Compare commits
36 Commits
| Author | SHA1 | Date | |
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| 695361e95c |
@@ -23,6 +23,19 @@ android {
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}
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}
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repositories {
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maven {
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url = 'https://maven.brott.dev/'
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}
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}
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dependencies {
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implementation project(':FtcRobotController')
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implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
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implementation "com.acmerobotics.roadrunner:core:1.0.1"
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implementation "com.acmerobotics.roadrunner:actions:1.0.1"
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implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
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implementation 'org.ftclib.ftclib:core:2.1.1' // core
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}
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@@ -1,478 +0,0 @@
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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Poses.h1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.h2;
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import static org.firstinspires.ftc.teamcode.constants.Poses.h2_b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.h3;
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import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
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import static org.firstinspires.ftc.teamcode.constants.Poses.x1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.x2;
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import static org.firstinspires.ftc.teamcode.constants.Poses.x2_b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.x3;
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import static org.firstinspires.ftc.teamcode.constants.Poses.y1;
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import static org.firstinspires.ftc.teamcode.constants.Poses.y2;
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import static org.firstinspires.ftc.teamcode.constants.Poses.y2_b;
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import static org.firstinspires.ftc.teamcode.constants.Poses.y3;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.Vector2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
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import org.firstinspires.ftc.teamcode.subsystems.Intake;
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import org.firstinspires.ftc.teamcode.subsystems.Shooter;
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import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
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import org.firstinspires.ftc.teamcode.subsystems.Transfer;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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@Config
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@Autonomous (preselectTeleOp = "TeleopV1")
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public class Blue extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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AprilTag aprilTag;
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Shooter shooter;
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public static double angle = 0.1;
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Spindexer spindexer;
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Transfer transfer;
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public class shooterOn implements Action {
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int ticker = 1;
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double stamp = 0.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker ==1){
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stamp = getRuntime();
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}
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ticker ++;
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if (getRuntime() - stamp < 0.2){
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return true;
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} else if (getRuntime() - stamp < 0.4) {
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shooter.setManualPower(1);
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shooter.update();
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return true;
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} else {
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return false;
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}
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}
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}
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@Override
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public void runOpMode() throws InterruptedException {
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robot = new Robot(hardwareMap);
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TELE = new MultipleTelemetry(
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telemetry, FtcDashboard.getInstance().getTelemetry()
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);
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drive = new MecanumDrive(hardwareMap, new Pose2d(
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0,0,0
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));
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aprilTag = new AprilTag(robot, TELE);
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shooter = new Shooter(robot, TELE);
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spindexer = new Spindexer(robot, TELE);
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spindexer.outtake3();
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shooter.setShooterMode("MANUAL");
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shooter.sethoodPosition(0.53);
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transfer = new Transfer(robot);
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transfer.setTransferPosition(transferServo_out);
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Intake intake = new Intake(robot);
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robot.hood.setPosition(hoodDefault);
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TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
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TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
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.turnTo(Math.toRadians(-135))
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.strafeToLinearHeading(new Vector2d(x2, -y2), -h2 );
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TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, -y2, -h2))
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.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
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TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
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.strafeToLinearHeading(new Vector2d(x2_b, -y2_b), -h2_b )
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.strafeToLinearHeading(new Vector2d(x3, -y3), -h3 );
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TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, -y3, -h3))
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.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
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TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
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.strafeToLinearHeading(new Vector2d(x1, y1-30), h1 );
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while(opModeInInit()) {
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if (gamepad2.dpadUpWasPressed()){
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hoodDefault -= 0.02;
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}
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if (gamepad2.dpadDownWasPressed()){
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hoodDefault += 0.02;
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}
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robot.hood.setPosition(hoodDefault);
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shooter.setTurretPosition(0.3);
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aprilTag.initTelemetry();
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aprilTag.update();
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shooter.update();
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TELE.addData("hood", hoodDefault);
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TELE.update();
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}
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waitForStart();
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if (isStopRequested()) return;
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if (opModeIsActive()){
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robot.hood.setPosition(hoodDefault);
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transfer.setTransferPower(1);
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||||
transfer.update();
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||||
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||||
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||||
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||||
Actions.runBlocking(
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new ParallelAction(
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traj1.build(),
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new shooterOn()
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||||
)
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||||
);
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transfer.setTransferPower(1);
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transfer.update();
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shooter.setManualPower(1);
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||||
double stamp = getRuntime();
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||||
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||||
stamp = getRuntime();
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||||
while (getRuntime()-stamp<4.5) {
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||||
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||||
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||||
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shooter.moveTurret(0.3);
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double time = getRuntime()-stamp;
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||||
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||||
if (time < 0.3) {
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||||
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transfer.transferOut();
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transfer.setTransferPower(1);
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} else if (time < 1) {
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||||
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||||
spindexer.outtake3();
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||||
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||||
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||||
} else if (time < 1.4) {
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||||
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||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
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||||
transfer.transferOut();
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||||
|
||||
spindexer.outtake2();
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||||
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||||
|
||||
|
||||
} else if (time < 3.0) {
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||||
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||||
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||||
transfer.transferIn();
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||||
} else if (time < 4.0) {
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||||
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||||
transfer.transferOut();
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||||
|
||||
spindexer.outtake1();
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||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
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||||
} else {
|
||||
|
||||
transfer.transferOut();
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||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(1);
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||||
|
||||
}
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||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
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||||
|
||||
spindexer.update();
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||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
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||||
|
||||
robot.intake.setPower(1);
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||||
|
||||
Actions.runBlocking(
|
||||
traj2.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
traj3.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.3);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
traj4.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
traj5.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.3);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
Actions.runBlocking(
|
||||
traj6.build()
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addLine("finished");
|
||||
|
||||
TELE.update();
|
||||
|
||||
sleep (2000);
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,804 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@Autonomous
|
||||
public class Blue_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
double velo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 6.5;
|
||||
|
||||
public static double intake2Time = 6.5;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
boolean spindexPosEqual(double spindexer) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex equal");
|
||||
TELE.update();
|
||||
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
|
||||
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
|
||||
}
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
double currentPos = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
targetVelocity = (double) vel;
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
robot.turr1.setPosition(turret_blue);
|
||||
robot.turr2.setPosition(1 - turret_blue);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, double vel){
|
||||
return new Action() {
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
ticker++;
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !spindexPosEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(double vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
.strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
|
||||
.strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
|
||||
.strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPosition(turret_detectBlue);
|
||||
robot.turr2.setPosition(1 - turret_detectBlue);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -1,431 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
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.teamcode.constants.ServoPositions;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Intake;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
|
||||
|
||||
@Config
|
||||
@Autonomous
|
||||
public class Red extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTag aprilTag;
|
||||
|
||||
Shooter shooter;
|
||||
|
||||
|
||||
|
||||
public static double angle = 0.1;
|
||||
|
||||
Spindexer spindexer;
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
|
||||
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0,0,0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTag(robot, TELE);
|
||||
|
||||
shooter = new Shooter(robot, TELE);
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setShooterMode("MANUAL");
|
||||
|
||||
shooter.sethoodPosition(hoodDefault);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
transfer.setTransferPosition(transferServo_out);
|
||||
|
||||
Intake intake = new Intake(robot);
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.turnTo(Math.toRadians(135))
|
||||
.strafeToLinearHeading(new Vector2d(x2, y2), h2 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, y2, h2))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b )
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(x3, y3), h3 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, y3, h3))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1), h1 );
|
||||
|
||||
|
||||
TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
|
||||
.strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
|
||||
|
||||
while(opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()){
|
||||
hoodDefault -= 0.02;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()){
|
||||
hoodDefault += 0.02;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
shooter.setTurretPosition(0.33);
|
||||
|
||||
aprilTag.initTelemetry();
|
||||
|
||||
aprilTag.update();
|
||||
shooter.update();
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()){
|
||||
|
||||
robot.hood.setPosition(hoodDefault);
|
||||
|
||||
transfer.setTransferPower(1);
|
||||
|
||||
transfer.update();
|
||||
|
||||
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
traj1.build()
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
transfer.setTransferPower(1);
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.31);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
traj2.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
traj3.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.31);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
robot.intake.setPower(1);
|
||||
|
||||
Actions.runBlocking(
|
||||
traj4.build()
|
||||
);
|
||||
|
||||
|
||||
Actions.runBlocking(
|
||||
traj5.build()
|
||||
);
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
|
||||
|
||||
|
||||
robot.intake.setPower(0);
|
||||
|
||||
|
||||
stamp = getRuntime();
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
while (getRuntime()-stamp<4.5) {
|
||||
|
||||
|
||||
|
||||
shooter.moveTurret(0.31);
|
||||
|
||||
double time = getRuntime()-stamp;
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 1) {
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
|
||||
} else if (time < 1.4) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 2.6) {
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake2();
|
||||
|
||||
|
||||
|
||||
} else if (time < 3.0) {
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4.0) {
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
spindexer.outtake1();
|
||||
|
||||
} else if (time < 4.4) {
|
||||
transfer.transferIn();
|
||||
} else {
|
||||
|
||||
transfer.transferOut();
|
||||
spindexer.outtake3();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
|
||||
transfer.update();
|
||||
|
||||
shooter.update();
|
||||
|
||||
spindexer.update();
|
||||
|
||||
}
|
||||
|
||||
spindexer.outtake3();
|
||||
|
||||
Actions.runBlocking(
|
||||
traj6.build()
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addLine("finished");
|
||||
|
||||
TELE.update();
|
||||
|
||||
sleep (2000);
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,804 @@
|
||||
package org.firstinspires.ftc.teamcode.autonomous;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
