPower);
robot.frontRight.setPower(frontRightPower);
robot.backRight.setPower(backRightPower);
// PID SERVOS
turretPID = servo.setTurrPos(turretPos);
robot.turr1.setPower(turretPID);
robot.turr2.setPower(-turretPID);
if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
spindexPID = servo.setSpinPos(spindexPos);
robot.spin1.setPower(spindexPID);
robot.spin2.setPower(-spindexPID);
} else {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
}
// INTAKE
if (gamepad1.right_bumper) {
robot.transferServo.setPosition(transferServo_out);
intakeTicker++;
if (intakeTicker % 16 == 0) {
spinCurrentPos = servo.getSpinPos();
if (Math.abs(spinCurrentPos - spinInitPos) == 0.0) {
reverse = !reverse;
}
spinInitPos = spinCurrentPos;
}
if (reverse) {
robot.spin1.setPower(spinningPow);
robot.spin2.setPower(-spinningPow);
} else {
robot.spin1.setPower(-spinningPow);
robot.spin2.setPower(spinningPow);
}
robot.intake.setPower(1);
intakeStamp = getRuntime();
TELE.addData("Reverse?", reverse);
TELE.update();
} else if (gamepad1.left_bumper) {
robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
spindexPos = spindexer_intakePos2;
intakeTicker = 0;
} else {
if (getRuntime() - intakeStamp < 1) {
robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
} else {
robot.intake.setPower(0);
}
intakeTicker = 0;
}
//COLOR:
double s1D = robot.color1.getDistance(DistanceUnit.MM);
double s2D = robot.color2.getDistance(DistanceUnit.MM);
double s3D = robot.color3.getDistance(DistanceUnit.MM);
if (s1D < 43) {
double green = robot.color1.getNormalizedColors().green;
double red = robot.color1.getNormalizedColors().red;
double blue = robot.color1.getNormalizedColors().blue;
double gP = green / (green + red + blue);
s1G.add(gP);
if (gP >= 0.43) {
s1.add(true);
} else {
s1.add(false);
}
s1T.add(getRuntime());
}
if (s2D < 60) {
double green = robot.color2.getNormalizedColors().green;
double red = robot.color2.getNormalizedColors().red;
double blue = robot.color2.getNormalizedColors().blue;
double gP = green / (green + red + blue);
s2G.add(gP);
if (gP >= 0.43) {
s2.add(true);
} else {
s2.add(false);
}
s2T.add(getRuntime());
}
if (s3D < 33) {
double green = robot.color3.getNormalizedColors().green;
double red = robot.color3.getNormalizedColors().red;
double blue = robot.color3.getNormalizedColors().blue;
double gP = green / (green + red + blue);
s3G.add(gP);
if (gP >= 0.43) {
s3.add(true);
} else {
s3.add(false);
}
s3T.add(getRuntime());
}
if (!s1.isEmpty()) {
green1 = checkGreen(s1, s1T);
}
if (!s2.isEmpty()) {
green2 = checkGreen(s2, s2T);
}
if (!s3.isEmpty()) {
green3 = checkGreen(s3, s3T);
}
//SHOOTER:
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID);
robot.transfer.setPower(1);
double offset;
double robX = drive.localizer.getPose().position.x;
double robY = drive.localizer.getPose().position.y;
double robotX = robX - xOffset;
double robotY = robY - yOffset;
double robotHeading = drive.localizer.getPose().heading.toDouble();
double goalX = -10;
double goalY = 0;
double dx = goalX - robotX; // delta x from robot to goal
double dy = goalY - robotY; // delta y from robot to goal
double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
desiredTurretAngle += manualOffset;
offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
if (offset > 135) {
offset -= 360;
}
//TODO: test the camera teleop code
double pos = turrDefault + (error / 8); // adds the overall error to the default
TELE.addData("offset", offset);
pos -= offset * (0.9 / 360);
if (pos < 0.02) {
pos = 0.02;
} else if (pos > 0.97) {
pos = 0.97;
}
if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1) { //not moving
limelightManager.update();
double bearing = limelightManager.getBearing();
if (limelightManager.getLatestResult() != null && limelightManager.getLatestResult().isValid()) {
overrideTurr = true;
turretPos = servo.getTurrPos() - (bearing / 1300);
double bearingCorrection = bearing / 1300;
// deadband: ignore tiny noise
if (Math.abs(bearing) > 0.3 && camTicker < 8) {
// only accumulate if bearing direction is consistent
if (Math.signum(bearingCorrection) == Math.signum(error) ||
error == 0) {
error += bearingCorrection;
}
}
camTicker++;
TELE.addData("tx", bearing);
TELE.addData("ty", limelightManager.getLatestResult().getTy());
}
} else {
camTicker = 0;
overrideTurr = false;
}
if (manualTurret) {
pos = turrDefault + (manualOffset / 100);
}
if (!overrideTurr) {
turretPos = pos;
}
