SCDS/FTCRoadRunnerRobotics
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Cleanup of files no longer needed (or are in other branches) and start a standards way of naming files for comp vs development

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This commit is contained in:
Carlos Rivas
2024-11-12 12:33:01 -08:00
parent 4bcfdc6e15
commit 05e2303e26
15 changed files with 18 additions and 515 deletions
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35
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotAuto.java
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@ -1,35 +0,0 @@
//package org.firstinspires.ftc.teamcode;
//
//import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
//
//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
//import org.firstinspires.ftc.teamcode.runmodes.Auto;
//
//
//@Autonomous(name = "CometBot Auto", group = "Competition")
//public class CometBotAuto extends OpMode {
// public Auto auto;
//
// @Override
// public void init() {
// auto = new Auto(hardwareMap, telemetry, new Follower(hardwareMap));
// }
//
// @Override
// public void start() {
// auto.start();
// }
//
// @Override
// public void loop() {
// auto.update();
// telemetry.addData("Arm State", auto.arm.getState());
// telemetry.addData("Arm Position", auto.arm.getPosition());
// telemetry.addData("Claw State", auto.claw.getState());
// telemetry.addData("Wrist State", auto.wrist.getState());
// telemetry.addData("Wrist Position", auto.wrist.getPosition());
// telemetry.update();
// }
//
//}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
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@ -1,11 +1,9 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.runmodes.CometBotTeleopCompetition;
import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
@TeleOp(name = "ComeBot Drive", group = "Competition")
public class CometBotDrive extends OpMode {

97
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemix.java
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@ -1,97 +0,0 @@
//package org.firstinspires.ftc.teamcode;
//
//import com.qualcomm.robotcore.eventloop.opmode.Disabled;
//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//import com.qualcomm.robotcore.hardware.Gamepad;
//
//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
//
//@TeleOp(name = "Dev Teleop Remix", group = "Debug")
//@Disabled
//public class DevTeleOpRemix extends OpMode {
//
// public ClawSubsystem claw;
// public ArmSubsystem arm;
// public WristSubsystem wrist;
// public LiftSubsystem lift;
// public MotorsSubsystem motors;
//
// public Gamepad currentGamepad1;
// public Gamepad previousGamepad1;
// public Gamepad currentGamepad2;
// public Gamepad previousGamepad2;
//
// public double power = .6;
//
// @Override
// public void init() {
//
// claw = new ClawSubsystem(hardwareMap, telemetry);
// arm = new ArmSubsystem(hardwareMap, telemetry);
// wrist = new WristSubsystem(hardwareMap, telemetry);
// lift = new LiftSubsystem(hardwareMap, telemetry);
// motors = new MotorsSubsystem(hardwareMap, telemetry, power);
//
// claw.init();
// arm.init();
// wrist.init();
// lift.init();
// motors.init();
//
// currentGamepad1 = new Gamepad();
// previousGamepad1 = new Gamepad();
// currentGamepad2 = new Gamepad();
// previousGamepad2 = new Gamepad();
// }
//
// public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
// if (currentGamepad1.a && !previousGamepad1.a) {
// wrist.toFloorPosition();
// arm.toFloorPosition();
// }
// }
//
// public void thePickup(ClawSubsystem claw) {
// if (currentGamepad1.x && !previousGamepad1.x) {
// claw.switchState();
// }
// }
//
// public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
// if (currentGamepad1.b && !previousGamepad1.b) {
// arm.toParkPosition();
// wrist.toBucketPosition();
// }
// }
//
// public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
// if (currentGamepad1.y && !previousGamepad1.y) {
// lift.toLowBucket();
// wrist.toBucketPosition();
// }
// }
//
// @Override
// public void loop() {
//
// previousGamepad1.copy(currentGamepad1);
// currentGamepad1.copy(gamepad1);
//
// previousGamepad2.copy(currentGamepad2);
// currentGamepad2.copy(gamepad2);
//
// theDrop(arm, wrist);
// thePickup(claw);
// theLift(arm, wrist);
// theLowBucketScore(lift, wrist, arm);
//
// motors.calculateTrajectory(gamepad1);
//
// }
//
//}