|
||||
import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
||||
import com.acmerobotics.roadrunner.ParallelAction;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.acmerobotics.roadrunner.SequentialAction;
|
||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
||||
import com.acmerobotics.roadrunner.Vector2d;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.acmerobotics.roadrunner.Action;
|
||||
import com.acmerobotics.roadrunner.ftc.Actions;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.Flywheel;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@Autonomous
|
||||
public class Red_V2 extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
MecanumDrive drive;
|
||||
|
||||
AprilTagWebcam aprilTag;
|
||||
|
||||
Flywheel flywheel;
|
||||
|
||||
double velo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
public static double intake1Time = 6.5;
|
||||
|
||||
public static double intake2Time = 6.5;
|
||||
|
||||
public static double colorDetect = 3.0;
|
||||
|
||||
boolean gpp = false;
|
||||
|
||||
boolean pgp = false;
|
||||
|
||||
boolean ppg = false;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
|
||||
|
||||
boolean spindexPosEqual(double spindexer) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex equal");
|
||||
TELE.update();
|
||||
return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
|
||||
scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
|
||||
}
|
||||
|
||||
public Action initShooter(int vel) {
|
||||
return new Action() {
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
double currentPos = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp2 = getRuntime();
|
||||
}
|
||||
|
||||
targetVelocity = (double) vel;
|
||||
ticker++;
|
||||
if (ticker % 16 == 0) {
|
||||
stamp = getRuntime();
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
|
||||
steady = true;
|
||||
stamp2 = getRuntime();
|
||||
return true;
|
||||
} else if (steady && getRuntime() - stamp2 > 1.5){
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished init");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action steadyShooter(int vel, boolean last) {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
boolean steady = false;
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
steady = flywheel.getSteady();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
if (last && !steady){
|
||||
stamp = getRuntime();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
return false;
|
||||
} else if (steady) {
|
||||
stamp = getRuntime();
|
||||
return true;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Obelisk() {
|
||||
return new Action() {
|
||||
double stamp = getRuntime();
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if (aprilTag.getTagById(21) != null) {
|
||||
gpp = true;
|
||||
} else if (aprilTag.getTagById(22) != null) {
|
||||
pgp = true;
|
||||
} else if (aprilTag.getTagById(23) != null) {
|
||||
ppg = true;
|
||||
}
|
||||
aprilTag.update();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("21", gpp);
|
||||
TELE.addData("22", pgp);
|
||||
TELE.addData("23", ppg);
|
||||
TELE.update();
|
||||
|
||||
if (gpp || pgp || ppg){
|
||||
robot.turr1.setPosition(turret_red);
|
||||
robot.turr2.setPosition(1 - turret_red);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action spindex (double spindexer, double vel){
|
||||
return new Action() {
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
int ticker = 0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
ticker++;
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1-spindexer);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("spindex");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
return !spindexPosEqual(spindexer);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action Shoot(double vel) {
|
||||
return new Action() {
|
||||
double transferStamp = 0.0;
|
||||
int ticker = 1;
|
||||
boolean transferIn = false;
|
||||
double currentPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double initPos = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shooting");
|
||||
TELE.update();
|
||||
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
|
||||
stamp = getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
if (vel - velo > 500 && ticker > 16) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - vel > 500 && ticker > 16){
|
||||
powPID = 0.0;
|
||||
} else if (Math.abs(vel - velo) < 100 && ticker > 16){
|
||||
double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
|
||||
if (ticker == 1) {
|
||||
transferStamp = getRuntime();
|
||||
ticker++;
|
||||
}
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addData("ticker", ticker);
|
||||
TELE.update();
|
||||
transferIn = true;
|
||||
return true;
|
||||
} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("shot once");
|
||||
TELE.update();
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action intake(double intakeTime) {
|
||||
return new Action() {
|
||||
double position = 0.0;
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Intaking");
|
||||
TELE.update();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
robot.intake.setPower(1);
|
||||
if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
|
||||
robot.intake.setPower(0);
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
public Action ColorDetect() {
|
||||
return new Action() {
|
||||
double stamp = 0.0;
|
||||
int ticker = 0;
|
||||
double position = 0.0;
|
||||
@Override
|
||||
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
|
||||
if (ticker == 0) {
|
||||
stamp = getRuntime();
|
||||
}
|
||||
ticker++;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.02;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.02;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b1 = 2;
|
||||
} else {
|
||||
b1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b2 = 2;
|
||||
} else {
|
||||
b2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
if (gP >= 0.4) {
|
||||
b3 = 2;
|
||||
} else {
|
||||
b3 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("Detecting");
|
||||
TELE.addData("Distance 1", s1D);
|
||||
TELE.addData("Distance 2", s2D);
|
||||
TELE.addData("Distance 3", s3D);
|
||||
TELE.addData("B1", b1);
|
||||
TELE.addData("B2", b2);
|
||||
TELE.addData("B3", b3);
|
||||
TELE.update();
|
||||
|
||||
return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
flywheel = new Flywheel();
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, new Pose2d(
|
||||
0, 0, 0
|
||||
));
|
||||
|
||||
aprilTag = new AprilTagWebcam();
|
||||
|
||||
TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
|
||||
.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
|
||||
|
||||
TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
|
||||
|
||||
.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
|
||||
|
||||
TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
|
||||
.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
|
||||
|
||||
aprilTag.init(robot, TELE);
|
||||
|
||||
while (opModeInInit()) {
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodAuto-= 0.01;
|
||||
}
|
||||
|
||||
if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodAuto += 0.01;
|
||||
}
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
robot.turr1.setPosition(turret_detectRed);
|
||||
robot.turr2.setPosition(1 - turret_detectRed);
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
|
||||
aprilTag.update();
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
if (opModeIsActive()) {
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot0.build(),
|
||||
initShooter(AUTO_CLOSE_VEL),
|
||||
Obelisk()
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
robot.hood.setPosition(hoodAuto);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup1.build(),
|
||||
intake(intake1Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot1.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true)
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
public class Color {
|
||||
}
|
||||
@@ -1,6 +1,5 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
|
||||
@@ -15,15 +14,38 @@ public class Poses {
|
||||
|
||||
public static double x1 = 50, y1 = 0, h1 = 0;
|
||||
|
||||
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(135);
|
||||
public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
|
||||
|
||||
public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(135);
|
||||
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 double x3 = 34, y3 = 58, h3 = Math.toRadians(135);
|
||||
|
||||
public static Pose2d teleStart = new Pose2d(x1,-10,0);
|
||||
public static double rx1 = 46, ry1 = -4, rh1 = 0;
|
||||
|
||||
public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
|
||||
|
||||
public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
|
||||
|
||||
public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
|
||||
|
||||
public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
|
||||
|
||||
public static double bx1 = 46, by1 = 4, bh1 = 0;
|
||||
|
||||
public static double bx2a = 45, by2a = -5, bh2a = 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 Pose2d teleStart = new Pose2d(rx1, 10, 0);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,23 +1,41 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ServoPositions {
|
||||
|
||||
public static double spindexer_intakePos = 0.665;
|
||||
public static double spindexer_intakePos1 = 0.665;
|
||||
|
||||
public static double spindexer_intakePos3 = 0.29;
|
||||
|
||||
public static double spindexer_intakePos2 = 0.99;
|
||||
|
||||
public static double spindexer_outtakeBall3 = 0.845;
|
||||
|
||||
public static double spindexer_outtakeBall2 = 0.48;
|
||||
public static double spindexer_outtakeBall1 = 0.1;
|
||||
|
||||
public static double transferServo_out = 0.13;
|
||||
public static double transferServo_out = 0.15;
|
||||
|
||||
public static double transferServo_in = 0.4;
|
||||
public static double transferServo_in = 0.38;
|
||||
|
||||
public static double hoodDefault = 0.35;
|
||||
public static double turret_range = 0.9;
|
||||
|
||||
public static double hoodDefault = 0.6;
|
||||
|
||||
public static double hoodAuto = 0.59;
|
||||
|
||||
public static double hoodHigh = 0.21;
|
||||
|
||||
public static double hoodLow = 1.0;
|
||||
|
||||
public static double turret_red = 0.4;
|
||||
public static double turret_blue = 0.38;
|
||||
|
||||
public static double turret_detectRed = 0.2;
|
||||
|
||||
public static double turret_detectBlue = 0.6;
|
||||
public static double turrDefault = 0.40;
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
package org.firstinspires.ftc.teamcode.constants;
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
|
||||
@Config
|
||||
public class ShooterVars {
|
||||
public static double turret_GearRatio = 0.9974;
|
||||
|
||||
public static double turret_Range = 355;
|
||||
|
||||
public static int velTolerance = 300;
|
||||
|
||||
public static int initTolerance = 1000;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
public static double waitTransferOut = 0.3;
|
||||
public static double waitTransfer = 0.4;
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
|
||||
// VELOCITY CONSTANTS
|
||||
public static int AUTO_CLOSE_VEL = 3025; //3300;
|
||||
}
|
||||
@@ -1,147 +1,130 @@
|
||||
# Team FTC Git Workflow Guide
|
||||
## TeamCode Module
|
||||
|
||||
Welcome!
|
||||
|
||||
## 1. Cloning the Repository
|
||||
This module, TeamCode, is the place where you will write/paste the code for your team's
|
||||
robot controller App. This module is currently empty (a clean slate) but the
|
||||
process for adding OpModes is straightforward.
|
||||
|
||||
1. Open a terminal (or the terminal inside Android Studio).
|
||||
2. Navigate to the folder where you want to keep the project.
|
||||
3. Run:
|
||||
## Creating your own OpModes
|
||||
|
||||
```bash
|
||||
git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
|
||||
cd DecodeFTCMain
|
||||
```
|
||||
The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
|
||||
|
||||
4. Verify your remotes:
|
||||
Sample opmodes exist in the FtcRobotController module.
|
||||
To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
|
||||
|
||||
```bash
|
||||
git remote -v
|
||||
```
|
||||
Expand the following tree elements:
|
||||
FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
|
||||
|
||||
You should see:
|
||||
```
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
|
||||
origin https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
|
||||
upstream https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
|
||||
```
|
||||
### Naming of Samples
|
||||
|
||||
---
|
||||
To gain a better understanding of how the samples are organized, and how to interpret the
|
||||
naming system, it will help to understand the conventions that were used during their creation.
|
||||
|
||||
## 2. Keeping `master` Clean
|
||||
These conventions are described (in detail) in the sample_conventions.md file in this folder.
|
||||
|
||||
- `master` should only contain clean, tested code.
|
||||
- Nobody should ever code directly on `master`.
|
||||
- To stay up to date:
|
||||
To summarize: A range of different samples classes will reside in the java/external/samples.
|
||||
The class names will follow a naming convention which indicates the purpose of each class.
|
||||
The prefix of the name will be one of the following:
|
||||
|
||||
```bash
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
```
|
||||
Basic: This is a minimally functional OpMode used to illustrate the skeleton/structure
|
||||
of a particular style of OpMode. These are bare bones examples.
|
||||
|
||||
---
|
||||
Sensor: This is a Sample OpMode that shows how to use a specific sensor.
|
||||
It is not intended to drive a functioning robot, it is simply showing the minimal code
|
||||
required to read and display the sensor values.
|
||||
|
||||
## 3. Creating a Feature Branch
|
||||
Robot: This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
|
||||
It may be used to provide a common baseline driving OpMode, or
|
||||
to demonstrate how a particular sensor or concept can be used to navigate.
|
||||
|
||||
Whenever you start a new task (feature, fix, experiment):
|
||||
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
|
||||
These may be complex, but their operation should be explained clearly in the comments,
|
||||
or the comments should reference an external doc, guide or tutorial.
|
||||
Each OpMode should try to only demonstrate a single concept so they are easy to
|
||||
locate based on their name. These OpModes may not produce a drivable robot.
|
||||
|
||||
1. Update `master` (see above).
|
||||
2. Create a new branch from `master`:
|
||||
After the prefix, other conventions will apply:
|
||||
|
||||
```bash
|
||||
git checkout master
|
||||
git pull origin master
|
||||
git checkout -b feature/short-description
|
||||
```
|
||||
* Sensor class names are constructed as: Sensor - Company - Type
|
||||
* Robot class names are constructed as: Robot - Mode - Action - OpModetype
|
||||
* Concept class names are constructed as: Concept - Topic - OpModetype
|
||||
|
||||
### Branch Naming Standard
|
||||
Once you are familiar with the range of samples available, you can choose one to be the
|
||||
basis for your own robot. In all cases, the desired sample(s) needs to be copied into
|
||||
your TeamCode module to be used.
|
||||
|
||||
Branches **must** follow the format:
|
||||
This is done inside Android Studio directly, using the following steps:
|
||||
|
||||
1) Locate the desired sample class in the Project/Android tree.
|
||||
|
||||
2) Right click on the sample class and select "Copy"
|
||||
|
||||
3) Expand the TeamCode/java folder
|
||||
|
||||
4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
|
||||
|
||||
5) You will be prompted for a class name for the copy.
|
||||
Choose something meaningful based on the purpose of this class.
|
||||
Start with a capital letter, and remember that there may be more similar classes later.
|
||||
|
||||
Once your copy has been created, you should prepare it for use on your robot.
|
||||
This is done by adjusting the OpMode's name, and enabling it to be displayed on the
|
||||
Driver Station's OpMode list.
|
||||
|
||||
Each OpMode sample class begins with several lines of code like the ones shown below:
|
||||
|
||||
```
|
||||
<type>/<short-description>
|
||||
@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
|
||||
@Disabled
|
||||
```
|
||||
|
||||
Where `<type>` is one of:
|
||||
- `feature/` → new functionality
|
||||
- `fix/` → bug fixes
|
||||
- `experiment/` → prototypes or tests
|
||||
- `docs/` → documentation updates
|
||||
- `chore/` → maintenance or cleanup
|
||||
The name that will appear on the driver station's "opmode list" is defined by the code:
|
||||
``name="Template: Linear OpMode"``
|
||||
You can change what appears between the quotes to better describe your opmode.
|
||||
The "group=" portion of the code can be used to help organize your list of OpModes.
|
||||
|
||||
Examples:
|
||||
- `feature/autonomous-path`
|
||||
- `fix/motor-init`
|
||||
- `experiment/vision-test`
|
||||
- `docs/setup-instructions`
|
||||
- `chore/gradle-update`
|
||||
As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
|
||||
``@Disabled`` annotation which has been included.
|
||||
This line can simply be deleted , or commented out, to make the OpMode visible.
|
||||
|
||||
**Rules for names:**
|
||||
- Use lowercase letters and hyphens (`-`) only.
|
||||
- Keep it short but clear (3–5 words).
|
||||
- One branch = one task. Never mix unrelated work.
|
||||
## ADVANCED Multi-Team App management: Cloning the TeamCode Module
|
||||
|
||||
---
|
||||
In some situations, you have multiple teams in your club and you want them to all share
|
||||
a common code organization, with each being able to *see* the others code but each having
|
||||
their own team module with their own code that they maintain themselves.
|
||||
|
||||
## 4. Working on Your Branch
|
||||
In this situation, you might wish to clone the TeamCode module, once for each of these teams.
|
||||
Each of the clones would then appear along side each other in the Android Studio module list,
|
||||
together with the FtcRobotController module (and the original TeamCode module).
|
||||
|
||||
- Make changes in Android Studio.
|
||||
- Stage and commit your changes:
|
||||
Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
|
||||
prior to clicking to the green Run arrow.
|
||||
|
||||
```bash
|
||||
git add .
|
||||
git commit -m "short message about what changed"
|
||||
```
|
||||
Warning: This is not for the inexperienced Software developer.
|
||||
You will need to be comfortable with File manipulations and managing Android Studio Modules.
|
||||
These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
|
||||
|
||||
- Push your branch to GitHub:
|
||||
Also.. Make a full project backup before you start this :)
|
||||
|
||||
```bash
|
||||
git push origin feature/short-description
|
||||
```
|
||||
To clone TeamCode, do the following:
|
||||
|
||||
---
|
||||
Note: Some names start with "Team" and others start with "team". This is intentional.
|
||||
|
||||
## 5. Sharing Your Work
|
||||
1) Using your operating system file management tools, copy the whole "TeamCode"
|
||||
folder to a sibling folder with a corresponding new name, eg: "Team0417".
|
||||
|
||||
- Once your branch is ready:
|
||||
1. Open a Pull Request (PR) on GitHub to merge into `master`.
|
||||
2. At least one teammate should review before merging.
|
||||
2) In the new Team0417 folder, delete the TeamCode.iml file.
|
||||
|
||||
---
|
||||
3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
|
||||
to a matching name with a lowercase 'team' eg: "team0417".
|
||||
|
||||
## 6. Branching Rules
|
||||
4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
|
||||
contains
|
||||
package="org.firstinspires.ftc.teamcode"
|
||||
to be
|
||||
package="org.firstinspires.ftc.team0417"
|
||||
|
||||
**Do:**
|
||||
- Always branch from `master`.
|
||||
- Follow the naming standard exactly.
|
||||
- Keep branches small and focused.
|
||||
- Delete branches after they’re merged.
|
||||
5) Add: include ':Team0417' to the "/settings.gradle" file.