if (gamepad2.dpad_right) {
manualOffset -= 2;
} else if (gamepad2.dpad_left) {
manualOffset += 2;
}
//VELOCITY AUTOMATIC
if (autoVel) {
vel = velPrediction(distanceToGoal);
} else {
vel = manualVel;
}
if (gamepad2.right_stick_button) {
autoVel = true;
} else if (gamepad2.right_stick_y < -0.5) {
autoVel = false;
manualVel = 4100;
} else if (gamepad2.right_stick_y > 0.5) {
autoVel = false;
manualVel = 2700;
} else if (gamepad2.right_stick_x > 0.5) {
autoVel = false;
manualVel = 3600;
} else if (gamepad2.right_stick_x < -0.5) {
autoVel = false;
manualVel = 3100;
}
//HOOD:
if (autoHood) {
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
} else {
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
}
if (gamepad2.dpadUpWasPressed()) {
hoodOffset -= 0.03;
autoHoodOffset -= 0.02;
} else if (gamepad2.dpadDownWasPressed()) {
hoodOffset += 0.03;
autoHoodOffset += 0.02;
}
//TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
if (gamepad2.left_stick_x > 0.5) {
manualTurret = false;
} else if (gamepad2.left_stick_x < -0.5) {
manualOffset = 0;
manualTurret = false;
if (gamepad2.left_bumper) {
drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
sleep(1200);
}
}
if (gamepad2.left_stick_y < -0.5) {
autoHood = true;
} else if (gamepad2.left_stick_y > 0.5) {
autoHood = false;
hoodOffset = 0;
if (gamepad2.left_bumper) {
xOffset = robotX;
yOffset = robotY;
headingOffset = robotHeading;
}
}
if (shootAll) {
TELE.addData("100% works", shootOrder);
intake = false;
reject = false;
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
boolean shootingDone = false;
if (!outtake1) {
outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
}
if (!outtake2) {
outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
}
if (!outtake3) {
outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
}
switch (currentSlot) {
case 1:
shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
TELE.addData("shootA", shootA);
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
shootingDone = !shootA;
} else {
shootingDone = true;
}
break;
case 2:
shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
TELE.addData("shootB", shootB);
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
shootingDone = !shootB;
} else {
shootingDone = true;
}
break;
case 3:
shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
TELE.addData("shootC", shootC);
if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
shootingDone = !shootC;
} else {
shootingDone = true;
}
break;
}
// Remove from the list only if shooting is complete
if (shootingDone) {
shootOrder.remove(0);
shootStamp2 = getRuntime();
}
} else {
// Finished shooting all balls
spindexPos = spindexer_intakePos1;
shootA = true;
shootB = true;
shootC = true;
reject = false;
intake = true;
shootAll = false;
outtake1 = false;
outtake2 = false;
outtake3 = false;
overrideTurr = false;
}
if (gamepad1.squareWasPressed()) {
square = true;
shootStamp = getRuntime();
shootStamp2 = getRuntime();
outtake1 = false;
outtake2 = false;
outtake3 = false;
}
if (gamepad1.circleWasPressed()) {
circle = true;
shootStamp = getRuntime();
shootStamp2 = getRuntime();
outtake1 = false;
outtake2 = false;
outtake3 = false;
}
if (gamepad1.triangleWasPressed()) {
triangle = true;
shootStamp = getRuntime();
shootStamp2 = getRuntime();
outtake1 = false;
outtake2 = false;
outtake3 = false;
}
if (square || circle || triangle) {
// Count green balls
int greenCount = 0;
if (green1) greenCount++;
if (green2) greenCount++;
if (green3) greenCount++;
// Determine the odd ball color
oddBallColor = greenCount < 2; // true = green, false = purple
shootOrder.clear();
// Determine shooting order based on button pressed
// square = odd ball first, triangle = odd ball second, circle = odd ball third
if (square) {
// Odd ball first
addOddThenRest(shootOrder, oddBallColor);
} else if (triangle) {
// Odd ball second
addOddInMiddle(shootOrder, oddBallColor);
} else if (circle) {
// Odd ball last
addOddLast(shootOrder, oddBallColor);
}
circle = false;
square = false;
triangle = false;
}
// Right bumper shoots all balls fastest, ignoring colors
if (gamepad1.crossWasPressed()) {
shootOrder.clear();
shootStamp = getRuntime();
outtake1 = false;
outtake2 = false;
outtake3 = false;
// Fastest order (example: slot 3 → 2 → 1)
if (ballIn(3)) {
shootOrder.add(3);
}
if (ballIn(2)) {
shootOrder.add(2);
}
if (ballIn(1)) {
shootOrder.add(1);
}
if (!shootOrder.contains(3)) {
shootOrder.add(3);
