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encoder velocity finalized - adjusted color values

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This commit is contained in:
DanTheMan-byte
2025-11-20 21:11:06 -06:00
parent 8d75b245e3
commit 77b42acdda
4 changed files with 27 additions and 42 deletions
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31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
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@@ -2,7 +2,6 @@ package org.firstinspires.ftc.teamcode.subsystems;
import static org.firstinspires.ftc.teamcode.tests.ShooterTest.*;
import static java.lang.Runtime.getRuntime;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.Pose2d;
@@ -41,6 +40,8 @@ public class Shooter implements Subsystem {
private double velocity = 0.0;
private double posPower = 0.0;
public double velo = 0.0;
private int targetPosition = 0;
private double p = 0.0003, i = 0, d = 0.00001;
@@ -77,24 +78,6 @@ public class Shooter implements Subsystem {
}
public void telemetryUpdate() {
// Telemetry
telemetry.addData("Mode", shooterMode);
telemetry.addData("ManualPower", manualPower);
telemetry.addData("ECPR Revolutions", getECPRPosition());
telemetry.addData("MCPR Revolutions", getMCPRPosition());
telemetry.addData("TargetPosition", targetPosition);
telemetry.addData("TargetVelocity", velocity);
telemetry.addData("hoodPos", gethoodPosition());
telemetry.addData("turretPos", getTurretPosition());
telemetry.addData("Power Fly 1", fly1.getPower());
telemetry.addData("Power Fly 2", fly2.getPower());
telemetry.addData("Pow", pow);
}
public double gethoodPosition() {
return (hoodServo.getPosition());
}
@@ -107,8 +90,10 @@ public class Shooter implements Subsystem {
public void setTurretPosition(double pos) { turretPos = pos; }
public double getVelocity(double initPos) {
return (getECPRPosition() - initPos);
public double getVelocity(double vel) {
return vel;
}
public void setVelocity(double vel) { velocity = vel; }
@@ -252,7 +237,7 @@ public class Shooter implements Subsystem {
fly1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
fly2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
double powPID = controller.calculate(fly1.getVelocity(), velocity);
double powPID = controller.calculate(-getVelocity(velo), velocity);
fly1.setPower(powPID);
fly2.setPower(powPID);
@@ -266,7 +251,5 @@ public class Shooter implements Subsystem {
}
if (telemetryOn) { telemetryUpdate(); }
}
}

30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
View File

@@ -1,19 +1,10 @@
package org.firstinspires.ftc.teamcode.tests;
import android.app.Notification;
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.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
@@ -33,7 +24,7 @@ public class ShooterTest extends LinearOpMode {
public static double posi = 0.5;
public static double p = 0.001, i = 0, d = 0, f = 0;
public static double p = 0.0003, i = 0, d = 0, f = 0;
public static String flyMode = "MANUAL";
@@ -49,6 +40,8 @@ public class ShooterTest extends LinearOpMode {
public static double time = 1.0;
public double velo = 0.0;
MultipleTelemetry TELE;
public boolean wait(double time) {
@@ -72,6 +65,8 @@ public class ShooterTest extends LinearOpMode {
shooter.setControllerCoefficients(p, i, d, f);
initPos = shooter.getECPRPosition();
waitForStart();
if (isStopRequested()) return;
@@ -98,13 +93,22 @@ public class ShooterTest extends LinearOpMode {
if (servoPosition != 0.501) { shooter.sethoodPosition(servoPosition); }
shooter.update();
if (wait(time)){
telemetry.addData("Velocity", shooter.getVelocity(initPos));
velo = 60*((shooter.getECPRPosition() - initPos) / time);
stamp = getRuntime();
initPos = shooter.getECPRPosition();
}
shooter.update();
TELE.addData("ECPR Revolutions", shooter.getECPRPosition());
TELE.addData("MCPR Revolutions", shooter.getMCPRPosition());
TELE.addData("Velocity", shooter.getVelocity(velo));
TELE.addData("hoodPos", shooter.gethoodPosition());
TELE.addData("turretPos", shooter.getTurretPosition());
TELE.addData("Power Fly 1", robot.shooter1.getPower());
TELE.addData("Power Fly 2", robot.shooter2.getPower());
TELE.update();
}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java
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@@ -23,15 +23,13 @@ public class ConfigureColorRangefinder extends LinearOpMode {
only pin1 --> red
neither --> no object
*/
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 80 / 360.0 * 255, 140 / 360.0 * 255); // green
crf.setPin1Saturation(175, 255);
crf.setPin1Value(100,200);
crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 60 / 360.0 * 255, 180 / 360.0 * 255); // green
crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 20mm or closer requirement
crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 0, 40); // purple
crf.setLedBrightness(0);
crf.setLedBrightness(1);
waitForStart();

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
View File

@@ -88,7 +88,7 @@ public class Robot {
shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
shooter2.setDirection(DcMotorSimple.Direction.REVERSE);
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
hood = hardwareMap.get(Servo.class, "hood");