|
||||
|
||||
**Don’t:**
|
||||
- Don’t push commits directly to `master`.
|
||||
- Don’t leave unfinished work on `master`.
|
||||
- Don’t mix unrelated changes in one branch.
|
||||
|
||||
---
|
||||
|
||||
## 7. Example Workflow
|
||||
|
||||
```bash
|
||||
# Get latest code
|
||||
git checkout master
|
||||
git fetch upstream
|
||||
git merge upstream/master
|
||||
git push origin master
|
||||
|
||||
# Start a new feature
|
||||
git checkout -b feature/teleop-improvements
|
||||
|
||||
# Work on code, then commit
|
||||
git add .
|
||||
git commit -m "improved joystick scaling in TeleOp"
|
||||
|
||||
# Push branch
|
||||
git push origin feature/teleop-improvements
|
||||
```
|
||||
6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
|
||||
@@ -1,238 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.Collections;
|
||||
import java.util.List;
|
||||
|
||||
public class AprilTag implements Subsystem {
|
||||
|
||||
private AprilTagProcessor aprilTag;
|
||||
private VisionPortal visionPortal;
|
||||
|
||||
private MultipleTelemetry TELE;
|
||||
|
||||
private boolean teleOn = false;
|
||||
|
||||
private int detections = 0;
|
||||
|
||||
List<AprilTagDetection> currentDetections;
|
||||
|
||||
ArrayList<ArrayList<Double>> Data = new ArrayList<>();
|
||||
|
||||
|
||||
|
||||
public AprilTag(Robot robot, MultipleTelemetry tele) {
|
||||
|
||||
|
||||
|
||||
this.aprilTag = robot.aprilTagProcessor;
|
||||
|
||||
|
||||
this.TELE = tele;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
currentDetections = aprilTag.getDetections();
|
||||
|
||||
UpdateData();
|
||||
|
||||
if(teleOn){
|
||||
tagTELE();
|
||||
initTelemetry();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void initTelemetry (){
|
||||
|
||||
TELE.addData("Camera Preview", "Check Driver Station for stream");
|
||||
TELE.addData("Status", "Initialized - Press START");
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void tagTELE () {
|
||||
|
||||
TELE.addData("# AprilTags Detected", detections);
|
||||
|
||||
// Display info for each detected tag
|
||||
for (ArrayList<Double> detection : Data) {
|
||||
if (detection.get(0) ==1) {
|
||||
// Known AprilTag with metadata
|
||||
TELE.addLine(String.format("\n==== (ID %d) %s ====",
|
||||
detection.get(1).intValue(), ""));
|
||||
|
||||
TELE.addLine(String.format("XYZ: %6.1f %6.1f %6.1f (inch)",
|
||||
detection.get(2),
|
||||
detection.get(3),
|
||||
detection.get(4)));
|
||||
|
||||
TELE.addData("Distance", getDistance(detection.get(1).intValue()));
|
||||
|
||||
TELE.addLine(String.format("PRY: %6.1f %6.1f %6.1f (deg)",
|
||||
detection.get(5),
|
||||
detection.get(6),
|
||||
detection.get(7)));
|
||||
|
||||
TELE.addLine(String.format("RBE: %6.1f %6.1f %6.1f (inch, deg, deg)",
|
||||
detection.get(8),
|
||||
detection.get(9),
|
||||
detection.get(10)));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void turnTelemetryOn(boolean bool) {
|
||||
|
||||
teleOn = bool;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void UpdateData () {
|
||||
|
||||
Data.clear(); // <--- THIS FIXES YOUR ISSUE
|
||||
|
||||
|
||||
detections = currentDetections.size();
|
||||
|
||||
|
||||
for (AprilTagDetection detection : currentDetections) {
|
||||
|
||||
ArrayList<Double> detectionData = new ArrayList<Double>();
|
||||
|
||||
|
||||
|
||||
if (detection.metadata != null) {
|
||||
|
||||
detectionData.add(1.0);
|
||||
// Known AprilTag with metadata
|
||||
|
||||
detectionData.add( (double) detection.id);
|
||||
|
||||
|
||||
|
||||
detectionData.add(detection.ftcPose.x);
|
||||
detectionData.add(detection.ftcPose.y);
|
||||
detectionData.add(detection.ftcPose.z);
|
||||
|
||||
|
||||
|
||||
detectionData.add(detection.ftcPose.pitch);
|
||||
detectionData.add(detection.ftcPose.roll);
|
||||
detectionData.add(detection.ftcPose.yaw);
|
||||
|
||||
detectionData.add(detection.ftcPose.range);
|
||||
detectionData.add(detection.ftcPose.bearing);
|
||||
detectionData.add(detection.ftcPose.elevation);
|
||||
|
||||
} else {
|
||||
|
||||
detectionData.add(0, 0.0);
|
||||
|
||||
}
|
||||
|
||||
Data.add(detectionData);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public int getDetectionCount() {
|
||||
|
||||
return detections;
|
||||
|
||||
}
|
||||
|
||||
public boolean isDetected (int id){
|
||||
return (!filterID(Data, (double) id ).isEmpty());
|
||||
}
|
||||
|
||||
|
||||
|
||||
public double getDistance(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 5) {
|
||||
double x = d.get(2);
|
||||
double y = d.get(3);
|
||||
double z = d.get(4);
|
||||
return Math.sqrt(x*x + y*y + z*z);
|
||||
}
|
||||
return -1; // tag not found
|
||||
}
|
||||
|
||||
// Returns the position as [x, y, z]
|
||||
public List<Double> getPosition(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 5) {
|
||||
List<Double> pos = new ArrayList<>();
|
||||
pos.add(d.get(2));
|
||||
pos.add(d.get(3));
|
||||
pos.add(d.get(4));
|
||||
return pos;
|
||||
}
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
// Returns orientation as [pitch, roll, yaw]
|
||||
public List<Double> getOrientation(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 8) {
|
||||
List<Double> ori = new ArrayList<>();
|
||||
ori.add(d.get(5));
|
||||
ori.add(d.get(6));
|
||||
ori.add(d.get(7));
|
||||
return ori;
|
||||
}
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
// Returns range, bearing, elevation as [range, bearing, elevation]
|
||||
public List<Double> getRBE(int id) {
|
||||
ArrayList<Double> d = filterID(Data, (double) id);
|
||||
if (d.size() >= 11) {
|
||||
List<Double> rbe = new ArrayList<>();
|
||||
rbe.add(d.get(8));
|
||||
rbe.add(d.get(9));
|
||||
rbe.add(d.get(10));
|
||||
return rbe;
|
||||
}
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
// Returns full raw data for debugging or custom processing
|
||||
public ArrayList<Double> getRawData(int id) {
|
||||
return filterID(Data, (double) id);
|
||||
}
|
||||
|
||||
public static ArrayList<Double> filterID(ArrayList<ArrayList<Double>> data, double x) {
|
||||
for (ArrayList<Double> innerList : data) {
|
||||
// Ensure it has a second element
|
||||
if (innerList.size() > 1 && Math.abs(innerList.get(1) - x) < 1e-9) {
|
||||
return innerList; // Return the first match
|
||||
}
|
||||
}
|
||||
// Return an empty ArrayList if no match found
|
||||
return new ArrayList<>();
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,99 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.Gamepad;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class Drivetrain implements Subsystem {
|
||||
|
||||
private GamepadEx gamepad;
|
||||
|
||||
public MultipleTelemetry TELE;
|
||||
|
||||
private String Mode = "Default";
|
||||
|
||||
private DcMotorEx fl;
|
||||
|
||||
private DcMotorEx fr;
|
||||
private DcMotorEx bl;
|
||||
private DcMotorEx br;
|
||||
|
||||
private double defaultSpeed = 0.7;
|
||||
|
||||
private double slowSpeed = 0.3;
|
||||
public Drivetrain(Robot robot, MultipleTelemetry tele, GamepadEx gamepad1){
|
||||
|
||||
this.fl = robot.frontLeft;
|
||||
this.fr = robot.frontRight;
|
||||
this.br = robot.backRight;
|
||||
this.bl = robot.backLeft;
|
||||
|
||||
this.gamepad = gamepad1;
|
||||
|
||||
this.TELE = tele;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void setMode (String mode){
|
||||
this.Mode = mode;
|
||||
}
|
||||
|
||||
public void setDefaultSpeed (double speed){
|
||||
this.defaultSpeed = speed;
|
||||
}
|
||||
|
||||
public void setSlowSpeed (double speed){
|
||||
this.slowSpeed = speed;
|
||||
}
|
||||
|
||||
public void RobotCentric(double fwd, double strafe, double turn, double turbo){
|
||||
|
||||
double y = -fwd; // Remember, Y stick value is reversed
|
||||
double x = strafe * 1.1; // Counteract imperfect strafing
|
||||
double rx = turn;
|
||||
|
||||
// Denominator is the largest motor power (absolute value) or 1
|
||||
// This ensures all the powers maintain the same ratio,
|
||||
// but only if at least one is out of the range [-1, 1]
|
||||
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;
|
||||
|
||||
fl.setPower(frontLeftPower*turbo);
|
||||
bl.setPower(backLeftPower*turbo);
|
||||
fr.setPower(frontRightPower*turbo);
|
||||
br.setPower(backRightPower*turbo);
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (Objects.equals(Mode, "Default")) {
|
||||
|
||||
RobotCentric(
|
||||
gamepad.getRightY(),
|
||||
gamepad.getRightX(),
|
||||
gamepad.getLeftX(),
|
||||
(gamepad.getTrigger(
|
||||
GamepadKeys.Trigger.RIGHT_TRIGGER) * (1-defaultSpeed)
|
||||
- gamepad.getTrigger(GamepadKeys.Trigger.LEFT_TRIGGER) * slowSpeed
|
||||
+ defaultSpeed
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,77 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.Gamepad;
|
||||
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class Intake implements Subsystem {
|
||||
|
||||
private GamepadEx gamepad;
|
||||
|
||||
public MultipleTelemetry TELE;
|
||||
|
||||
|
||||
private DcMotorEx intake;
|
||||
|
||||
private double intakePower = 1.0;
|
||||
|
||||
private int intakeState = 0;
|
||||
|
||||
|
||||
public Intake (Robot robot){
|
||||
|
||||
|
||||
this.intake = robot.intake;
|
||||
|
||||
|
||||
}
|
||||
|
||||
public int getIntakeState() {
|
||||
return intakeState;
|
||||
}
|
||||
|
||||
public void toggle(){
|
||||
if (intakeState !=0){
|
||||
intakeState = 0;
|
||||
} else {
|
||||
intakeState = 1;
|
||||
}
|
||||
}
|
||||
|
||||
public void setIntakePower(double pow){
|
||||
intakePower = pow;
|
||||
}
|
||||
|
||||
public void intake(){
|
||||
intakeState =1;
|
||||
}
|
||||
|
||||
public void reverse(){
|
||||
intakeState =-1;
|
||||
}
|
||||
|
||||
|
||||
public void stop(){
|
||||
intakeState =-1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (intakeState == 1){
|
||||
intake.setPower(intakePower);
|
||||
} else if (intakeState == -1){
|
||||
intake.setPower(-intakePower);
|
||||
} else {
|
||||
intake.setPower(0);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,337 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.controller.PIDController;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.PIDCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.PIDFCoefficients;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
|
||||
import org.firstinspires.ftc.teamcode.constants.Poses;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
|
||||
|
||||
import java.util.Objects;
|
||||
|
||||
public class Shooter implements Subsystem {
|
||||
private final DcMotorEx fly1;
|
||||
private final DcMotorEx fly2;
|
||||
|
||||
private final DcMotorEx encoder;
|
||||
private final Servo hoodServo;
|
||||
|
||||
private final Servo turret1;
|
||||
|
||||
private final Servo turret2;
|
||||
|
||||
|
||||
private final MultipleTelemetry telemetry;
|
||||
|
||||
private boolean telemetryOn = false;
|
||||
|
||||
private double manualPower = 0.0;
|
||||
private double hoodPos = 0.0;
|
||||
|
||||
private double turretPos = 0.0;
|
||||
private double velocity = 0.0;
|
||||
private double posPower = 0.0;
|
||||
|
||||
private int targetPosition = 0;
|
||||
|
||||
private double p = 0.0003, i = 0, d = 0.00001;
|
||||
|
||||
private PIDController controller;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private String shooterMode = "AUTO";
|
||||
|
||||
private String turretMode = "AUTO";
|
||||
|
||||
|
||||
public Shooter(Robot robot, MultipleTelemetry TELE) {
|
||||
this.fly1 = robot.shooter1;
|
||||
this.fly2 = robot.shooter2;
|
||||
this.telemetry = TELE;
|
||||
this.hoodServo = robot.hood;
|
||||
|
||||
// Reset encoders
|
||||
fly1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
|
||||
|
||||
controller = new PIDController(p, i, d);
|
||||
|
||||
|
||||
controller.setPID(p, i, d);
|
||||
|
||||
this.turret1 = robot.turr1;
|
||||
|
||||
this.turret2 = robot.turr2;
|
||||
|
||||
this.encoder = robot.shooterEncoder;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void telemetryUpdate() {
|
||||
|
||||
// Telemetry
|
||||
|
||||
telemetry.addData("Mode", shooterMode);
|
||||
telemetry.addData("ManualPower", manualPower);
|
||||
telemetry.addData("Position", getPosition());
|
||||
telemetry.addData("TargetPosition", targetPosition);
|
||||
telemetry.addData("Velocity", getVelocity());
|
||||
telemetry.addData("TargetVelocity", velocity);
|
||||
telemetry.addData("hoodPos", gethoodPosition());
|
||||
telemetry.addData("turretPos", getTurretPosition());
|
||||
telemetry.addData("PID Coefficients", "P: %.6f, I: %.6f, D: %.6f", p, i, d);
|
||||
telemetry.addData("Current Fly 1", fly1.getCurrent(CurrentUnit.AMPS));
|
||||
telemetry.addData("Current Fly 2", fly2.getCurrent(CurrentUnit.AMPS));
|
||||
|
||||
}
|
||||
|
||||
public double gethoodPosition() {
|
||||
return (hoodServo.getPosition());
|
||||
}
|
||||
|
||||
public void sethoodPosition(double pos) {hoodPos = pos;}
|
||||
|
||||
public double getTurretPosition() {
|
||||
return ((turret1.getPosition()+ (1-turret2.getPosition()))/2);
|
||||
}
|
||||
|
||||
