diff --git a/TeamCode/src/main/java/GeneratedPath.java b/TeamCode/src/main/java/GeneratedPath.java new file mode 100644 index 0000000..301a70a --- /dev/null +++ b/TeamCode/src/main/java/GeneratedPath.java @@ -0,0 +1,107 @@ +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; + +public class GeneratedPath { + public GeneratedPath() { + PathBuilder builder = new PathBuilder(); + + builder + .addPath( + // Line 1 + new BezierLine( + new Point(9.757, 84.983, Point.CARTESIAN), + new Point(28.573, 76.302, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 2 + new BezierLine( + new Point(28.573, 76.302, Point.CARTESIAN), + new Point(36.203, 76.140, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 3 + new BezierLine( + new Point(36.203, 76.140, Point.CARTESIAN), + new Point(35.067, 35.716, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 4 + new BezierLine( + new Point(35.067, 35.716, Point.CARTESIAN), + new Point(73.705, 34.742, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 5 + new BezierLine( + new Point(73.705, 34.742, Point.CARTESIAN), + new Point(73.705, 24.839, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 6 + new BezierLine( + new Point(73.705, 24.839, Point.CARTESIAN), + new Point(7.630, 26.462, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 7 + new BezierLine( + new Point(7.630, 26.462, Point.CARTESIAN), + new Point(64.126, 22.728, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 8 + new BezierLine( + new Point(64.126, 22.728, Point.CARTESIAN), + new Point(63.964, 13.150, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 9 + new BezierLine( + new Point(63.964, 13.150, Point.CARTESIAN), + new Point(12.338, 15.260, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 10 + new BezierLine( + new Point(12.338, 15.260, Point.CARTESIAN), + new Point(63.802, 13.150, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 11 + new BezierLine( + new Point(63.802, 13.150, Point.CARTESIAN), + new Point(63.639, 11.689, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 12 + new BezierLine( + new Point(63.639, 11.689, Point.CARTESIAN), + new Point(12.014, 11.689, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation(); + } +} diff --git a/TeamCode/src/main/java/bBlueAutoV1.java b/TeamCode/src/main/java/bBlueAutoV1.java new file mode 100644 index 0000000..48f57c4 --- /dev/null +++ b/TeamCode/src/main/java/bBlueAutoV1.java @@ -0,0 +1,236 @@ +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; + +@Autonomous(name = "bBlueAutoV1", group = "V1") +public class bBlueAutoV1 extends OpMode { + + public Telemetry telemetry; + public Follower robot; + public PathChain path; + + @Override + public void init() { + robot = new Follower(hardwareMap); + + PathBuilder builder = new PathBuilder(); + + path = builder + .addPath( + // Line 1 + new BezierLine( + new Point(9.757, 84.983, Point.CARTESIAN), + new Point(28.573, 76.302, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 2 + new BezierLine( + new Point(28.573, 76.302, Point.CARTESIAN), + new Point(36.203, 76.140, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 3 + new BezierLine( + new Point(36.203, 76.140, Point.CARTESIAN), + new Point(35.067, 35.716, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 4 + new BezierLine( + new Point(35.067, 35.716, Point.CARTESIAN), + new Point(73.705, 34.742, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 5 + new BezierLine( + new Point(73.705, 34.742, Point.CARTESIAN), + new Point(73.705, 24.839, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 6 + new BezierLine( + new Point(73.705, 24.839, Point.CARTESIAN), + new Point(7.630, 26.462, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 7 + new BezierLine( + new Point(7.630, 26.462, Point.CARTESIAN), + new Point(64.126, 22.728, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 8 + new BezierLine( + new Point(64.126, 22.728, Point.CARTESIAN), + new Point(63.964, 13.150, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 9 + new BezierLine( + new Point(63.964, 13.150, Point.CARTESIAN), + new Point(12.338, 15.260, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 10 + new BezierLine( + new Point(12.338, 15.260, Point.CARTESIAN), + new Point(63.802, 13.150, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 11 + new BezierLine( + new Point(63.802, 13.150, Point.CARTESIAN), + new Point(63.639, 11.689, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 12 + new BezierLine( + new Point(63.639, 11.689, Point.CARTESIAN), + new Point(12.014, 11.689, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 13 + new BezierLine( + new Point(12.014, 11.689, Point.CARTESIAN), + new Point(62.665, 30.196, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 14 + new BezierLine( + new Point(62.665, 30.196, Point.CARTESIAN), + new Point(13.312, 51.463, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 15 + new BezierLine( + new Point(13.312, 51.463, Point.CARTESIAN), + new Point(16.234, 103.738, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 16 + new BezierLine( + new Point(16.234, 103.738, Point.CARTESIAN), + new Point(68.023, 108.284, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 17 + new BezierLine( + new Point(68.023, 108.284, Point.CARTESIAN), + new Point(68.185, 121.109, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 18 + new BezierLine( + new Point(68.185, 121.109, Point.CARTESIAN), + new Point(21.754, 119.811, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 19 + new BezierLine( + new Point(21.754, 119.811, Point.CARTESIAN), + new Point(11.526, 129.227, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 20 + new BezierLine( + new Point(11.526, 129.227, Point.CARTESIAN), + new Point(72.568, 111.856, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 21 + new BezierLine( + new Point(72.568, 111.856, Point.CARTESIAN), + new Point(58.607, 128.902, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 22 + new BezierLine( + new Point(58.607, 128.902, Point.CARTESIAN), + new Point(11.364, 130.850, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 23 + new BezierLine( + new Point(11.364, 130.850, Point.CARTESIAN), + new Point(58.931, 128.577, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 24 + new BezierLine( + new Point(58.931, 128.577, Point.CARTESIAN), + new Point(58.769, 