107
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemixDeux.java
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@ -1,107 +0,0 @@
//package org.firstinspires.ftc.teamcode;
//
//import com.qualcomm.robotcore.eventloop.opmode.Disabled;
//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//import com.qualcomm.robotcore.hardware.Gamepad;
//
//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
//
//@TeleOp(name = "Dev Teleop Remix Deux", group = "Debug")
//@Disabled
//public class DevTeleOpRemixDeux extends OpMode {
//
// private Follower follower;
//
// public ClawSubsystem claw;
// public ArmSubsystem arm;
// public WristSubsystem wrist;
// public LiftSubsystem lift;
// public MotorsSubsystem motors;
//
// public Gamepad currentGamepad1;
// public Gamepad previousGamepad1;
// public Gamepad currentGamepad2;
// public Gamepad previousGamepad2;
//
// public double power = .6;
//
// @Override
// public void init() {
//
// follower = new Follower(hardwareMap);
//
// claw = new ClawSubsystem(hardwareMap, telemetry);
// arm = new ArmSubsystem(hardwareMap, telemetry);
// wrist = new WristSubsystem(hardwareMap, telemetry);
// motors = new MotorsSubsystem(hardwareMap, telemetry);
// lift = new LiftSubsystem(hardwareMap, telemetry);
//
// claw.init();
// arm.init();
// wrist.init();
// lift.init();
// motors.init();
//
// currentGamepad1 = new Gamepad();
// previousGamepad1 = new Gamepad();
// currentGamepad2 = new Gamepad();
// previousGamepad2 = new Gamepad();
//
// follower.setMaxPower(this.power);
// follower.startTeleopDrive();
//
// }
//
// public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
// if (currentGamepad1.a && !previousGamepad1.a) {
// wrist.toFloorPosition();
// arm.toFloorPosition();
// }
// }
//
// public void thePickup(ClawSubsystem claw) {
// if (currentGamepad1.x && !previousGamepad1.x) {
// claw.switchState();
// }
// }
//
// public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
// if (currentGamepad1.b && !previousGamepad1.b) {
// arm.toParkPosition();
// wrist.toBucketPosition();
// }
// }
//
// public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
// if (currentGamepad1.y && !previousGamepad1.y) {
// lift.toLowBucket();
// wrist.toBucketPosition();
// }
// }
//
// @Override
// public void loop() {
//
// previousGamepad1.copy(currentGamepad1);
// currentGamepad1.copy(gamepad1);
//
// previousGamepad2.copy(currentGamepad2);
// currentGamepad2.copy(gamepad2);
//
// theDrop(arm, wrist);
// thePickup(claw);
// theLift(arm, wrist);
// theLowBucketScore(lift, wrist, arm);
//
// follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
// follower.update();
//
// }
//
//}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -3,16 +3,16 @@ package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
import org.firstinspires.ftc.teamcode.runmodes.CometBotAutoDevelopment;
@TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
public class DevTeleop extends OpMode {
public DevTeleopRunModeCompetition runMode;
public CometBotAutoDevelopment runMode;
@Override
public void init() {
this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
}

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Auto.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java
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@ -1,5 +1,10 @@
//package org.firstinspires.ftc.teamcode.runmodes;
//
package org.firstinspires.ftc.teamcode.runmodes;
public class CometBotAutoCompetition {
}
//import com.qualcomm.robotcore.hardware.HardwareMap;
//
//import org.firstinspires.ftc.robotcore.external.Telemetry;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java
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@ -15,7 +15,7 @@ import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
public class DevTeleopRunModeCompetition {
public class CometBotAutoDevelopment {
/*
Subsystems
@ -40,7 +40,7 @@ public class DevTeleopRunModeCompetition {
private Follower follower;
public DevTeleopRunModeCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
this.claw = new ClawActionsSubsystem(hardwareMap);
this.arm = new ArmActionsSubsystem(hardwareMap);

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java
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@ -1,5 +1,9 @@
//package org.firstinspires.ftc.teamcode.runmodes;
//
package org.firstinspires.ftc.teamcode.runmodes;
public class CometBotTeleopDevelopment {
}
//import com.qualcomm.robotcore.hardware.Gamepad;
//import com.qualcomm.robotcore.hardware.HardwareMap;
//

89
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java
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@ -1,89 +0,0 @@
//package org.firstinspires.ftc.teamcode.runmodes;
//
//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
//import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
//import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
//
//import com.qualcomm.robotcore.hardware.DcMotor;
//import com.qualcomm.robotcore.hardware.DcMotorEx;
//import com.qualcomm.robotcore.hardware.Gamepad;
//import com.qualcomm.robotcore.hardware.HardwareMap;
//
//import org.firstinspires.ftc.robotcore.external.Telemetry;
//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
//import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
//import org.firstinspires.ftc.teamcode.util.action.RunAction;
//
//public class Teleop {
//
// private ClawSubsystem claw;
// private Follower follower;
// private DcMotorEx leftFront;
// private DcMotorEx leftRear;
// private DcMotorEx rightFront;
// private DcMotorEx rightRear;
// private Telemetry telemetry;
//
// private Gamepad gamepad1;
// private Gamepad currentGamepad1;
// private Gamepad previousGamepad1;
//
// public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Gamepad gamepad1) {
//
// claw = new ClawSubsystem(hardwareMap, telemetry);
// initMotors(hardwareMap);
//
// this.follower = follower;
//
// this.telemetry = telemetry;
// this.gamepad1 = gamepad1;
//
// this.currentGamepad1 = new Gamepad();
// this.previousGamepad1 = new Gamepad();
// }
//
// public void start() {
// claw.start();
// follower.startTeleopDrive();
// }
//
// public void update() {
// previousGamepad1.copy(currentGamepad1);
// currentGamepad1.copy(gamepad1);
//
// if (currentGamepad1.a && !previousGamepad1.a)
// claw.switchState();
//
// follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
// follower.update();
//
// telemetry.addData("X", follower.getPose().getX());
// telemetry.addData("Y", follower.getPose().getY());
// telemetry.addData("Heading", Math.toDegrees(follower.getPose().getHeading()));
// telemetry.addData("Claw State", claw.getState());
// telemetry.update();
// }
//
// private void initMotors(HardwareMap hardwareMap) {
// rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
// rightRear = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
// leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
// leftRear = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
//
// rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
// rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
// leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
// leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
//
// leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
// leftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
// rightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
// rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
// }
//}