}
if (!shootOrder.contains(2)) {
shootOrder.add(2);
}
if (!shootOrder.contains(1)) {
shootOrder.add(1);
}
shootAll = true;
}
//EXTRA STUFFINESS:
drive.updatePoseEstimate();
for (LynxModule hub : allHubs) {
hub.clearBulkCache();
}
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
TELE.addData("pose", drive.localizer.getPose());
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
TELE.addData("distanceToGoal", distanceToGoal);
TELE.addData("hood", robot.hood.getPosition());
TELE.addData("targetVel", vel);
TELE.addData("shootOrder", shootOrder);
TELE.addData("oddColor", oddBallColor);
TELE.update();
ticker++;
}
}
}
// Helper method
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
if (s.isEmpty()) return false;
double lastTime = sT.get(sT.size() - 1);
int countTrue = 0;
int countWindow = 0;
for (int i = 0; i < s.size(); i++) {
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
countWindow++;
if (s.get(i)) {
countTrue++;
}
}
}
if (countWindow == 0) return false; // avoid divide by zero
return countTrue > countWindow / 2.0; // more than 50% true
}
public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
// Set spin positions
spindexPos = spindexer;
// Check if spindexer has reached the target position
if (spinOk || getRuntime() - stamp > 1.5) {
if (tickerA == 1) {
transferStamp = getRuntime();
tickerA++;
TELE.addLine("tickerSet");
}
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
robot.transferServo.setPosition(transferServo_in);
transferIn = true;
TELE.addLine("transferring");
return true; // still in progress
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
robot.transferServo.setPosition(transferServo_out);
transferIn = false; // reset for next shot
tickerA = 1; // reset ticker
transferStamp = 0.0;
TELE.addLine("shotFinished");
return false; // finished shooting
} else {
TELE.addLine("sIP");
return true; // still in progress
}
} else {
robot.transferServo.setPosition(transferServo_out);
tickerA = 1;
transferStamp = getRuntime();
transferIn = false;
return true; // still moving spin
}
}
public double hoodAnglePrediction(double x) {
if (x < 34) {
double L = 1.04471;
double U = 0.711929;
double Q = 120.02263;
double B = 0.780982;
double M = 20.61191;
double v = 10.40506;
double inner = 1 + Q * Math.exp(-B * (x - M));
return L + (U - L) / Math.pow(inner, 1.0 / v);
} else {
// x >= 34
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
}
}
void addOddThenRest(List<Integer> order, boolean oddColor) {
// Odd ball first
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
TELE.addData("1", shootOrder);
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
TELE.addData("works", shootOrder);
TELE.addData("oddBall", oddColor);
shootAll = true;
}
void addOddInMiddle(List<Integer> order, boolean oddColor) {
boolean[] used = new boolean[4]; // index 1..3
// 1) Add a NON-odd ball first
for (int i = 1; i <= 3; i++) {
if (getBallColor(i) != oddColor) {
order.add(i);
used[i] = true;
break;
}
}
// 2) Add the odd ball second
for (int i = 1; i <= 3; i++) {
if (!used[i] && getBallColor(i) == oddColor) {
order.add(i);
used[i] = true;
break;
}
}
// 3) Add the remaining non-odd ball third
for (int i = 1; i <= 3; i++) {
if (!used[i] && getBallColor(i) != oddColor) {
order.add(i);
used[i] = true;
break;
}
}
TELE.addData("works", order);
TELE.addData("oddBall", oddColor);
shootAll = true;
}
void addOddLast(List<Integer> order, boolean oddColor) {
// Odd ball last
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
TELE.addData("1", shootOrder);
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
TELE.addData("works", shootOrder);
TELE.addData("oddBall", oddColor);
shootAll = true;
}
// Returns color of ball in slot i (1-based)
boolean getBallColor(int slot) {
switch (slot) {
case 1:
return green1;
case 2:
return green2;
case 3:
return green3;
}
return false; // default
}
boolean ballIn(int slot) {
List<Double> times =
slot == 1 ? s1T :
slot == 2 ? s2T :
slot == 3 ? s3T : null;
if (times == null || times.isEmpty()) return false;
return times.get(times.size() - 1) > getRuntime() - 2;
}
public static double velPrediction(double distance) {
if (distance < 30) {
return 2750;
} else if (distance > 100) {
if (distance > 160) {
return 4200;
}
return 3700;
} else {
// linear interpolation between 40->2650 and 120->3600
double slope = (3700.0 - 2750.0) / (100.0 - 30);
return (int) Math.round(2750 + slope * (distance - 30));
}
}
}