public void setTurretPosition(double pos) {turretPos = pos;}
|
||||
|
||||
public double getVelocity() {
|
||||
return ((double) ((fly1.getVelocity(AngleUnit.DEGREES) + fly2.getVelocity(AngleUnit.DEGREES)) /2));
|
||||
}
|
||||
|
||||
public void setVelocity(double vel){velocity = vel;}
|
||||
|
||||
|
||||
|
||||
public void setPosPower(double power){posPower = power;}
|
||||
|
||||
|
||||
public void setTargetPosition(int pos){
|
||||
targetPosition = pos;
|
||||
}
|
||||
|
||||
public void setTolerance(int tolerance){
|
||||
controller.setTolerance(tolerance);
|
||||
}
|
||||
|
||||
public void setControllerCoefficients(double kp, double ki, double kd){
|
||||
p = kp;
|
||||
i = ki;
|
||||
d = kd;
|
||||
controller.setPID(p, i, d);
|
||||
|
||||
}
|
||||
|
||||
public PIDCoefficients getControllerCoefficients(){
|
||||
|
||||
return new PIDCoefficients(p, i, d);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public void setManualPower(double power){manualPower = power;}
|
||||
|
||||
public String getShooterMode(){return shooterMode;}
|
||||
|
||||
public String getTurretMode(){return turretMode;}
|
||||
|
||||
|
||||
public double getPosition(){
|
||||
return ((double) ((fly1.getCurrentPosition() + fly2.getCurrentPosition()) /2));
|
||||
}
|
||||
|
||||
public void setShooterMode(String mode){ shooterMode = mode;}
|
||||
|
||||
public void setTurretMode(String mode){ turretMode = mode;}
|
||||
|
||||
|
||||
public double trackGoal(Pose2d robotPose, Pose2d goalPose, double offset){
|
||||
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
|
||||
|
||||
|
||||
Pose2d deltaPose = new Pose2d(
|
||||
goalPose.position.x - robotPose.position.x,
|
||||
goalPose.position.y - robotPose.position.y,
|
||||
goalPose.heading.toDouble() - (robotPose.heading.toDouble())
|
||||
);
|
||||
|
||||
double distance = Math.sqrt(
|
||||
deltaPose.position.x * deltaPose.position.x
|
||||
+ deltaPose.position.y * deltaPose.position.y
|
||||
+ Poses.relativeGoalHeight * Poses.relativeGoalHeight
|
||||
);
|
||||
|
||||
telemetry.addData("dst", distance);
|
||||
|
||||
double shooterPow = getPowerByDist(distance);
|
||||
|
||||
double hoodAngle = getAngleByDist(distance);
|
||||
|
||||
|
||||
// hoodServo.setPosition(hoodAngle);
|
||||
|
||||
moveTurret(getTurretPosByDeltaPose(deltaPose, offset));
|
||||
|
||||
return distance;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//0.9974 * 355
|
||||
|
||||
|
||||
}
|
||||
|
||||
public double getTurretPosByDeltaPose (Pose2d dPose, double offset){
|
||||
|
||||
double deltaAngle = Math.toDegrees(dPose.heading.toDouble());
|
||||
|
||||
|
||||
double aTanAngle = Math.toDegrees(Math.atan(dPose.position.y/dPose.position.x));
|
||||
|
||||
telemetry.addData("deltaAngle", deltaAngle);
|
||||
|
||||
|
||||
|
||||
if (deltaAngle > 90) {
|
||||
deltaAngle -=360;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// deltaAngle += aTanAngle;
|
||||
|
||||
deltaAngle /= (335);
|
||||
|
||||
telemetry.addData("dAngle", deltaAngle);
|
||||
|
||||
telemetry.addData("AtanAngle", aTanAngle);
|
||||
|
||||
|
||||
return ((0.30-deltaAngle) + offset);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
//62, 0.44
|
||||
|
||||
//56.5, 0.5
|
||||
|
||||
|
||||
public double getPowerByDist(double dist){
|
||||
|
||||
//TODO: ADD LOGIC
|
||||
return dist;
|
||||
}
|
||||
|
||||
public double getAngleByDist(double dist){
|
||||
|
||||
|
||||
double newDist = dist - 56.5;
|
||||
|
||||
double pos = newDist*((0.44-0.5)/(62-56.5)) + 0.46;
|
||||
|
||||
|
||||
|
||||
|
||||
return pos;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public void setTelemetryOn(boolean state){telemetryOn = state;}
|
||||
|
||||
public void moveTurret(double pos){
|
||||
turret1.setPosition(pos);
|
||||
turret2.setPosition(1-pos);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (Objects.equals(shooterMode, "MANUAL")){
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
|
||||
|
||||
fly1.setPower(manualPower);
|
||||
fly2.setPower(manualPower);
|
||||
}
|
||||
|
||||
else if (Objects.equals(shooterMode, "VEL")){
|
||||
|
||||
fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
||||
|
||||
fly1.setVelocity(velocity);
|
||||
|
||||
fly2.setPower(fly1.getPower());
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
else if (Objects.equals(shooterMode, "POS")){
|
||||
|
||||
|
||||
double powPID = controller.calculate(getPosition(), targetPosition);
|
||||
|
||||
|
||||
|
||||
fly1.setPower(powPID);
|
||||
fly2.setPower(powPID);
|
||||
}
|
||||
|
||||
if (Objects.equals(turretMode, "MANUAL")){
|
||||
// hoodServo.setPosition(hoodPos);
|
||||
|
||||
moveTurret(turretPos);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (telemetryOn) {telemetryUpdate();}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,257 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
import java.util.ArrayList;
|
||||
|
||||
public class Spindexer implements Subsystem{
|
||||
|
||||
private Servo s1;
|
||||
private Servo s2;
|
||||
|
||||
private DigitalChannel p0;
|
||||
|
||||
private DigitalChannel p1;
|
||||
private DigitalChannel p2;
|
||||
private DigitalChannel p3;
|
||||
private DigitalChannel p4;
|
||||
|
||||
private DigitalChannel p5;
|
||||
|
||||
private AnalogInput input;
|
||||
|
||||
private AnalogInput input2;
|
||||
|
||||
|
||||
private MultipleTelemetry TELE;
|
||||
|
||||
private double position = 0.501;
|
||||
|
||||
private boolean telemetryOn = false;
|
||||
|
||||
private boolean ball0 = false;
|
||||
|
||||
private boolean ball1 = false;
|
||||
|
||||
private boolean ball2 = false;
|
||||
|
||||
private boolean green0 = false;
|
||||
|
||||
private boolean green1 = false;
|
||||
|
||||
private boolean green2 = false;
|
||||
|
||||
|
||||
|
||||
|
||||
public Spindexer (Robot robot, MultipleTelemetry tele){
|
||||
|
||||
this.s1 = robot.spin1;
|
||||
this.s2 = robot.spin2;
|
||||
|
||||
this.p0 = robot.pin0;
|
||||
this.p1 = robot.pin1;
|
||||
this.p2 = robot.pin2;
|
||||
this.p3 = robot.pin3;
|
||||
this.p4 = robot.pin4;
|
||||
this.p5 = robot.pin5;
|
||||
|
||||
this.input = robot.analogInput;
|
||||
|
||||
this.input2 = robot.analogInput2;
|
||||
|
||||
this.TELE = tele;
|
||||
|
||||
}
|
||||
|
||||
public void setTelemetryOn(boolean state){
|
||||
telemetryOn = state;
|
||||
}
|
||||
|
||||
public void colorSensorTelemetry() {
|
||||
|
||||
|
||||
TELE.addData("ball0", ball0);
|
||||
TELE.addData("ball1", ball1);
|
||||
TELE.addData("ball2", ball2);
|
||||
TELE.addData("green0", green0);
|
||||
TELE.addData("green1", green1);
|
||||
TELE.addData("green2", green2);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void checkForBalls() {
|
||||
|
||||
if (p0.getState()){
|
||||
ball0 = true;
|
||||
green0 = p1.getState();
|
||||
} else {
|
||||
ball0 = false;
|
||||
}
|
||||
|
||||
if (p2.getState()){
|
||||
ball1 = true;
|
||||
green1 = p3.getState();
|
||||
} else {
|
||||
ball1 = false;
|
||||
}
|
||||
|
||||
if (p4.getState()){
|
||||
ball2 = true;
|
||||
green2 = p5.getState();
|
||||
} else {
|
||||
ball2 = false;
|
||||
}
|
||||
}
|
||||
|
||||
public void setPosition (double pos) {
|
||||
position = pos;
|
||||
}
|
||||
|
||||
public void intake () {
|
||||
position = spindexer_intakePos;
|
||||
}
|
||||
|
||||
public void intakeShake(double runtime) {
|
||||
if ((runtime % 0.25) >0.125) {
|
||||
position = spindexer_intakePos + 0.04;
|
||||
} else {
|
||||
position = spindexer_intakePos - 0.04;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public void outtake3Shake(double runtime) {
|
||||
if ((runtime % 0.25) >0.125) {
|
||||
position = spindexer_outtakeBall3 + 0.04;
|
||||
} else {
|
||||
position = spindexer_outtakeBall3 - 0.04;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void outtake3 () {
|
||||
position = spindexer_outtakeBall3;
|
||||
}
|
||||
|
||||
public void outtake2 () {
|
||||
position = spindexer_outtakeBall2;
|
||||
}
|
||||
|
||||
public void outtake1 () {
|
||||
position = spindexer_outtakeBall1;
|
||||
}
|
||||
|
||||
|
||||
public int outtakeGreen(int secLast, int Last) {
|
||||
if (green2 && (secLast!=3) && (Last!=3)) {
|
||||
outtake3();
|
||||
return 3;
|
||||
} else if (green1 && (secLast!=2) && (Last!=2)){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else if (green0 && (secLast!=1) && (Last!=1)) {
|
||||
outtake1();
|
||||
return 1;
|
||||
} else {
|
||||
|
||||
if (secLast!=1 && Last!= 1){
|
||||
outtake1();
|
||||
return 1;
|
||||
} else if (secLast!=2 && Last!=2){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else {
|
||||
outtake3();
|
||||
return 3;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void outtakeGreenFs() {
|
||||
if (green0 && ball0) {
|
||||
outtake1();
|
||||
} else if (green1 && ball1){
|
||||
outtake2();
|
||||
} else if (green2 && ball2) {
|
||||
outtake3();
|
||||
}
|
||||
}
|
||||
|
||||
public int greens() {
|
||||
int num = 0;
|
||||
|
||||
if (green0){num++;}
|
||||
|
||||
if (green1){num++;}
|
||||
|
||||
|
||||
if (green2){num++;}
|
||||
|
||||
return num;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
public int outtakePurple(int secLast, int Last) {
|
||||
if (!green2 && (secLast!=3) && (Last!=3)) {
|
||||
outtake3();
|
||||
return 3;
|
||||
} else if (!green1 && (secLast!=2) && (Last!=2)){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else if (!green0 && (secLast!=1) && (Last!=1)) {
|
||||
outtake1();
|
||||
return 1;
|
||||
} else {
|
||||
|
||||
if (secLast!=1 && Last!= 1){
|
||||
outtake1();
|
||||
return 1;
|
||||
} else if (secLast!=2 && Last!=2){
|
||||
outtake2();
|
||||
return 2;
|
||||
} else {
|
||||
outtake3();
|
||||
return 3;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (position !=0.501) {
|
||||
|
||||
s1.setPosition(position);
|
||||
s2.setPosition(1 - position);
|
||||
}
|
||||
|
||||
|
||||
if (telemetryOn) {
|
||||
colorSensorTelemetry();
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,6 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
public interface Subsystem {
|
||||
|
||||
public void update();
|
||||
}
|
||||
@@ -1,58 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
public class Transfer implements Subsystem{
|
||||
|
||||
private final Servo servo;
|
||||
|
||||
private final DcMotorEx transfer;
|
||||
|
||||
private double motorPow = 0.0;
|
||||
|
||||
private double servoPos = 0.501;
|
||||
|
||||
public Transfer (Robot robot){
|
||||
|
||||
this.servo = robot.transferServo;
|
||||
|
||||
this.transfer = robot.transfer;
|
||||
|
||||
}
|
||||
|
||||
public void setTransferPosition(double pos){
|
||||
this.servoPos = pos;
|
||||
}
|
||||
|
||||
public void setTransferPower (double pow){
|
||||
this.motorPow = pow;
|
||||
}
|
||||
|
||||
public void transferOut(){
|
||||
this.setTransferPosition(transferServo_out);
|
||||
}
|
||||
|
||||
public void transferIn(){
|
||||
this.setTransferPosition(transferServo_in);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void update() {
|
||||
|
||||
if (servoPos!=0.501){
|
||||
servo.setPosition(servoPos);
|
||||
}
|
||||
|
||||
transfer.setPower(motorPow);
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,949 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.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.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.qualcomm.hardware.lynx.LynxModule;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class TeleopV2 extends LinearOpMode {
|
||||
|
||||
public static double manualVel = 3000;
|
||||
public static double hood = 0.5;
|
||||
public static double hoodDefaultPos = 0.5;
|
||||
public static double desiredTurretAngle = 180;
|
||||
public static double velMultiplier = 20;
|
||||
public static double shootStamp2 = 0.0;
|
||||
|
||||
|
||||
public double vel = 3000;
|
||||
public boolean autoVel = true;
|
||||
public double manualOffset = 0.0;
|
||||
public boolean autoHood = true;
|
||||
public boolean green1 = false;
|
||||
public boolean green2 = false;
|
||||
public boolean green3 = false;
|
||||
public double shootStamp = 0.0;
|
||||
public boolean circle = false;
|
||||
public boolean square = false;
|
||||
public boolean triangle = false;
|
||||
double autoHoodOffset = 0.0;
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
boolean intake = false;
|
||||
boolean reject = false;
|
||||
double xOffset = 0.0;
|
||||
double yOffset = 0.0;
|
||||
double headingOffset = 0.0;
|
||||
int ticker = 0;
|
||||
List<Double> s1G = new ArrayList<>();
|
||||
List<Double> s2G = new ArrayList<>();
|
||||
List<Double> s3G = new ArrayList<>();
|
||||
List<Double> s1T = new ArrayList<>();
|
||||
List<Double> s2T = new ArrayList<>();
|
||||
List<Double> s3T = new ArrayList<>();
|
||||
List<Boolean> s1 = new ArrayList<>();
|
||||
List<Boolean> s2 = new ArrayList<>();
|
||||
List<Boolean> s3 = new ArrayList<>();
|
||||
boolean oddBallColor = false;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
MecanumDrive drive;
|
||||
double hoodOffset = 0.0;
|
||||
boolean shoot1 = false;
|
||||