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Action.java
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@ -1,11 +0,0 @@
package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.canvas.Canvas;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
public interface Action {
boolean run(TelemetryPacket p);
default void preview(Canvas fieldOverlay) {
}
}

22
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Actions.java
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@ -1,22 +0,0 @@
package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.canvas.Canvas;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
public class Actions {
public static void runBlocking(Action a) {
FtcDashboard dash = FtcDashboard.getInstance();
Canvas c = new Canvas();
a.preview(c);
boolean b = true;
while (b && !Thread.currentThread().isInterrupted()) {
TelemetryPacket p = new TelemetryPacket();
p.fieldOverlay().getOperations().addAll(c.getOperations());
b = a.run(p);
dash.sendTelemetryPacket(p);
}
}
}

39
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/FieldConstants.java
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@ -1,39 +0,0 @@
package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.config.Config;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
@Config
public class FieldConstants {
public enum RobotStart {
BLUE_BUCKET,
BLUE_OBSERVATION,
RED_BUCKET,
RED_OBSERVATION
}
public static final Pose blueBucketStartPose = new Pose(8, 79.5, Math.toRadians(180));
public static final Pose blueObservationStartPose = new Pose(8, 36, Math.toRadians(180));
public static final Pose redBucketStartPose = new Pose(144-8, 79.5, 0);
public static final Pose redObservationStartPose = new Pose(144-8, 36, 0);
// Blue Preload Poses
public static final Pose blueBucketPreloadPose = new Pose(34.5, 79.5, Math.toRadians(180));
// Blue Bucket Sample Poses
public static final Pose blueBucketLeftSamplePose = new Pose(34.75, 113.5, Math.toRadians(66));
public static final Pose blueBucketLeftSampleControlPose = new Pose(32, 108);
public static final Pose blueBucketMidSamplePose = new Pose(33, 125.5, Math.toRadians(73));
public static final Pose blueBucketMidSampleControlPose = new Pose(47.5, 110);
public static final Pose blueBucketRightSamplePose = new Pose(33, 133, Math.toRadians(74));
public static final Pose blueBucketRightSampleControlPose = new Pose(46, 101);
public static final Pose blueBucketScorePose = new Pose(16, 128, Math.toRadians(-45));
public static final Pose blueBucketParkPose = new Pose(65, 97.75, Math.toRadians(90));
public static final Pose blueBucketParkControlPose = new Pose(60.25, 123.5);
}

30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/RunAction.java
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@ -1,30 +0,0 @@
package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
public class RunAction implements Action {
private final Runnable runnable;
private Runnable callback;
public RunAction(Runnable runnable) {
this.runnable = runnable;
}
public void runAction() {
runnable.run();
if (callback != null) {
callback.run();
}
}
public void setCallback(Runnable callback) {
this.callback = callback;
}
// Adapter to make Action compatible with the Action interface
public boolean run(TelemetryPacket p) {
runAction();
return false; // Regular actions complete after one execution
}
}

43
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SequentialAction.java
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@ -1,43 +0,0 @@
package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.canvas.Canvas;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
public class SequentialAction implements Action {
private List<Action> actions;
public SequentialAction(List<Action> actions) {
this.actions = new ArrayList<>(actions);
}
public SequentialAction(Action... actions) {
this(Arrays.asList(actions));
}
@Override
public boolean run(TelemetryPacket p) {
if (actions.isEmpty()) {
return false;
}
if (actions.get(0).run(p)) {
return true;
} else {
actions.remove(0);
return run(p);
}
}
@Override
public void preview(Canvas fieldOverlay) {
for (Action a : actions) {
a.preview(fieldOverlay);
}
}
}

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java
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@ -1,31 +0,0 @@
package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
public class SleepAction implements Action {
private double dt;
private double beginTs = -1.0;
public SleepAction(double dt) {
this.dt = dt;
}
public static double now() {
return System.nanoTime() * 1e-9;
}
@Override
public boolean run(TelemetryPacket p) {
double t;
if (beginTs < 0) {
beginTs = now();
t = 0.0;
} else {
t = now() - beginTs;
}
boolean output = t < dt;
System.out.println(t + ":" + now() + ":" + beginTs + ":" + output);
return t < dt;
}
}