55
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorTest.java
View File

@@ -1,55 +0,0 @@
package org.firstinspires.ftc.teamcode.tests;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.utils.Robot;
@Config
@TeleOp
public class ColorTest extends LinearOpMode {
Robot robot;
MultipleTelemetry TELE;
@Override
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
waitForStart();
if (isStopRequested()) return;
while(opModeIsActive()){
double green1 = robot.color1.getNormalizedColors().green;
double blue1 = robot.color1.getNormalizedColors().blue;
double red1 = robot.color1.getNormalizedColors().red;
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
// ----- COLOR 2 -----
double green2 = robot.color2.getNormalizedColors().green;
double blue2 = robot.color2.getNormalizedColors().blue;
double red2 = robot.color2.getNormalizedColors().red;
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
// ----- COLOR 3 -----
double green3 = robot.color3.getNormalizedColors().green;
double blue3 = robot.color3.getNormalizedColors().blue;
double red3 = robot.color3.getNormalizedColors().red;
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
TELE.update();
}
}
}

223
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/IntakeTest.java
View File

@@ -1,223 +0,0 @@
package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.hardware.lynx.LynxModule;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos;
import java.util.ArrayList;
import java.util.List;
@Config
@TeleOp
public class IntakeTest extends LinearOpMode {
Robot robot;
MultipleTelemetry TELE;
Servos servo;
public boolean green1 = false;
public boolean green2 = false;
public boolean green3 = false;
List<Double> s1G = new ArrayList<>();
List<Double> s2G = new ArrayList<>();
List<Double> s3G = new ArrayList<>();
List<Double> s1T = new ArrayList<>();
List<Double> s2T = new ArrayList<>();
List<Double> s3T = new ArrayList<>();
List<Boolean> s1 = new ArrayList<>();
List<Boolean> s2 = new ArrayList<>();
List<Boolean> s3 = new ArrayList<>();
public static int mode = 0; // 0 for teleop, 1 for auto
public static double manualPow = 0.15;
double stamp = 0;
int ticker = 0;
boolean steadySpin = false;
double powPID = 0.0;
boolean intake = true;
double spindexerPos = spindexer_intakePos1;
boolean wasMoving = false;
double currentPos = 0.0;
double initPos = 0.0;
boolean reverse = false;
@Override
public void runOpMode() throws InterruptedException {
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
for (LynxModule hub : allHubs) {
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
}
robot = new Robot(hardwareMap);
servo = new Servos(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.setPower(manualPow);
robot.spin2.setPower(-manualPow);
} else {
robot.spin1.setPower(-manualPow);
robot.spin2.setPower(manualPow);
}
robot.intake.setPower(1);
stamp = getRuntime();
TELE.addData("Reverse?", reverse);
TELE.update();
} else {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
if (getRuntime() - stamp < 1) {
robot.intake.setPower(-(getRuntime() - stamp)*2);
} else {
robot.intake.setPower(0);
}
ticker = 0;
}
} else if (mode == 1) {
if (gamepad1.right_bumper && intake){
robot.intake.setPower(1);
} else if (gamepad1.left_bumper){
robot.intake.setPower(-1);
} else {
robot.intake.setPower(0);
}
colorDetect();
spindexer();
if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
if (!ballIn(2)){
if (servo.spinEqual(spindexer_intakePos1)){
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.setPower(powPID);
robot.spin2.setPower(-powPID);
steadySpin = false;
wasMoving = true; // remember we were moving
stamp = getRuntime();
} else {
robot.spin1.setPower(0);
robot.spin2.setPower(0);
steadySpin = true;
wasMoving = false;
}
}
boolean ballIn(int slot) {
List<Double> times;
if (slot == 1) {times = s1T;}
else if (slot == 2) {times = s2T;}
else if (slot == 3) {times = s3T;}
else return false;
if (!times.isEmpty()){
return times.get(times.size() - 1) > getRuntime() - 2;
} else {
return false;
}
}
}

77
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/LimelightTest.java
View File

@@ -1,77 +0,0 @@
package org.firstinspires.ftc.teamcode.tests;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import java.util.List;
@Config
@TeleOp
//TODO: fix to get the apriltag that it is reading
public class LimelightTest extends LinearOpMode {
MultipleTelemetry TELE;
public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
@Override
public void runOpMode() throws InterruptedException {
Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
limelight.pipelineSwitch(pipeline);
waitForStart();
if (isStopRequested()) return;
limelight.start();
while (opModeIsActive()){
if (mode == 0){
limelight.pipelineSwitch(pipeline);
LLResult result = limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else if (mode == 1){
limelight.pipelineSwitch(1);
LLResult result = limelight.getLatestResult();
if (result != null && result.isValid()) {
List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
for (LLResultTypes.FiducialResult fiducial : fiducials) {
int id = fiducial.getFiducialId();
TELE.addData("ID", id);
TELE.update();
}
}
} else if (mode == 2){
limelight.pipelineSwitch(4);
LLResult result = limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else if (mode == 3){
limelight.pipelineSwitch(5);
LLResult result = limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
TELE.addData("tx", result.getTx());
TELE.addData("ty", result.getTy());
TELE.update();
}
}
} else {
limelight.pipelineSwitch(0);
}
}
}
}

74
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java
View File

@@ -1,74 +0,0 @@
package org.firstinspires.ftc.teamcode.tests;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.arcrobotics.ftclib.controller.PIDFController;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import org.firstinspires.ftc.teamcode.utils.Robot;
@TeleOp
@Config
public class PIDServoTest extends LinearOpMode {
public static double p = 2, i = 0, d = 0, f = 0;
public static double target = 0.5;
public static int mode = 0; //0 is for turret, 1 is for spindexer
public static double scalar = 1.01;
public static double restPos = 0.0;
Robot robot;
double pos = 0.0;
@Override
public void runOpMode() throws InterruptedException {
PIDFController controller = new PIDFController(p, i, d, f);
controller.setTolerance(0);
robot = new Robot(hardwareMap);
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
waitForStart();
if (isStopRequested()) return;
while (opModeIsActive()) {
controller.setPIDF(p, i, d, f);
if (mode == 0) {
pos = scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3);
double pid = controller.calculate(pos, target);
robot.turr1.setPower(pid);
robot.turr2.setPower(-pid);
} else if (mode == 1) {
pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
double pid = controller.calculate(pos, target);
robot.spin1.setPower(pid);
robot.spin2.setPower(-pid);
}
telemetry.addData("pos", pos);
telemetry.addData("Turret Voltage", robot.turr1Pos.getVoltage());
telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
telemetry.addData("target", target);
telemetry.addData("Mode", mode);
telemetry.update();
}
}
}