// Make these class-level flags
|
||||
boolean shootA = true;
|
||||
boolean shootB = true;
|
||||
boolean shootC = true;
|
||||
boolean manualTurret = false;
|
||||
|
||||
boolean outtake1 = false;
|
||||
boolean outtake2 = false;
|
||||
boolean outtake3 = false;
|
||||
boolean overrideTurr = false;
|
||||
|
||||
|
||||
List<Integer> shootOrder = new ArrayList<>();
|
||||
boolean emergency = false;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
private double lastTimeStamp = 0.0;
|
||||
private double velo1, velo;
|
||||
private double stamp1, stamp, initPos;
|
||||
private boolean shootAll = false;
|
||||
private double transferStamp = 0.0;
|
||||
private int tickerA = 1;
|
||||
private boolean transferIn = false;
|
||||
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
if (distance < 30) {
|
||||
return 2750;
|
||||
} else if (distance > 100) {
|
||||
if (distance > 160) {
|
||||
return 4200;
|
||||
}
|
||||
return 3700;
|
||||
} else {
|
||||
// linear interpolation between 40->2650 and 120->3600
|
||||
double slope = (3700.0 - 2750.0) / (100.0 - 30);
|
||||
return (int) Math.round(2750 + slope * (distance - 30));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
|
||||
}
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
Pose2d shootPos = teleStart;
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
robot.turr1.setPosition(0.4);
|
||||
robot.turr2.setPosition(1 - 0.4);
|
||||
|
||||
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);
|
||||
|
||||
//INTAKE:
|
||||
|
||||
if (gamepad1.rightBumperWasPressed()) {
|
||||
intake = !intake;
|
||||
reject = false;
|
||||
shootAll = false;
|
||||
emergency = false;
|
||||
overrideTurr = false;
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (gamepad1.leftBumperWasPressed()) {
|
||||
intake = false;
|
||||
reject = true;
|
||||
shootAll = false;
|
||||
overrideTurr = false;
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (intake) {
|
||||
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
double position;
|
||||
|
||||
if ((getRuntime() % 0.3) > 0.15) {
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
|
||||
} else if (reject) {
|
||||
robot.intake.setPower(-1);
|
||||
double position = spindexer_intakePos1;
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1 - position);
|
||||
} else {
|
||||
robot.intake.setPower(0);
|
||||
}
|
||||
|
||||
//COLOR:
|
||||
|
||||
double s1D = robot.color1.getDistance(DistanceUnit.MM);
|
||||
double s2D = robot.color2.getDistance(DistanceUnit.MM);
|
||||
double s3D = robot.color3.getDistance(DistanceUnit.MM);
|
||||
|
||||
if (s1D < 40) {
|
||||
|
||||
double green = robot.color1.getNormalizedColors().green;
|
||||
double red = robot.color1.getNormalizedColors().red;
|
||||
double blue = robot.color1.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s1G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s1.add(true);
|
||||
} else {
|
||||
s1.add(false);
|
||||
}
|
||||
|
||||
s1T.add(getRuntime());
|
||||
|
||||
}
|
||||
|
||||
if (s2D < 40) {
|
||||
|
||||
double green = robot.color2.getNormalizedColors().green;
|
||||
double red = robot.color2.getNormalizedColors().red;
|
||||
double blue = robot.color2.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s2G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s2.add(true);
|
||||
} else {
|
||||
s2.add(false);
|
||||
}
|
||||
|
||||
s2T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (s3D < 30) {
|
||||
|
||||
double green = robot.color3.getNormalizedColors().green;
|
||||
double red = robot.color3.getNormalizedColors().red;
|
||||
double blue = robot.color3.getNormalizedColors().blue;
|
||||
|
||||
double gP = green / (green + red + blue);
|
||||
|
||||
s3G.add(gP);
|
||||
|
||||
if (gP >= 0.43) {
|
||||
s3.add(true);
|
||||
} else {
|
||||
s3.add(false);
|
||||
}
|
||||
|
||||
s3T.add(getRuntime());
|
||||
}
|
||||
|
||||
if (!s1.isEmpty()) {
|
||||
green1 = checkGreen(s1, s1T);
|
||||
}
|
||||
if (!s2.isEmpty()) {
|
||||
green2 = checkGreen(s2, s2T);
|
||||
|
||||
}
|
||||
if (!s3.isEmpty()) {
|
||||
green3 = checkGreen(s3, s3T);
|
||||
}
|
||||
|
||||
//SHOOTER:
|
||||
|
||||
double 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.shooter2.setPower(powPID);
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
//TURRET:
|
||||
|
||||
double offset;
|
||||
|
||||
double robotX = drive.localizer.getPose().position.x - xOffset;
|
||||
double robotY = drive.localizer.getPose().position.y - xOffset;
|
||||
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;
|
||||
}
|
||||
|
||||
double pos = turrDefault;
|
||||
|
||||
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 (manualTurret) {
|
||||
pos = turrDefault + (manualOffset / 100);
|
||||
}
|
||||
|
||||
if (!overrideTurr) {
|
||||
|
||||
robot.turr1.setPosition(pos);
|
||||
robot.turr2.setPosition(1 - pos);
|
||||
}
|
||||
|
||||
if (gamepad2.dpad_right) {
|
||||
manualOffset -= 2;
|
||||
} else if (gamepad2.dpad_left) {
|
||||
manualOffset += 2;
|
||||
}
|
||||
|
||||
//VELOCITY AUTOMATIC
|
||||
|
||||
if (autoVel) {
|
||||
vel = velPrediction(distanceToGoal);
|
||||
} else {
|
||||
vel = manualVel;
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button) {
|
||||
autoVel = true;
|
||||
} else if (gamepad2.right_stick_y < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 4100;
|
||||
} else if (gamepad2.right_stick_y > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 2700;
|
||||
} else if (gamepad2.right_stick_x > 0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3600;
|
||||
} else if (gamepad2.right_stick_x < -0.5) {
|
||||
autoVel = false;
|
||||
manualVel = 3100;
|
||||
}
|
||||
|
||||
//HOOD:
|
||||
|
||||
if (autoHood) {
|
||||
robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
|
||||
} else {
|
||||
robot.hood.setPosition(hoodDefaultPos + hoodOffset);
|
||||
}
|
||||
|
||||
if (gamepad2.dpadUpWasPressed()) {
|
||||
hoodOffset -= 0.03;
|
||||
autoHoodOffset -= 0.02;
|
||||
|
||||
} else if (gamepad2.dpadDownWasPressed()) {
|
||||
hoodOffset += 0.03;
|
||||
autoHoodOffset += 0.02;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_x > 0.5) {
|
||||
manualTurret = false;
|
||||
} else if (gamepad2.left_stick_x < -0.5) {
|
||||
manualTurret = true;
|
||||
manualOffset = 0;
|
||||
autoHoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y < -0.5) {
|
||||
autoHood = true;
|
||||
} else if (gamepad2.left_stick_y > 0.5) {
|
||||
autoHood = false;
|
||||
hoodOffset = 0;
|
||||
if (gamepad2.left_bumper) {
|
||||
xOffset = robotX;
|
||||
yOffset = robotY;
|
||||
headingOffset = robotHeading;
|
||||
}
|
||||
}
|
||||
|
||||
//SHOOT ALL:]
|
||||
|
||||
if (emergency) {
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (getRuntime() % 3 > 1.5) {
|
||||
robot.spin1.setPosition(0);
|
||||
robot.spin2.setPosition(1);
|
||||
} else {
|
||||
|
||||
robot.spin1.setPosition(1);
|
||||
robot.spin2.setPosition(0);
|
||||
}
|
||||
|
||||
if (getRuntime() % 1 < 0.5) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
|
||||
}
|
||||
|
||||
robot.transfer.setPower(1);
|
||||
|
||||
} else if (shootAll) {
|
||||
|
||||
TELE.addData("100% works", shootOrder);
|
||||
|
||||
intake = false;
|
||||
reject = false;
|
||||
|
||||
if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
|
||||
int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
|
||||
boolean shootingDone = false;
|
||||
|
||||
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) {
|
||||
outtake1 = (spindexPosEqual(spindexer_outtakeBall1));
|
||||
}
|
||||
if (!outtake2) {
|
||||
outtake2 = (spindexPosEqual(spindexer_outtakeBall2));
|
||||
}
|
||||
if (!outtake3) {
|
||||
outtake3 = (spindexPosEqual(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
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
shootA = true;
|
||||
shootB = true;
|
||||
shootC = true;
|
||||
reject = false;
|
||||
intake = true;
|
||||
shootAll = false;
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
overrideTurr = false;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.squareWasPressed()) {
|
||||
square = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
}
|
||||
|
||||
if (gamepad2.circleWasPressed()) {
|
||||
circle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.triangleWasPressed()) {
|
||||
triangle = true;
|
||||
shootStamp = getRuntime();
|
||||
shootStamp2 = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
}
|
||||
|
||||
if (square || circle || triangle) {
|
||||
|
||||
// Count green balls
|
||||
int greenCount = 0;
|
||||
if (green1) greenCount++;
|
||||
if (green2) greenCount++;
|
||||
if (green3) greenCount++;
|
||||
|
||||
// Determine the odd ball color
|
||||
oddBallColor = greenCount < 2; // true = green, false = purple
|
||||
|
||||
shootOrder.clear();
|
||||
|
||||
// Determine shooting order based on button pressed
|
||||
// square = odd ball first, triangle = odd ball second, circle = odd ball third
|
||||
if (square) {
|
||||
// Odd ball first
|
||||
addOddThenRest(shootOrder, oddBallColor);
|
||||
|
||||
} else if (triangle) {
|
||||
// Odd ball second
|
||||
addOddInMiddle(shootOrder, oddBallColor);
|
||||
} else if (circle) {
|
||||
// Odd ball last
|
||||
addOddLast(shootOrder, oddBallColor);
|
||||
}
|
||||
|
||||
circle = false;
|
||||
square = false;
|
||||
triangle = false;
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.rightBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)){
|
||||
shootOrder.add(3);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(2)){
|
||||
shootOrder.add(2);
|
||||
|
||||
}
|
||||
|
||||
if (ballIn(1)){
|
||||
shootOrder.add(1);
|
||||
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(3)) {
|
||||
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(2)) {
|
||||
|
||||
shootOrder.add(2);
|
||||
}
|
||||
|
||||
if (!shootOrder.contains(1)) {
|
||||
|
||||
shootOrder.add(1);
|
||||
}
|
||||
|
||||
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
// Right bumper shoots all balls fastest, ignoring colors
|
||||
if (gamepad2.leftBumperWasPressed()) {
|
||||
shootOrder.clear();
|
||||
shootStamp = getRuntime();
|
||||
|
||||
outtake1 = false;
|
||||
outtake2 = false;
|
||||
outtake3 = false;
|
||||
|
||||
// Fastest order (example: slot 3 → 2 → 1)
|
||||
|
||||
if (ballIn(3)) {
|
||||
shootOrder.add(3);
|
||||
}
|
||||
|
||||
if (ballIn(2)) {
|
||||
shootOrder.add(2);
|
||||
}
|
||||
if (ballIn(1)) {
|
||||
shootOrder.add(1);
|
||||
}
|
||||
shootAll = true;
|
||||
shootPos = drive.localizer.getPose();
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.crossWasPressed()) {
|
||||
emergency = !emergency;
|
||||
|
||||
}
|
||||
|
||||
//MISC:
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
for (LynxModule hub : allHubs) {
|
||||
hub.clearBulkCache();
|
||||
}
|
||||
|
||||
TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
|
||||
TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
|
||||
TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
|
||||
|
||||
TELE.addData("pose", drive.localizer.getPose());
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
TELE.addData("distanceToGoal", distanceToGoal);
|
||||
TELE.addData("hood", robot.hood.getPosition());
|
||||
TELE.addData("targetVel", vel);
|
||||
|
||||
TELE.addData("shootOrder", shootOrder);
|
||||
TELE.addData("oddColor", oddBallColor);
|
||||
|
||||
aprilTagWebcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
ticker++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Helper method
|
||||
private boolean checkGreen(List<Boolean> s, List<Double> sT) {
|
||||
if (s.isEmpty()) return false;
|
||||
|
||||
double lastTime = sT.get(sT.size() - 1);
|
||||
int countTrue = 0;
|
||||
int countWindow = 0;
|
||||
|
||||
for (int i = 0; i < s.size(); i++) {
|
||||
if (lastTime - sT.get(i) <= 3.0) { // element is within 2s of last
|
||||
countWindow++;
|
||||
if (s.get(i)) {
|
||||
countTrue++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (countWindow == 0) return false; // avoid divide by zero
|
||||
return countTrue > countWindow / 2.0; // more than 50% true
|
||||
}
|
||||
|
||||
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) {
|
||||
// Set spin positions
|
||||
robot.spin1.setPosition(spindexer);
|
||||
robot.spin2.setPosition(1 - spindexer);
|
||||
|
||||
// Check if spindexer has reached the target position
|
||||
if (spinOk || getRuntime() - stamp > 1.5) {
|
||||
if (tickerA == 1) {
|
||||
transferStamp = getRuntime();
|
||||
tickerA++;
|
||||
TELE.addLine("tickerSet");
|
||||
}
|
||||
|
||||
if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
transferIn = true;
|
||||
TELE.addLine("transferring");
|
||||
|
||||
return true; // still in progress
|
||||
|
||||
} else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
transferIn = false; // reset for next shot
|
||||
tickerA = 1; // reset ticker
|
||||
transferStamp = 0.0;
|
||||
|
||||
TELE.addLine("shotFinished");
|
||||
|
||||
return false; // finished shooting
|
||||
} else {
|
||||
TELE.addLine("sIP");
|
||||
