12/4
This commit is contained in:
@@ -17,6 +17,10 @@ import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.sca
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
@@ -55,6 +59,9 @@ public class TeleopV2 extends LinearOpMode {
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
|
||||
boolean oddBallColor = false;
|
||||
|
||||
MecanumDrive drive;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shoot1 = false;
|
||||
@@ -76,6 +83,10 @@ public class TeleopV2 extends LinearOpMode {
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
public double shootStamp = 0.0;
|
||||
public boolean circle = false;
|
||||
public boolean square = false;
|
||||
public boolean triangle = false;
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
@@ -110,35 +121,48 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
Pose2d shootPos = teleStart;
|
||||
|
||||
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;
|
||||
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);
|
||||
|
||||
|
||||
robot.frontLeft.setPower(frontLeftPower);
|
||||
robot.backLeft.setPower(backLeftPower);
|
||||
robot.frontRight.setPower(frontRightPower);
|
||||
robot.backRight.setPower(backRightPower);
|
||||
|
||||
//INTAKE:
|
||||
|
||||
if (gamepad1.rightBumperWasPressed()) {
|
||||
intake = true;
|
||||
intake = !intake;
|
||||
reject = false;
|
||||
shootAll = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
shootAll = false;
|
||||
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
@@ -237,10 +261,12 @@ public class TeleopV2 extends LinearOpMode {
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
@@ -290,6 +316,7 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
|
||||
//TURRET:
|
||||
|
||||
double offset;
|
||||
@@ -331,9 +358,9 @@ public class TeleopV2 extends LinearOpMode {
|
||||
robot.turr2.setPosition(1 - pos);
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 4;
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 4;
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
@@ -346,9 +373,20 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (Math.abs(gamepad2.right_stick_y) > 0.5) {
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel -= gamepad2.right_stick_y * velMultiplier;
|
||||
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:
|
||||
@@ -374,7 +412,11 @@ public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
if (shootAll) {
|
||||
|
||||
TELE.addData("works","w");
|
||||
TELE.addData("100% works",shootOrder);
|
||||
TELE.update();
|
||||
|
||||
sleep (1500);
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -382,25 +424,38 @@ public class TeleopV2 extends LinearOpMode {
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty()) {
|
||||
if (!shootOrder.isEmpty() && (getRuntime()-shootStamp < 10)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
switch (currentSlot) {
|
||||
case 1:
|
||||
shootA = shootTeleop(spindexer_outtakeBall3);
|
||||
shootA = shootTeleop(spindexer_outtakeBall1);
|
||||
TELE.addData("shootA", shootA);
|
||||
shootingDone = !shootA; // shootA is false when done
|
||||
|
||||
if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
|
||||
shootingDone = !shootA;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
shootB = shootTeleop(spindexer_outtakeBall2);
|
||||
TELE.addData("shootB", shootB);
|
||||
shootingDone = !shootB;
|
||||
if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
|
||||
shootingDone = !shootB;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
shootC = shootTeleop(spindexer_outtakeBall1);
|
||||
shootC = shootTeleop(spindexer_outtakeBall3);
|
||||
TELE.addData("shootC", shootC);
|
||||
shootingDone = !shootC;
|
||||
if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
|
||||
shootingDone = !shootC;
|
||||
} else {
|
||||
shootingDone = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -419,11 +474,30 @@ public class TeleopV2 extends LinearOpMode {
|
||||
shootAll = false;
|
||||
}
|
||||
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed() || gamepad2.triangleWasPressed() || gamepad2.circleWasPressed()) {
|
||||
if (gamepad2.squareWasPressed()){
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
}
|
||||
|
||||
|
||||
if (gamepad2.circleWasPressed()){
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (gamepad2.triangleWasPressed()){
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
@@ -432,37 +506,51 @@ public class TeleopV2 extends LinearOpMode {
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
boolean oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
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 (gamepad2.squareWasPressed()) {
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
} else if (gamepad2.triangleWasPressed()) {
|
||||
sleep (5000);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (gamepad2.circleWasPressed()) {
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
shootAll = true;
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
shootOrder.add(3);
|
||||
shootOrder.add(2);
|
||||
shootOrder.add(1);
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.x || gamepad2.left_bumper){
|
||||
shootAll = false;
|
||||
|
||||
}
|
||||
|
||||
//MISC:
|
||||
@@ -481,9 +569,10 @@ public class TeleopV2 extends LinearOpMode {
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
TELE.addData("distanceToGoal", distanceToGoal);
|
||||
TELE.addData("hood", robot.hood.getPosition());
|
||||
TELE.addData("targetVel", manualVel);
|
||||
TELE.addData("targetVel", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
TELE.update();
|
||||
|
||||
@@ -568,20 +657,62 @@ public class TeleopV2 extends LinearOpMode {
|
||||
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) {
|
||||
// Odd ball second
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor && !order.contains(i)) order.add(i);
|
||||
}
|
||||
|
||||
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)
|
||||
|
||||
Reference in New Issue
Block a user