72
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
View File

@@ -1,7 +1,5 @@
package org.firstinspires.ftc.teamcode.tests; package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -9,7 +7,6 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx; 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.Robot;
@Config @Config
@@ -19,14 +16,18 @@ public class ShooterTest extends LinearOpMode {
public static int mode = 0; public static int mode = 0;
public static double parameter = 0.0; public static double parameter = 0.0;
// --- CONSTANTS YOU TUNE --- // --- CONSTANTS YOU TUNE ---
public static double MAX_RPM = 4500; // your measured max RPM
public static double kP = 0.001; // small proportional gain (tune this)
public static double maxStep = 0.06; // prevents sudden jumps
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
public static double transferPower = 1.0; public static double transferPower = 0.0;
public static double hoodPos = 0.501; public static double hoodPos = 0.501;
public static double turretPos = 0.501; public static double turretPos = 0.501;
public static boolean shoot = false;
Robot robot; Robot robot;
Flywheel flywheel; private double lastEncoderRevolutions = 0.0;
private double lastTimeStamp = 0.0;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@@ -34,7 +35,7 @@ public class ShooterTest extends LinearOpMode {
robot = new Robot(hardwareMap); robot = new Robot(hardwareMap);
DcMotorEx leftShooter = robot.shooter1; DcMotorEx leftShooter = robot.shooter1;
DcMotorEx rightShooter = robot.shooter2; DcMotorEx rightShooter = robot.shooter2;
flywheel = new Flywheel(); DcMotorEx encoder = robot.shooter1;
MultipleTelemetry TELE = new MultipleTelemetry( MultipleTelemetry TELE = new MultipleTelemetry(
telemetry, FtcDashboard.getInstance().getTelemetry() telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -46,35 +47,60 @@ public class ShooterTest extends LinearOpMode {
while (opModeIsActive()) { while (opModeIsActive()) {
double kF = 1.0 / MAX_RPM; // baseline feedforward
double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
TELE.addLine("Mode: 0 = Manual, 1 = Vel, 2 = Pos");
TELE.addLine("Parameter = pow, vel, or pos");
TELE.addData("leftShooterPower", leftShooter.getPower());
TELE.addData("rightShooterPower", rightShooter.getPower());
TELE.addData("shaftEncoderPos", encoderRevolutions);
TELE.addData("shaftEncoderVel", velocity);
double velPID;
if (mode == 0) { if (mode == 0) {
rightShooter.setPower(parameter); rightShooter.setPower(parameter);
leftShooter.setPower(parameter); leftShooter.setPower(parameter);
} else if (mode == 1) { } else if (mode == 1) {
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
rightShooter.setPower(powPID); // --- FEEDFORWARD BASE POWER ---
leftShooter.setPower(powPID); double feed = kF * parameter; // Example: vel=2500 → feed=0.5
TELE.addData("PIDPower", powPID);
// --- PROPORTIONAL CORRECTION ---
double error = parameter - velocity;
double correction = kP * error;
// limit how fast power changes (prevents oscillation)
correction = Math.max(-maxStep, Math.min(maxStep, correction));
// --- FINAL MOTOR POWER ---
velPID = feed + correction;
// clamp to allowed range
velPID = Math.max(0, Math.min(1, velPID));
rightShooter.setPower(velPID);
leftShooter.setPower(velPID);
} }
lastTimeStamp = getRuntime();
lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
if (hoodPos != 0.501) { if (hoodPos != 0.501) {
robot.hood.setPosition(hoodPos); robot.hood.setPosition(hoodPos);
} }
if (turretPos != 0.501) { if (turretPos!=0.501){
robot.turr1.setPower(turretPos); robot.turr1.setPosition(turretPos);
robot.turr2.setPower(turretPos); robot.turr2.setPosition(turretPos);
} }
robot.transfer.setPower(transferPower); robot.transfer.setPower(transferPower);
if (shoot) {
robot.transferServo.setPosition(transferServo_in);
} else {
robot.transferServo.setPosition(transferServo_out);
}
TELE.addData("Velocity", flywheel.getVelo());
TELE.addData("Power", robot.shooter1.getPower());
TELE.addData("Steady?", flywheel.getSteady());
TELE.addData("Position", robot.shooter1.getCurrentPosition());
TELE.update(); TELE.update();