return true; // still in progress
|
||||
}
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
tickerA = 1;
|
||||
transferStamp = getRuntime();
|
||||
transferIn = false;
|
||||
return true; // still moving spin
|
||||
}
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double x) {
|
||||
if (x < 34) {
|
||||
double L = 1.04471;
|
||||
double U = 0.711929;
|
||||
double Q = 120.02263;
|
||||
double B = 0.780982;
|
||||
double M = 20.61191;
|
||||
double v = 10.40506;
|
||||
|
||||
double inner = 1 + Q * Math.exp(-B * (x - M));
|
||||
return L + (U - L) / Math.pow(inner, 1.0 / v);
|
||||
|
||||
} else {
|
||||
// x >= 34
|
||||
return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
|
||||
}
|
||||
}
|
||||
|
||||
void addOddThenRest(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball first
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddInMiddle(List<Integer> order, boolean oddColor) {
|
||||
|
||||
boolean[] used = new boolean[4]; // index 1..3
|
||||
|
||||
// 1) Add a NON-odd ball first
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Add the odd ball second
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) == oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 3) Add the remaining non-odd ball third
|
||||
for (int i = 1; i <= 3; i++) {
|
||||
if (!used[i] && getBallColor(i) != oddColor) {
|
||||
order.add(i);
|
||||
used[i] = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
TELE.addData("works", order);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
void addOddLast(List<Integer> order, boolean oddColor) {
|
||||
// Odd ball last
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
|
||||
TELE.addData("1", shootOrder);
|
||||
for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
|
||||
TELE.addData("works", shootOrder);
|
||||
TELE.addData("oddBall", oddColor);
|
||||
shootAll = true;
|
||||
|
||||
}
|
||||
|
||||
// Returns color of ball in slot i (1-based)
|
||||
boolean getBallColor(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
return green1;
|
||||
case 2:
|
||||
return green2;
|
||||
case 3:
|
||||
return green3;
|
||||
}
|
||||
return false; // default
|
||||
}
|
||||
|
||||
boolean ballIn(int slot) {
|
||||
switch (slot) {
|
||||
case 1:
|
||||
|
||||
if (!s1T.isEmpty()) {
|
||||
|
||||
return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 2:
|
||||
|
||||
if (!s2T.isEmpty()) {
|
||||
|
||||
return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
|
||||
}
|
||||
|
||||
case 3:
|
||||
|
||||
if (!s3T.isEmpty()) {
|
||||
|
||||
return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
|
||||
|
||||
}
|
||||
}
|
||||
return true; // default
|
||||
}
|
||||
|
||||
public double turretPos() {
|
||||
return (scalar*((robot.turr1Pos.getVoltage()-restPos) /3.3 ));
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,35 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class TransferTest extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
|
||||
Transfer transfer;
|
||||
|
||||
public static double pos = 0.40;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()){
|
||||
transfer.setTransferPosition(pos);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,59 +0,0 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class WebcamTest extends LinearOpMode {
|
||||
|
||||
AprilTag webcam;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
Robot robot;
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
webcam = new AprilTag(robot, TELE);
|
||||
|
||||
webcam.turnTelemetryOn(true);
|
||||
|
||||
|
||||
|
||||
|
||||
while(opModeInInit()){
|
||||
|
||||
webcam.initTelemetry();
|
||||
|
||||
TELE.update();
|
||||
|
||||
};
|
||||
|
||||
if(isStopRequested()) return;
|
||||
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
webcam.update();
|
||||
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,7 @@
|
||||
package org.firstinspires.ftc.teamcode.teleop;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodDefault;
|
||||
import static org.firstinspires.ftc.teamcode.constants.Poses.*;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
@@ -10,6 +10,7 @@ import com.acmerobotics.roadrunner.Pose2d;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadEx;
|
||||
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
|
||||
import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
@@ -22,12 +23,10 @@ import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Transfer;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
|
||||
public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
@Disabled
|
||||
public class old extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
@@ -63,7 +62,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ToggleButtonReader g2Square;
|
||||
|
||||
|
||||
ToggleButtonReader g2Triangle;
|
||||
|
||||
ToggleButtonReader g2RightBumper;
|
||||
@@ -85,7 +83,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
public double g1LeftBumperStamp = 0.0;
|
||||
|
||||
|
||||
public double g2LeftBumperStamp = 0.0;
|
||||
|
||||
public static int spindexerPos = 0;
|
||||
@@ -96,7 +93,7 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
public boolean scoreAll = false;
|
||||
|
||||
MecanumDrive drive ;
|
||||
MecanumDrive drive;
|
||||
|
||||
public boolean autotrack = false;
|
||||
|
||||
@@ -117,17 +114,11 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
public boolean tri = false;
|
||||
|
||||
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(
|
||||
@@ -163,7 +154,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
g2, GamepadKeys.Button.RIGHT_BUMPER
|
||||
);
|
||||
|
||||
|
||||
g2LeftBumper = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.LEFT_BUMPER
|
||||
);
|
||||
@@ -172,7 +162,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
g2, GamepadKeys.Button.DPAD_UP
|
||||
);
|
||||
|
||||
|
||||
g2DpadDown = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_DOWN
|
||||
);
|
||||
@@ -181,14 +170,10 @@ public class TeleopV1 extends LinearOpMode {
|
||||
g2, GamepadKeys.Button.DPAD_LEFT
|
||||
);
|
||||
|
||||
|
||||
g2DpadRight = new ToggleButtonReader(
|
||||
g2, GamepadKeys.Button.DPAD_RIGHT
|
||||
);
|
||||
|
||||
|
||||
|
||||
|
||||
drivetrain = new Drivetrain(robot, TELE, g1);
|
||||
|
||||
drivetrain.setMode("Default");
|
||||
@@ -201,7 +186,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
transfer = new Transfer(robot);
|
||||
|
||||
|
||||
spindexer = new Spindexer(robot, TELE);
|
||||
|
||||
spindexer.setTelemetryOn(true);
|
||||
@@ -212,18 +196,13 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
robot.rejecter.setPosition(rIn);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
drive = new MecanumDrive(hardwareMap, teleStart);
|
||||
|
||||
|
||||
while(opModeIsActive()){
|
||||
while (opModeIsActive()) {
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
@@ -231,28 +210,24 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
|
||||
|
||||
|
||||
TELE.addData("off", offset);
|
||||
|
||||
|
||||
robot.hood.setPosition(pos);
|
||||
|
||||
g1LeftBumper.readValue();
|
||||
|
||||
if (g1LeftBumper.wasJustPressed()){
|
||||
if (g1LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
|
||||
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
leftBumper = true;
|
||||
}
|
||||
|
||||
if (leftBumper){
|
||||
if (leftBumper) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
if (time < 1.0){
|
||||
if (time < 1.0) {
|
||||
robot.rejecter.setPosition(rOut);
|
||||
} else {
|
||||
robot.rejecter.setPosition(rIn);
|
||||
@@ -260,9 +235,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
intake();
|
||||
|
||||
drivetrain.update();
|
||||
@@ -279,63 +251,49 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
g2DpadUp.readValue();
|
||||
|
||||
if (!scoreAll){
|
||||
if (!scoreAll) {
|
||||
spindexer.checkForBalls();
|
||||
}
|
||||
|
||||
if(g2DpadUp.wasJustPressed()){
|
||||
pos -=0.02;
|
||||
if (g2DpadUp.wasJustPressed()) {
|
||||
pos -= 0.02;
|
||||
}
|
||||
|
||||
if(g2DpadDown.wasJustPressed()){
|
||||
pos +=0.02;
|
||||
if (g2DpadDown.wasJustPressed()) {
|
||||
pos += 0.02;
|
||||
}
|
||||
|
||||
g2DpadLeft.readValue();
|
||||
|
||||
g2DpadRight.readValue();
|
||||
|
||||
if(g2DpadLeft.wasJustPressed()){
|
||||
offset -=0.02;
|
||||
if (g2DpadLeft.wasJustPressed()) {
|
||||
offset -= 0.02;
|
||||
}
|
||||
|
||||
if(g2DpadRight.wasJustPressed()){
|
||||
offset +=0.02;
|
||||
if (g2DpadRight.wasJustPressed()) {
|
||||
offset += 0.02;
|
||||
}
|
||||
|
||||
|
||||
|
||||
TELE.addData("hood", pos);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
|
||||
|
||||
|
||||
|
||||
|
||||
shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
|
||||
|
||||
} else {
|
||||
|
||||
autotrack = false;
|
||||
|
||||
shooter.moveTurret(0.3+offset);
|
||||
shooter.moveTurret(0.3 + offset);
|
||||
|
||||
}
|
||||
|
||||
if (gamepad2.right_stick_button){
|
||||
if (gamepad2.right_stick_button) {
|
||||
autotrack = true;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (g2RightBumper.wasJustPressed()){
|
||||
if (g2RightBumper.wasJustPressed()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferIn();
|
||||
shooter.setManualPower(1);
|
||||
@@ -344,19 +302,19 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
if (g2RightBumper.wasJustReleased()){
|
||||
if (g2RightBumper.wasJustReleased()) {
|
||||
transfer.setTransferPower(1);
|
||||
transfer.transferOut();
|
||||
}
|
||||
|
||||
if (gamepad2.left_stick_y>0.5){
|
||||
if (gamepad2.left_stick_y > 0.5) {
|
||||
|
||||
shooter.setManualPower(0);
|
||||
} else if (gamepad2.left_stick_y<-0.5){
|
||||
} else if (gamepad2.left_stick_y < -0.5) {
|
||||
shooter.setManualPower(1);
|
||||
}
|
||||
|
||||
if (g2LeftBumper.wasJustPressed()){
|
||||
if (g2LeftBumper.wasJustPressed()) {
|
||||
g2LeftBumperStamp = getRuntime();
|
||||
notShooting = false;
|
||||
scoreAll = true;
|
||||
@@ -365,7 +323,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
if (scoreAll) {
|
||||
double time = getRuntime() - g2LeftBumperStamp;
|
||||
|
||||
|
||||
shooter.setManualPower(1);
|
||||
|
||||
TELE.addData("greenImportant", green);
|
||||
@@ -377,7 +334,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
if (square) {
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
@@ -385,7 +341,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
@@ -406,14 +361,12 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker++;
|
||||
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
@@ -433,11 +386,9 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
@@ -458,7 +409,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
@@ -467,7 +417,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
}
|
||||
} else if (tri) {
|
||||
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
ticker = 0;
|
||||
@@ -475,7 +424,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
@@ -496,14 +444,12 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker++;
|
||||
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
@@ -523,11 +469,9 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
@@ -548,15 +492,13 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else if (circle){
|
||||
|
||||
} else if (circle) {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
@@ -565,7 +507,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
last = 0;
|
||||
second = 0;
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
@@ -586,14 +527,12 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker++;
|
||||
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
second = last;
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 4) {
|
||||
transfer.transferOut();
|
||||
@@ -613,11 +552,9 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
@@ -638,15 +575,13 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
shooter.setManualPower(0);
|
||||
|
||||
}
|
||||
} else{
|
||||
|
||||
} else {
|
||||
|
||||
if (time < 0.3) {
|
||||
|
||||
@@ -668,7 +603,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
all = true;
|
||||
}
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
transfer.setTransferPower(1);
|
||||
} else if (time < 2) {
|
||||
@@ -693,7 +627,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker++;
|
||||
|
||||
|
||||
} else if (time < 2.5) {
|
||||
|
||||
ticker = 0;
|
||||
@@ -710,7 +643,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
all = false;
|
||||
|
||||
|
||||
}
|
||||
|
||||
transfer.transferIn();
|
||||
@@ -736,7 +668,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
if (gamepad2.right_trigger > 0.5) {
|
||||
green = false;
|
||||
|
||||
@@ -751,7 +682,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
transfer.transferIn();
|
||||
} else if (time < 6) {
|
||||
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
if (ticker == 0) {
|
||||
@@ -774,7 +704,6 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
ticker = 0;
|
||||
|
||||
|
||||
scoreAll = false;
|
||||
transfer.transferOut();
|
||||
|
||||
@@ -782,33 +711,16 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
