SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

3 samples in high bucket

Browse Source 
overtime
This commit is contained in:
robotics1
2025-01-16 15:59:16 -08:00
parent 11df322ec1
commit 1c90a851e7
5 changed files with 62 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ComeBotDriveDevV2.java
View File

@ -18,6 +18,7 @@ import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath3;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath4;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath5;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@ -32,6 +33,7 @@ public class ComeBotDriveDevV2 extends OpMode {
private HighBasketAutoPath3 path3;
private HighBasketAutoPath4 path4;
private HighBasketAutoPath5 path5;
private AutoPark pathPark;
private SkyHookSubsystem hook;
@ -48,6 +50,9 @@ public class ComeBotDriveDevV2 extends OpMode {
path1 = new HighBasketAutoPath1();
path2 = new HighBasketAutoPath2();
path3 = new HighBasketAutoPath3();
path4 = new HighBasketAutoPath4();
path5 = new HighBasketAutoPath5();
pathPark = new AutoPark();
comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
@ -83,16 +88,16 @@ public class ComeBotDriveDevV2 extends OpMode {
theArmThing();
break;
case 6:
//moveToPickupAgainPath4();
moveToPickupAgainPath4();
break;
case 7:
//doPickUpThingAgain();
doPickUpThingAgain();
break;
case 8:
//line five
moveToPickupAgainPath5();
break;
case 9:
//theArmThingAgain();
theArmThingAgain();
break;
case 10:
//line six
@ -156,6 +161,7 @@ public class ComeBotDriveDevV2 extends OpMode {
}
private void theArmThingAgain() {
follower.breakFollowing();
comp.highBucketDrop();
state = 10;
}
@ -181,13 +187,27 @@ public class ComeBotDriveDevV2 extends OpMode {
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 12.0) {
if (follower.atParametricEnd() || runtime.seconds() > 27.0) {
state = 7;
followingPath = false;
}
}
}
private void moveToPickupAgainPath5() {
if (!followingPath) {
path5.moveToPickupAgainPath5(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 36.0) {
state = 9;
followingPath = false;
}
}
}
private void moveToBasketPath3() {
if (!followingPath) {
path3.moveToBasketPath3(follower);
@ -225,6 +245,7 @@ public class ComeBotDriveDevV2 extends OpMode {
}
private void doPickUpThingAgain() {
follower.breakFollowing();
thePickUp();
state = 8;
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java
View File

@ -24,7 +24,7 @@ public class HighBasketAutoPath2 {
// Line 1
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(29.000, 120.000, Point.CARTESIAN)
new Point(25.500, 120.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath3.java
View File

@ -18,7 +18,6 @@ public class HighBasketAutoPath3 {
public void moveToBasketPath3(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
// robot.setStartingPose( new Pose(29, 120));
builder
.addPath(
// Line 1

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath4.java
View File

@ -22,7 +22,7 @@ public class HighBasketAutoPath4 {
// Line 1
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(29.000, 131.400, Point.CARTESIAN)
new Point(25.000, 129.900, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));

34
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath5.java Normal file
View File

@ -0,0 +1,34 @@
package org.firstinspires.ftc.teamcode.subsystem;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class HighBasketAutoPath5 {
public void moveToPickupAgainPath5(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(24.000, 131.000, Point.CARTESIAN),
new Point(18.000, 126.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
pathChain = builder.build();
robot.followPath(pathChain);
}
}