37
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
View File

@@ -7,22 +7,21 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
public class Flywheel { public class Flywheel {
Robot robot; Robot robot;
MultipleTelemetry TELE;
MultipleTelemetry TELE;
double initPos = 0.0; double initPos = 0.0;
double stamp = 0.0; double stamp = 0.0;
double stamp1 = 0.0; double stamp1 = 0.0;
double ticker = 0.0; double ticker = 0.0;
double stamp2 = 0.0;
double currentPos = 0.0; double currentPos = 0.0;
boolean prevSteady = false;
double velo = 0.0; double velo = 0.0;
double velo1 = 0.0; double prevVelo = 0.0;
double velo2 = 0.0;
double velo3 = 0.0;
double velo4 = 0.0;
double velo5 = 0.0;
double targetVelocity = 0.0; double targetVelocity = 0.0;
double powPID = 0.0; double powPID = 0.0;
boolean steady = false; boolean steady = false;
public Flywheel () { public Flywheel () {
//robot = new Robot(hardwareMap); //robot = new Robot(hardwareMap);
} }
@@ -42,22 +41,15 @@ public class Flywheel {
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) { public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
targetVelocity = commandedVelocity; targetVelocity = (double) commandedVelocity;
ticker++; ticker++;
if (ticker % 2 == 0) { if (ticker % 8 == 0) {
velo5 = velo4;
velo4 = velo3;
velo3 = velo2;
velo2 = velo1;
currentPos = shooter1CurPos / 2048; currentPos = shooter1CurPos / 2048;
stamp = getTimeSeconds(); //getRuntime(); stamp = getTimeSeconds(); //getRuntime();
velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1)); velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
initPos = currentPos; initPos = currentPos;
stamp1 = stamp; stamp1 = stamp;
velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
} }
// Flywheel control code here // Flywheel control code here
if (targetVelocity - velo > 500) { if (targetVelocity - velo > 500) {
@@ -82,12 +74,19 @@ public class Flywheel {
} }
// really should be a running average of the last 5 // really should be a running average of the last 5
steady = (Math.abs(targetVelocity - velo) < 100.0); if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
{
steady = true;
}
else
{
steady = false;
}
return powPID; return powPID;
} }
public void update() public void update()
{ {
} };
} };

104
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/FlywheelV2.java
View File

@@ -1,104 +0,0 @@
package org.firstinspires.ftc.teamcode.utils;
import com.acmerobotics.dashboard.config.Config;
@Config
public class FlywheelV2 {
public static double kP = 0.001; // small proportional gain (tune this)
public static double maxStep = 0.06; // prevents sudden jumps
double initPos1 = 0.0;
double initPos2 = 0.0;
double stamp = 0.0;
double stamp1 = 0.0;
double ticker = 0.0;
double currentPos1 = 0.0;
double currentPos2 = 0.0;
double velo = 0.0;
double velo1 = 0.0;
double velo1a = 0.0;
double velo1b = 0.0;
double velo2 = 0.0;
double velo3 = 0.0;
double velo4 = 0.0;
double velo5 = 0.0;
double targetVelocity = 0.0;
double powPID = 0.0;
boolean steady = false;
public FlywheelV2() {
//robot = new Robot(hardwareMap);
}
public double getVelo(double shooter1CurPos, double shooter2CurPos) {
ticker++;
if (ticker % 2 == 0) {
velo5 = velo4;
velo4 = velo3;
velo3 = velo2;
velo2 = velo1;
currentPos1 = shooter1CurPos / 28;
currentPos2 = shooter2CurPos / 28;
stamp = getTimeSeconds(); //getRuntime();
velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
initPos1 = currentPos1;
initPos2 = currentPos2;
stamp1 = stamp;
if (velo1a < 200){
velo1 = velo1b;
} else if (velo1b < 200){
velo1 = velo1a;
} else {
velo1 = (velo1a + velo1b) / 2;
}
}
return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
}
public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
public boolean getSteady() {
return steady;
}
private double getTimeSeconds() {
return (double) System.currentTimeMillis() / 1000.0;
}
public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
targetVelocity = commandedVelocity;
velo = getVelo(shooter1CurPos, shooter2CurPos);
// Flywheel PID code here
if (targetVelocity - velo > 500) {
powPID = 1.0;
} else if (velo - targetVelocity > 500) {
powPID = 0.0;
} else {
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
// --- PROPORTIONAL CORRECTION ---
double error = targetVelocity - velo;
double correction = kP * error;
// limit how fast power changes (prevents oscillation)
correction = Math.max(-maxStep, Math.min(maxStep, correction));
// --- FINAL MOTOR POWER ---
powPID = feed + correction;
// clamp to allowed range
powPID = Math.max(0, Math.min(1, powPID));
}
steady = (Math.abs(targetVelocity - velo) < 100.0);
return powPID;
}
public void update() {
}
}

103
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/LimelightManager.java
View File

@@ -1,103 +0,0 @@
package org.firstinspires.ftc.teamcode.utils;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes;
import com.qualcomm.robotcore.hardware.HardwareMap;
import java.util.List;
@Config
public class LimelightManager {
private Limelight3A limelight;
private LLResult lastResult;
private int lastFiducialId = -1;
private double lastBearing = 0.0;
public static final int PIPELINE_DEFAULT = 1;
public static final int PIPELINE_BLUE_DETECTION = 2;
public static final int PIPELINE_RED_DETECTION = 3;
public enum LimelightMode {
OBELISK_DETECTION(PIPELINE_DEFAULT),
BLUE_GOAL(PIPELINE_BLUE_DETECTION),
RED_GOAL(PIPELINE_RED_DETECTION);
public final int pipeline;
LimelightMode(int pipeline) {
this.pipeline = pipeline;
}
}
public LimelightManager(HardwareMap hardwareMap, boolean enabled) {
if (enabled) {
this.limelight = hardwareMap.get(Limelight3A.class, "limelight");
}
}
public void init() {
if (limelight != null) {
limelight.start();
}
}
public void switchMode(LimelightMode mode) {
if (limelight != null) {
limelight.pipelineSwitch(mode.pipeline);
}
}
public void setPipeline(int pipeline) {
if (limelight != null) {
limelight.pipelineSwitch(pipeline);
}
}
public void update() {
if (limelight != null) {
lastResult = limelight.getLatestResult();
if (lastResult != null && lastResult.isValid()) {
lastBearing = lastResult.getTx();
}
}
}
public double getBearing() {
return lastBearing;
}
public int detectFiducial() {
if (lastResult != null && lastResult.isValid()) {
List<LLResultTypes.FiducialResult> fiducials = lastResult.getFiducialResults();
if (!fiducials.isEmpty()) {
lastFiducialId = fiducials.get(0).getFiducialId();
return lastFiducialId;
}
}
return -1;
}
public int getLastFiducialId() {
return lastFiducialId;
}
public boolean isFiducialDetected(int id) {
return lastFiducialId == id;
}
public LLResult getLatestResult() {
return lastResult;
}
public boolean isConnected() {
return limelight != null;
}
public Limelight3A getLimelight() {
return limelight;
}
}