shooter.update();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public void intake(){
|
||||
|
||||
public void intake() {
|
||||
|
||||
g1RightBumper.readValue();
|
||||
|
||||
@@ -818,84 +730,64 @@ public class TeleopV1 extends LinearOpMode {
|
||||
|
||||
g2Triangle.readValue();
|
||||
|
||||
if (g1RightBumper.wasJustPressed()){
|
||||
if (g1RightBumper.wasJustPressed()) {
|
||||
|
||||
notShooting = true;
|
||||
|
||||
|
||||
|
||||
|
||||
if (getRuntime() - g1RightBumperStamp < 0.3){
|
||||
if (getRuntime() - g1RightBumperStamp < 0.3) {
|
||||
intake.reverse();
|
||||
} else {
|
||||
intake.toggle();
|
||||
}
|
||||
|
||||
if (intake.getIntakeState()==1){
|
||||
if (intake.getIntakeState() == 1) {
|
||||
shooter.setManualPower(0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
spindexer.intake();
|
||||
|
||||
transfer.transferOut();
|
||||
|
||||
|
||||
g1RightBumperStamp = getRuntime();
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (intake.getIntakeState()==1 && notShooting) {
|
||||
if (intake.getIntakeState() == 1 && notShooting) {
|
||||
|
||||
spindexer.intakeShake(getRuntime());
|
||||
|
||||
} else {
|
||||
if (g2Circle.wasJustPressed()){
|
||||
if (g2Circle.wasJustPressed()) {
|
||||
circle = true;
|
||||
tri = false;
|
||||
square = false;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (g2Triangle.wasJustPressed()){
|
||||
if (g2Triangle.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = true;
|
||||
square = false;
|
||||
}
|
||||
|
||||
if (g2Square.wasJustPressed()){
|
||||
if (g2Square.wasJustPressed()) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = true;
|
||||
}
|
||||
|
||||
if (gamepad2.x){
|
||||
if (gamepad2.x) {
|
||||
circle = false;
|
||||
tri = false;
|
||||
square = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
intake.update();
|
||||
|
||||
|
||||
|
||||
|
||||
spindexer.update();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,144 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ActiveColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException{
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
int b1Purple = 1;
|
||||
int b1Total = 1;
|
||||
int b2Purple = 1;
|
||||
int b2Total = 1;
|
||||
int b3Purple = 1;
|
||||
int b3Total = 1;
|
||||
|
||||
double totalStamp1 = 0.0;
|
||||
double purpleStamp1 = 0.0;
|
||||
double totalStamp2 = 0.0;
|
||||
double purpleStamp2 = 0.0;
|
||||
double totalStamp3 = 0.0;
|
||||
double purpleStamp3 = 0.0;
|
||||
|
||||
String b1 = "none";
|
||||
String b2 = "none";
|
||||
String b3 = "none";
|
||||
|
||||
double position = 0.0;
|
||||
|
||||
double stamp = getRuntime();
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()){
|
||||
|
||||
if ((getRuntime() % 0.3) >0.15) {
|
||||
position = spindexer_intakePos1 + 0.015;
|
||||
} else {
|
||||
position = spindexer_intakePos1 - 0.015;
|
||||
}
|
||||
robot.spin1.setPosition(position);
|
||||
robot.spin2.setPosition(1-position);
|
||||
|
||||
robot.intake.setPower(1);
|
||||
|
||||
// Reset the counters after 1 second of not reading a ball.
|
||||
final double ColorCounterResetDelay = 1.0;
|
||||
// Number of times the loop needs to run before deciding on a color.
|
||||
final int ColorCounterTotalMinCount = 20;
|
||||
// If the color sensor reads a color this percentage of time
|
||||
// out of the total, declare the color.
|
||||
// Usage: (Color Count)/(Total Count) > ColorCounterThreshold
|
||||
final double ColorCounterThreshold = 0.65;
|
||||
|
||||
if (robot.pin1.getState()){
|
||||
if (robot.pin0.getState()){
|
||||
b1Purple ++;
|
||||
}
|
||||
b1Total++;
|
||||
totalStamp1 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b1 = "none";
|
||||
b1Total = 1;
|
||||
b1Purple = 1;
|
||||
}else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b1 = "Purple";
|
||||
}else if (b1Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b1 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin3.getState()){
|
||||
if (robot.pin2.getState()){
|
||||
b2Purple ++;
|
||||
}
|
||||
b2Total++;
|
||||
totalStamp2 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b2 = "none";
|
||||
b2Total = 1;
|
||||
b2Purple = 1;
|
||||
}else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b2 = "Purple";
|
||||
}else if (b2Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b2 = "Green";
|
||||
}
|
||||
|
||||
if (robot.pin5.getState()){
|
||||
if (robot.pin4.getState()){
|
||||
b3Purple ++;
|
||||
}
|
||||
b3Total++;
|
||||
totalStamp3 = getRuntime();
|
||||
}
|
||||
if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
|
||||
// Too Much time has passed without detecting ball
|
||||
b3 = "none";
|
||||
b3Total = 1;
|
||||
b3Purple = 1;
|
||||
}else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
|
||||
// Enough Time has passed and we met the threshold
|
||||
b3 = "Purple";
|
||||
}else if (b3Total > ColorCounterTotalMinCount) {
|
||||
// Enough Time passed WITHOUT meeting the threshold
|
||||
b3 = "Green";
|
||||
}
|
||||
|
||||
TELE.addData("Green1:", robot.pin1.getState());
|
||||
TELE.addData("Purple1:", robot.pin0.getState());
|
||||
TELE.addData("Green2:", robot.pin3.getState());
|
||||
TELE.addData("Purple2:", robot.pin2.getState());
|
||||
TELE.addData("Green3:", robot.pin5.getState());
|
||||
TELE.addData("Purple3:", robot.pin4.getState());
|
||||
TELE.addData("1", b1);
|
||||
TELE.addData("2",b2);
|
||||
TELE.addData("3",b3);
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@Config
|
||||
@TeleOp
|
||||
public class AprilTagWebcamExample extends OpMode {
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
|
||||
|
||||
@Override
|
||||
public void init() {
|
||||
TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
aprilTagWebcam.init(new Robot(hardwareMap), TELE);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void loop() {
|
||||
|
||||
aprilTagWebcam.update();
|
||||
aprilTagWebcam.displayAllTelemetry();
|
||||
TELE.update();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ColorSensorTest extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
// ----- COLOR 1 -----
|
||||
double green1 = robot.color1.getNormalizedColors().green;
|
||||
double blue1 = robot.color1.getNormalizedColors().blue;
|
||||
double red1 = robot.color1.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
|
||||
TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
|
||||
TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 2 -----
|
||||
double green2 = robot.color2.getNormalizedColors().green;
|
||||
double blue2 = robot.color2.getNormalizedColors().blue;
|
||||
double red2 = robot.color2.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
|
||||
TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
|
||||
TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
// ----- COLOR 3 -----
|
||||
double green3 = robot.color3.getNormalizedColors().green;
|
||||
double blue3 = robot.color3.getNormalizedColors().blue;
|
||||
double red3 = robot.color3.getNormalizedColors().red;
|
||||
|
||||
TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
|
||||
TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
|
||||
TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
|
||||
|
||||
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -3,94 +3,108 @@ 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.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 com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
@TeleOp
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
public static int mode = 0;
|
||||
public static double parameter = 0.0;
|
||||
// --- 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
|
||||
public static double transferPower = 0.0;
|
||||
public static double hoodPos = 0.501;
|
||||
|
||||
public static double turretPos = 0.501;
|
||||
Robot robot;
|
||||
private double lastEncoderRevolutions = 0.0;
|
||||
private double lastTimeStamp = 0.0;
|
||||
|
||||
public static double pow = 0.0;
|
||||
public static double vel = 0.0;
|
||||
|
||||
public static int pos = 0;
|
||||
public static double posPower = 0.0;
|
||||
|
||||
public static double p = 0.000003, i = 0, d = 0.000001;
|
||||
|
||||
|
||||
public static String flyMode = "MANUAL";
|
||||
|
||||
public static String turrMode = "MANUAL";
|
||||
|
||||
public static int posTolerance = 40;
|
||||
|
||||
public static double servoPosition = 0.501;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
DcMotorEx leftShooter = robot.shooter1;
|
||||
DcMotorEx rightShooter = robot.shooter2;
|
||||
DcMotorEx encoder = robot.shooter1;
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Shooter shooter = new Shooter(robot, TELE);
|
||||
|
||||
shooter.setTelemetryOn(true);
|
||||
|
||||
shooter.setTurretMode(turrMode);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
|
||||
shooter.setControllerCoefficients(p, i, d);
|
||||
|
||||
MultipleTelemetry TELE = new MultipleTelemetry(
|
||||
telemetry, FtcDashboard.getInstance().getTelemetry()
|
||||
);
|
||||
|
||||
waitForStart();
|
||||
|
||||
if(isStopRequested()) return;
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
while(opModeIsActive()){
|
||||
double kF = 1.0 / MAX_RPM; // baseline feedforward
|
||||
|
||||
shooter.setControllerCoefficients(p, i, d);
|
||||
double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
|
||||
|
||||
shooter.setTurretMode(turrMode);
|
||||
double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
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);
|
||||
|
||||
shooter.setManualPower(pow);
|
||||
double velPID;
|
||||
|
||||
shooter.setVelocity(vel);
|
||||
if (mode == 0) {
|
||||
rightShooter.setPower(parameter);
|
||||
leftShooter.setPower(parameter);
|
||||
} else if (mode == 1) {
|
||||
|
||||
shooter.setTargetPosition(pos);
|
||||
// --- FEEDFORWARD BASE POWER ---
|
||||
double feed = kF * parameter; // Example: vel=2500 → feed=0.5
|
||||
|
||||
shooter.setTolerance(posTolerance);
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = parameter - velocity;
|
||||
double correction = kP * error;
|
||||
|
||||
shooter.setPosPower(posPower);
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
if (servoPosition!=0.501) {shooter.sethoodPosition(servoPosition);}
|
||||
// --- FINAL MOTOR POWER ---
|
||||
velPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
velPID = Math.max(0, Math.min(1, velPID));
|
||||
|
||||
shooter.update();
|
||||
rightShooter.setPower(velPID);
|
||||
leftShooter.setPower(velPID);
|
||||
|
||||
}
|
||||
|
||||
lastTimeStamp = getRuntime();
|
||||
lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
|
||||
|
||||
if (hoodPos != 0.501) {
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
|
||||
if (turretPos!=0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(turretPos);
|
||||
}
|
||||
|
||||
robot.transfer.setPower(transferPower);
|
||||
|
||||
TELE.update();
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,210 @@
|
||||
package org.firstinspires.ftc.teamcode.tests;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
|
||||
|
||||
import com.acmerobotics.dashboard.FtcDashboard;
|
||||
import com.acmerobotics.dashboard.config.Config;
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.utils.Robot;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.Shooter;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class ShooterTest extends LinearOpMode {
|
||||
|
||||
Robot robot;
|
||||
|
||||
public static double pow = 0.0;
|
||||
public static double vel = 0.0;
|
||||
public static double ecpr = 1024.0; // CPR of the encoder
|
||||
public static double hoodPos = 0.5;
|
||||
public static double turretPos = 0.9;
|
||||
|
||||
public static String flyMode = "VEL";
|
||||
|
||||
public static boolean AutoTrack = false;
|
||||
|
||||
double initPos = 0.0;
|
||||
|
||||
double velo = 0.0;
|
||||
double velo1 = 0.0;
|
||||
double velo2 = 0.0;
|
||||
double velo3 = 0.0;
|
||||
double velo4 = 0.0;
|
||||
double velo5 = 0.0;
|
||||
|
||||
double stamp1 = 0.0;
|
||||
|
||||
double initPos1 = 0.0;
|
||||
|
||||
double powPID = 0.0;
|
||||
|
||||
public static int maxVel = 4500;
|
||||
|
||||
public static boolean shoot = false;
|
||||
|
||||
public static int spindexPos = 1;
|
||||
|
||||
public static boolean intake = true;
|
||||
|
||||
public static int tolerance = 50;
|
||||
|
||||
double stamp = 0.0;
|
||||
|
||||
public static double kP = 0.001; // small proportional gain (tune this)
|
||||
public static double maxStep = 0.06; // prevents sudden jumps
|
||||
public static double distance = 50;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
|
||||
robot = new Robot(hardwareMap);
|
||||
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
|
||||
Shooter shooter = new Shooter(robot, TELE);
|
||||
|
||||
robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
|
||||
|
||||
shooter.setTelemetryOn(true);
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
initPos = shooter.getECPRPosition();
|
||||
|
||||
int ticker = 0;
|
||||
|
||||
waitForStart();