133.123, Point.CARTESIAN) + ) + ) + + .addPath( + // Line 25 + new BezierLine( + new Point(58.769, 133.123, Point.CARTESIAN), + new Point(13.475, 133.935, Point.CARTESIAN) + ) + ).build(); + ; + } + + + @Override + public void loop() { + robot.update(); + if (robot.atParametricEnd()) + robot.followPath(path); + robot.telemetryDebug(telemetry); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/nbRedAutoV1/Java.java b/TeamCode/src/main/java/nbRedAutoV1/Java.java new file mode 100644 index 0000000..c8df1e0 --- /dev/null +++ b/TeamCode/src/main/java/nbRedAutoV1/Java.java @@ -0,0 +1,8 @@ +package nbRedAutoV1; + +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; + +public class Java { +} diff --git a/TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java b/TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java new file mode 100644 index 0000000..949d68c --- /dev/null +++ b/TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java @@ -0,0 +1,174 @@ +package nbRedAutoV1; + +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; + +public class bRedAutoV1 { + + public bRedAutoV1() { + PathBuilder builder = new PathBuilder(); + + builder + .addPath( + // Line 1 + new BezierLine( + new Point(133.935, 83.770, Point.CARTESIAN), + new Point(79.874, 117.213, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 2 + new BezierLine( + new Point(79.874, 117.213, Point.CARTESIAN), + new Point(79.874, 120.785, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 3 + new BezierLine( + new Point(79.874, 120.785, Point.CARTESIAN), + new Point(131.824, 118.349, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 4 + new BezierLine( + new Point(131.824, 118.349, Point.CARTESIAN), + new Point(79.549, 120.460, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 5 + new BezierLine( + new Point(79.549, 120.460, Point.CARTESIAN), + new Point(79.549, 128.740, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 6 + new BezierLine( + new Point(79.549, 128.740, Point.CARTESIAN), + new Point(131.337, 128.090, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 7 + new BezierLine( + new Point(131.337, 128.090, Point.CARTESIAN), + new Point(79.549, 128.740, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 8 + new BezierLine( + new Point(79.549, 128.740, Point.CARTESIAN), + new Point(79.549, 133.610, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 9 + new BezierLine( + new Point(79.549, 133.610, Point.CARTESIAN), + new Point(130.850, 133.285, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 10 + new BezierLine( + new Point(130.850, 133.285, Point.CARTESIAN), + new Point(130.201, 36.528, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 11 + new BezierLine( + new Point(130.201, 36.528, Point.CARTESIAN), + new Point(84.095, 36.203, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 12 + new BezierLine( + new Point(84.095, 36.203, Point.CARTESIAN), + new Point(84.095, 23.378, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 13 + new BezierLine( + new Point(84.095, 23.378, Point.CARTESIAN), + new Point(119.811, 23.378, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 14 + new BezierLine( + new Point(119.811, 23.378, Point.CARTESIAN), + new Point(127.603, 13.475, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 15 + new BezierLine( + new Point(127.603, 13.475, Point.CARTESIAN), + new Point(88.640, 28.248, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 16 + new BezierLine( + new Point(88.640, 28.248, Point.CARTESIAN), + new Point(87.666, 15.910, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 17 + new BezierLine( + new Point(87.666, 15.910, Point.CARTESIAN), + new Point(127.603, 12.014, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 18 + new BezierLine( + new Point(127.603, 12.014, Point.CARTESIAN), + new Point(86.692, 12.825, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 19 + new BezierLine( + new Point(86.692, 12.825, Point.CARTESIAN), + new Point(86.692, 10.390, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation() + .addPath( + // Line 20 + new BezierLine( + new Point(86.692, 10.390, Point.CARTESIAN), + new Point(126.467, 9.903, Point.CARTESIAN) + ) + ) + .setTangentHeadingInterpolation(); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java index bbef593..6ed40c0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java @@ -56,19 +56,19 @@ public class PedroConstants { public static final double ROBOT_WEIGHT_IN_KG = 10.5; // Maximum velocity of the robot going forward - public static final double ROBOT_SPEED_FORWARD = 72.0693; + public static final double ROBOT_SPEED_FORWARD = 79.0257; // Maximum velocity of the robot going right - public static final double ROBOT_SPEED_LATERAL = 24.1401; + public static final double ROBOT_SPEED_LATERAL = 12.3941; // Rate of deceleration when power is cut-off when the robot is moving forward - public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779; + public static final double FORWARD_ZERO_POWER_ACCEL = -50.7945; // Rate of deceleration when power is cut-off when the robot is moving to the right - public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409; + public static final double LATERAL_ZERO_POWER_ACCEL = -92.733; // Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop - public static final double ZERO_POWER_ACCEL_MULT = 4; + public static final double ZERO_POWER_ACCEL_MULT = 2.5; /* Centripetal force correction - increase if robot is correcting into the path - decrease if robot is correcting away from the path */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md index bd22f46..c7fa481 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md @@ -71,7 +71,8 @@ measurements will be in centimeters. of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but what works best for you is most important. Higher numbers will cause a faster brake, but increase oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in - `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference, + `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more +* sensitive than the others. For reference, my P values were in the hundredths and thousandths place values, and my D values were in the hundred thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and `useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`