53
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java
View File

@@ -1,7 +1,5 @@
package org.firstinspires.ftc.teamcode.utils; package org.firstinspires.ftc.teamcode.utils;
import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -13,47 +11,27 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
public class PositionalServoProgrammer extends LinearOpMode { public class PositionalServoProgrammer extends LinearOpMode {
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
Servos servo;
public static double spindexPos = 0.501; public static double spindexPos = 0.501;
public static double spindexPow = 0.0;
public static double spinHoldPow = 0.0;
public static double turretPos = 0.501; public static double turretPos = 0.501;
public static double turretPow = 0.0;
public static double turrHoldPow = 0.0;
public static double transferPos = 0.501; public static double transferPos = 0.501;
public static double hoodPos = 0.501; public static double hoodPos = 0.501;
public static int mode = 0; //0 for positional, 1 for power
public static double scalar = 1.112;
public static double restPos = 0.15;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap); robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
servo = new Servos(hardwareMap);
waitForStart(); waitForStart();
if (isStopRequested()) return; if (isStopRequested()) return;
while (opModeIsActive()){ while (opModeIsActive()){
if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){ if (spindexPos != 0.501){
double pos = servo.setSpinPos(spindexPos); robot.spin1.setPosition(spindexPos);
robot.spin1.setPower(pos); robot.spin2.setPosition(1-spindexPos);
robot.spin2.setPower(-pos);
} else if (mode == 0){
robot.spin1.setPower(spinHoldPow);
robot.spin2.setPower(spinHoldPow);
} else {
robot.spin1.setPower(spindexPow);
robot.spin2.setPower(-spindexPow);
} }
if (turretPos != 0.501 && !servo.turretEqual(turretPos)){ if (turretPos != 0.501){
double pos = servo.setTurrPos(turretPos); robot.turr1.setPosition(turretPos);
robot.turr1.setPower(pos); robot.turr2.setPosition(1-turretPos);
robot.turr2.setPower(-pos);
} else if (mode == 0){
robot.turr1.setPower(turrHoldPow);
robot.turr2.setPower(turrHoldPow);
} else {
robot.turr1.setPower(turretPow);
robot.turr2.setPower(-turretPow);
} }
if (transferPos != 0.501){ if (transferPos != 0.501){
robot.transferServo.setPosition(transferPos); robot.transferServo.setPosition(transferPos);
@@ -61,13 +39,14 @@ public class PositionalServoProgrammer extends LinearOpMode {
if (hoodPos != 0.501){ if (hoodPos != 0.501){
robot.hood.setPosition(hoodPos); robot.hood.setPosition(hoodPos);
} }
TELE.addData("spindexer", servo.getSpinPos()); TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
TELE.addData("turret", servo.getTurrPos()); TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage()); TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
TELE.addData("hood voltage", robot.hoodPos.getVoltage()); TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage()); TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
TELE.addData("turret voltage", robot.turr1Pos.getVoltage()); TELE.addData("hoodA", robot.hoodPos.getVoltage());
TELE.addData("Spin Equal", servo.spinEqual(spindexPos)); TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
TELE.addData("turretA", robot.turr1Pos.getVoltage());
TELE.update(); TELE.update();
} }
} }