|
||||
|
||||
if (isStopRequested()) return;
|
||||
|
||||
while (opModeIsActive()) {
|
||||
|
||||
ticker++;
|
||||
|
||||
if (AutoTrack){
|
||||
hoodPos = hoodAnglePrediction(distance);
|
||||
vel = velPrediction(distance);
|
||||
}
|
||||
|
||||
|
||||
|
||||
shooter.setShooterMode(flyMode);
|
||||
|
||||
shooter.setManualPower(pow);
|
||||
|
||||
robot.hood.setPosition(hoodPos);
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1 - turretPos);
|
||||
if (intake) {
|
||||
robot.transfer.setPower(0);
|
||||
robot.intake.setPower(0.75);
|
||||
robot.spin1.setPosition(spindexer_intakePos1);
|
||||
robot.spin2.setPosition(1 - spindexer_intakePos1);
|
||||
} else {
|
||||
robot.transfer.setPower(.75 + (powPID/4));
|
||||
robot.intake.setPower(0);
|
||||
if (spindexPos == 1) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall1);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall1);
|
||||
} else if (spindexPos == 2) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall2);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall2);
|
||||
} else if (spindexPos == 3) {
|
||||
robot.spin1.setPosition(spindexer_outtakeBall3);
|
||||
robot.spin2.setPosition(1 - spindexer_outtakeBall3);
|
||||
}
|
||||
}
|
||||
|
||||
double penguin = 0;
|
||||
if (ticker % 8 ==0){
|
||||
penguin = shooter.getECPRPosition();
|
||||
stamp = getRuntime();
|
||||
velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
|
||||
initPos1 = penguin;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
|
||||
|
||||
velo = velo1;
|
||||
|
||||
double feed = vel / maxVel; // Example: vel=2500 → feed=0.5
|
||||
|
||||
if (vel > 500){
|
||||
feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
|
||||
}
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = vel - velo1;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
|
||||
if (vel - velo > 1000){
|
||||
powPID = 1;
|
||||
} else if (velo - vel > 1000){
|
||||
powPID = 0;
|
||||
}
|
||||
|
||||
shooter.setVelocity(powPID);
|
||||
|
||||
if (shoot) {
|
||||
robot.transferServo.setPosition(transferServo_in);
|
||||
} else {
|
||||
robot.transferServo.setPosition(transferServo_out);
|
||||
}
|
||||
|
||||
shooter.update();
|
||||
|
||||
TELE.addData("Revolutions", shooter.getECPRPosition());
|
||||
TELE.addData("hoodPos", shooter.gethoodPosition());
|
||||
TELE.addData("turretPos", shooter.getTurretPosition());
|
||||
TELE.addData("Power Fly 1", robot.shooter1.getPower());
|
||||
TELE.addData("Power Fly 2", robot.shooter2.getPower());
|
||||
TELE.addData("powPID", shooter.getpowPID());
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.update();
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public double hoodAnglePrediction(double distance) {
|
||||
double L = 0.298317;
|
||||
double A = 1.02124;
|
||||
double k = 0.0157892;
|
||||
double n = 3.39375;
|
||||
|
||||
double dist = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
return L + A * Math.exp(-Math.pow(k * dist, n));
|
||||
}
|
||||
public static double velPrediction(double distance) {
|
||||
|
||||
double x = Math.sqrt(distance*distance+24*24);
|
||||
|
||||
|
||||
|
||||
double A = -211149.992;
|
||||
double B = -1.19943;
|
||||
double C = 3720.15909;
|
||||
|
||||
return A * Math.pow(x, B) + C;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import android.util.Size;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
public class AprilTagWebcam {
|
||||
|
||||
private AprilTagProcessor aprilTagProcessor;
|
||||
private VisionPortal visionPortal;
|
||||
private List<AprilTagDetection> detectedTags = new ArrayList<>();
|
||||
private MultipleTelemetry telemetry;
|
||||
public void init(Robot robot, MultipleTelemetry TELE){
|
||||
|
||||
this.telemetry = TELE;
|
||||
|
||||
aprilTagProcessor = new AprilTagProcessor.Builder()
|
||||
.setDrawTagID(true)
|
||||
.setDrawTagOutline(true)
|
||||
.setDrawAxes(true)
|
||||
.setDrawCubeProjection(true)
|
||||
.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
|
||||
.build();
|
||||
|
||||
VisionPortal.Builder builder = new VisionPortal.Builder();
|
||||
builder.setCamera(robot.webcam);
|
||||
builder.setCameraResolution(new Size(640, 480));
|
||||
builder.addProcessor(aprilTagProcessor);
|
||||
|
||||
visionPortal = builder.build();
|
||||
|
||||
}
|
||||
|
||||
public void update() {
|
||||
detectedTags = aprilTagProcessor.getDetections();
|
||||
}
|
||||
|
||||
public List<AprilTagDetection> getDetectedTags() {
|
||||
return detectedTags;
|
||||
}
|
||||
|
||||
public AprilTagDetection getTagById(int id){
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.id ==id){
|
||||
return detection;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
public void stop(){
|
||||
if (visionPortal != null){
|
||||
visionPortal.close();
|
||||
}
|
||||
}
|
||||
|
||||
//Helper Functions
|
||||
|
||||
public void displayDetectionTelemetry (AprilTagDetection detectedId){
|
||||
if (detectedId ==null){return;}
|
||||
|
||||
if (detectedId.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detectedId.center.x, detectedId.center.y));
|
||||
}
|
||||
}
|
||||
|
||||
public void displayAllTelemetry (){
|
||||
if (detectedTags ==null){return;}
|
||||
|
||||
telemetry.addData("# AprilTags Detected", detectedTags.size());
|
||||
|
||||
|
||||
for (AprilTagDetection detection : detectedTags) {
|
||||
if (detection.metadata != null) {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
|
||||
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
|
||||
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
|
||||
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
|
||||
} else {
|
||||
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
|
||||
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
|
||||
}
|
||||
} // end for() loop
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,92 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
|
||||
import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
|
||||
|
||||
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
|
||||
|
||||
public class Flywheel {
|
||||
Robot robot;
|
||||
|
||||
MultipleTelemetry TELE;
|
||||
double initPos = 0.0;
|
||||
double stamp = 0.0;
|
||||
double stamp1 = 0.0;
|
||||
double ticker = 0.0;
|
||||
double stamp2 = 0.0;
|
||||
double currentPos = 0.0;
|
||||
boolean prevSteady = false;
|
||||
double velo = 0.0;
|
||||
double prevVelo = 0.0;
|
||||
double targetVelocity = 0.0;
|
||||
double powPID = 0.0;
|
||||
boolean steady = false;
|
||||
|
||||
public Flywheel () {
|
||||
//robot = new Robot(hardwareMap);
|
||||
}
|
||||
|
||||
public double getVelo () {
|
||||
return velo;
|
||||
}
|
||||
|
||||
public boolean getSteady() {
|
||||
return steady;
|
||||
}
|
||||
|
||||
private double getTimeSeconds ()
|
||||
{
|
||||
return (double) System.currentTimeMillis()/1000.0;
|
||||
}
|
||||
|
||||
|
||||
public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
|
||||
targetVelocity = (double) commandedVelocity;
|
||||
|
||||
ticker++;
|
||||
if (ticker % 8 == 0) {
|
||||
currentPos = shooter1CurPos / 2048;
|
||||
stamp = getTimeSeconds(); //getRuntime();
|
||||
velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
|
||||
initPos = currentPos;
|
||||
stamp1 = stamp;
|
||||
}
|
||||
// Flywheel control code here
|
||||
if (targetVelocity - velo > 500) {
|
||||
powPID = 1.0;
|
||||
} else if (velo - targetVelocity > 500){
|
||||
powPID = 0.0;
|
||||
} else {
|
||||
double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
|
||||
|
||||
// --- PROPORTIONAL CORRECTION ---
|
||||
double error = targetVelocity - velo;
|
||||
double correction = kP * error;
|
||||
|
||||
// limit how fast power changes (prevents oscillation)
|
||||
correction = Math.max(-maxStep, Math.min(maxStep, correction));
|
||||
|
||||
// --- FINAL MOTOR POWER ---
|
||||
powPID = feed + correction;
|
||||
|
||||
// clamp to allowed range
|
||||
powPID = Math.max(0, Math.min(1, powPID));
|
||||
}
|
||||
|
||||
// really should be a running average of the last 5
|
||||
if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
|
||||
{
|
||||
steady = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
steady = false;
|
||||
}
|
||||
|
||||
return powPID;
|
||||
}
|
||||
|
||||
public void update()
|
||||
{
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,53 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
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;
|
||||
|
||||
@TeleOp
|
||||
@Config
|
||||
public class PositionalServoProgrammer extends LinearOpMode {
|
||||
Robot robot;
|
||||
MultipleTelemetry TELE;
|
||||
public static double spindexPos = 0.501;
|
||||
public static double turretPos = 0.501;
|
||||
public static double transferPos = 0.501;
|
||||
public static double hoodPos = 0.501;
|
||||
|
||||
public static double scalar = 1.112;
|
||||
public static double restPos = 0.15;
|
||||
@Override
|
||||
public void runOpMode() throws InterruptedException {
|
||||
robot = new Robot(hardwareMap);
|
||||
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
waitForStart();
|
||||
if (isStopRequested()) return;
|
||||
while (opModeIsActive()){
|
||||
if (spindexPos != 0.501){
|
||||
robot.spin1.setPosition(spindexPos);
|
||||
robot.spin2.setPosition(1-spindexPos);
|
||||
}
|
||||
if (turretPos != 0.501){
|
||||
robot.turr1.setPosition(turretPos);
|
||||
robot.turr2.setPosition(1-turretPos);
|
||||
}
|
||||
if (transferPos != 0.501){
|
||||
robot.transferServo.setPosition(transferPos);
|
||||
}
|
||||
if (hoodPos != 0.501){
|
||||
robot.hood.setPosition(hoodPos);
|
||||
}
|
||||
TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
|
||||
TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
|
||||
TELE.addData("hoodA", robot.hoodPos.getVoltage());
|
||||
TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
|
||||
TELE.addData("turretA", robot.turr1Pos.getVoltage());
|
||||
TELE.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,19 +1,16 @@
|
||||
package org.firstinspires.ftc.teamcode.utils;
|
||||
|
||||
import com.qualcomm.hardware.rev.RevColorSensorV3;
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorImplEx;
|
||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||
import com.qualcomm.robotcore.hardware.DigitalChannel;
|
||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
||||
import com.qualcomm.robotcore.hardware.Servo;
|
||||
|
||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
||||
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
|
||||
import org.firstinspires.ftc.vision.VisionPortal;
|
||||
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
|
||||
import org.openftc.easyopencv.OpenCvWebcam;
|
||||
|
||||
public class Robot {
|
||||
|
||||
@@ -30,8 +27,6 @@ public class Robot {
|
||||
|
||||
public DcMotorEx transfer;
|
||||
|
||||
|
||||
|
||||
public DcMotorEx shooter1;
|
||||
public DcMotorEx shooter2;
|
||||
public Servo hood;
|
||||
@@ -61,27 +56,31 @@ public class Robot {
|
||||
|
||||
public AnalogInput analogInput2;
|
||||
|
||||
public AprilTagProcessor aprilTagProcessor;
|
||||
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) {
|
||||
|
||||
//Define components w/ hardware map
|
||||
|
||||
@@ -106,16 +105,28 @@ public class Robot {
|
||||
|
||||
shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
shooterEncoder = shooter1;
|
||||
|
||||
hood = hardwareMap.get(Servo.class, "hood");
|
||||
|
||||
hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
|
||||
|
||||
turr1 = hardwareMap.get(Servo.class, "t1");
|
||||
|
||||
turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
|
||||
|
||||
turr2 = hardwareMap.get(Servo.class, "t2");
|
||||
|
||||
turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
|
||||
|
||||
spin1 = hardwareMap.get(Servo.class, "spin1");
|
||||
|
||||
spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
|
||||
|
||||
spin2 = hardwareMap.get(Servo.class, "spin2");
|
||||
|
||||
spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
|
||||
|
||||
pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
|
||||
|
||||
pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
|
||||
@@ -128,27 +139,26 @@ public class Robot {
|
||||
|
||||
pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
|
||||
|
||||
|
||||
|
||||
analogInput = hardwareMap.get(AnalogInput.class, "analog");
|
||||
|
||||
|
||||
analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
|
||||
|
||||
transfer = hardwareMap.get(DcMotorEx.class, "transfer");
|
||||
|
||||
transferServo = hardwareMap.get(Servo.class, "transferServo");
|
||||
|
||||
transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
|
||||
|
||||
transfer.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
|
||||
|
||||
|
||||
webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
|
||||
|
||||
color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
|
||||
|
||||
color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
|
||||
|
||||
|
||||
|
||||
color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user