86
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
View File

@@ -1,9 +1,7 @@
package org.firstinspires.ftc.teamcode.utils; package org.firstinspires.ftc.teamcode.utils;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.rev.RevColorSensorV3; import com.qualcomm.hardware.rev.RevColorSensorV3;
import com.qualcomm.robotcore.hardware.AnalogInput; import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -20,42 +18,67 @@ public class Robot {
public DcMotorEx frontLeft; public DcMotorEx frontLeft;
public DcMotorEx frontRight; public DcMotorEx frontRight;
public DcMotorEx backLeft; public DcMotorEx backLeft;
public DcMotorEx backRight; public DcMotorEx backRight;
public DcMotorEx intake; public DcMotorEx intake;
public DcMotorEx transfer; public DcMotorEx transfer;
public DcMotorEx shooter1; public DcMotorEx shooter1;
public DcMotorEx shooter2; public DcMotorEx shooter2;
public Servo hood; public Servo hood;
public Servo transferServo; public Servo transferServo;
public Servo rejecter; public Servo rejecter;
public CRServo turr1;
public CRServo turr2; public Servo turr1;
public CRServo spin1;
public CRServo spin2; public Servo turr2;
public Servo spin1;
public Servo spin2;
public DigitalChannel pin0; public DigitalChannel pin0;
public DigitalChannel pin1; public DigitalChannel pin1;
public DigitalChannel pin2; public DigitalChannel pin2;
public DigitalChannel pin3; public DigitalChannel pin3;
public DigitalChannel pin4; public DigitalChannel pin4;
public DigitalChannel pin5;
public AnalogInput analogInput;
public AnalogInput analogInput2;
public AnalogInput spin1Pos;
public AnalogInput spin2Pos;
public AnalogInput hoodPos;
public AnalogInput turr1Pos;
public AnalogInput turr2Pos;
public AnalogInput transferServoPos;
public AprilTagProcessor aprilTagProcessor;
public WebcamName webcam;
public DcMotorEx shooterEncoder;
public RevColorSensorV3 color1;
public RevColorSensorV3 color2;
public RevColorSensorV3 color3;
public Limelight3A limelight;
public static boolean usingLimelight = true; public DigitalChannel pin5;
public AnalogInput analogInput;
public AnalogInput analogInput2;
public AnalogInput spin1Pos;
public AnalogInput spin2Pos;
public AnalogInput hoodPos;
public AnalogInput turr1Pos;
public AnalogInput turr2Pos;
public AnalogInput transferServoPos;
public AprilTagProcessor aprilTagProcessor;
public WebcamName webcam;
public DcMotorEx shooterEncoder;
public RevColorSensorV3 color1;
public RevColorSensorV3 color2;
public RevColorSensorV3 color3;
public Robot(HardwareMap hardwareMap) { public Robot(HardwareMap hardwareMap) {
@@ -81,8 +104,6 @@ public class Robot {
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2"); shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
shooter1.setDirection(DcMotorSimple.Direction.REVERSE); shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
shooterEncoder = shooter1; shooterEncoder = shooter1;
@@ -90,25 +111,22 @@ public class Robot {
hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos"); hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
turr1 = hardwareMap.get(CRServo.class, "t1"); turr1 = hardwareMap.get(Servo.class, "t1");
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
turr2 = hardwareMap.get(CRServo.class, "t2"); turr2 = hardwareMap.get(Servo.class, "t2");
turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos"); turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
spin1 = hardwareMap.get(CRServo.class, "spin1"); spin1 = hardwareMap.get(Servo.class, "spin1");
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos"); spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
spin2 = hardwareMap.get(CRServo.class, "spin2"); spin2 = hardwareMap.get(Servo.class, "spin2");
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos"); spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
spin1.setDirection(DcMotorSimple.Direction.REVERSE);
spin2.setDirection(DcMotorSimple.Direction.REVERSE);
pin0 = hardwareMap.get(DigitalChannel.class, "pin0"); pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
pin1 = hardwareMap.get(DigitalChannel.class, "pin1"); pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
@@ -142,9 +160,5 @@ public class Robot {
color2 = hardwareMap.get(RevColorSensorV3.class, "c2"); color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
color3 = hardwareMap.get(RevColorSensorV3.class, "c3"); color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
if (usingLimelight){
limelight = hardwareMap.get(Limelight3A.class, "limelight");
}
} }
} }

60
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
View File

@@ -1,60 +0,0 @@
package org.firstinspires.ftc.teamcode.utils;
import com.acmerobotics.dashboard.config.Config;
import com.arcrobotics.ftclib.controller.PIDFController;
import com.qualcomm.robotcore.hardware.HardwareMap;
@Config
public class Servos {
Robot robot;
PIDFController spinPID;
PIDFController turretPID;
//PID constants
// TODO: get PIDF constants
public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
public static double spin_scalar = 1.0086;
public static double spin_restPos = 0.0;
public static double turret_scalar = 1.009;
public static double turret_restPos = 0.0;
public Servos(HardwareMap hardwareMap) {
robot = new Robot(hardwareMap);
spinPID = new PIDFController(spinP, spinI, spinD, spinF);
turretPID = new PIDFController(turrP, turrI, turrD, turrF);
}
// In the code below, encoder = robot.servo.getVoltage()
public double getSpinPos() {
return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
}
//TODO: PID warp so 0 and 1 are usable positions
public double setSpinPos(double pos) {
spinPID.setPIDF(spinP, spinI, spinD, spinF);
return spinPID.calculate(this.getSpinPos(), pos);
}
public boolean spinEqual(double pos) {
return Math.abs(pos - this.getSpinPos()) < 0.02;
}
public double getTurrPos() {
return turret_scalar * ((robot.turr1Pos.getVoltage() - turret_restPos) / 3.3);
}
public double setTurrPos(double pos) {
turretPID.setPIDF(turrP, turrI, turrD, turrF);
return spinPID.calculate(this.getTurrPos(), pos);
}
public boolean turretEqual(double pos) {
return Math.abs(pos - this.getTurrPos()) < 0.01;
}
}