From 233b177cf6ef232c73e767a8d4a88661576dbd23 Mon Sep 17 00:00:00 2001 From: Carlos Rivas Date: Tue, 17 Dec 2024 21:32:10 -0800 Subject: [PATCH] Removing more files to keep things light for this branch --- .../firstinspires/ftc/teamcode/NetAuto.java | 64 ---------------- .../ftc/teamcode/subsystem/AutoLine1.java | 44 ----------- .../ftc/teamcode/subsystem/AutoLine2.java | 40 ---------- .../ftc/teamcode/subsystem/AutoLine3.java | 73 ------------------- 4 files changed, 221 deletions(-) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java deleted file mode 100644 index b705544..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java +++ /dev/null @@ -1,64 +0,0 @@ -package org.firstinspires.ftc.teamcode; -import com.acmerobotics.roadrunner.Action; -import com.acmerobotics.roadrunner.SleepAction; -import com.acmerobotics.roadrunner.ftc.Actions; -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.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.subsystem.AutoLine1; -import org.firstinspires.ftc.teamcode.subsystem.AutoLine2; -import org.firstinspires.ftc.teamcode.subsystem.AutoLine3; - -@Autonomous(name = "BlueNetAuto", group = "Dev") -public class NetAuto extends OpMode { - - public Follower follower; - - public AutoLine1 myFirstPath = new AutoLine1(); - public AutoLine2 mySecondPath = new AutoLine2(); - public int pathState = 0; - @Override - public void init() { - follower = new Follower(hardwareMap); - follower.setMaxPower(0.65); - myFirstPath.moveToAutoLine1(follower); - } - - @Override - public void loop() { - follower.update(); - switch(pathState) { - case 0: - if (!follower.isBusy()) { - pathState = 1; - mySecondPath.moveToAutoLine2(follower); - } - case 1: - if (!follower.isBusy()) { - System.out.println("Finished"); - } - } -// switch(pathState) { -// case 0: -// if (!follower.isBusy()) { -// mySecondPath.moveToAutoLine2(follower); -// pathState = 1; -// } -// case 1: -// if (!follower.isBusy()) { -// pathState = 2; -// } -// case 2: -// // set path 3 -// // as if busy, if not, set path 4 and so on. -// System.out.print("we're at the end"); -// -// } - - - - follower.telemetryDebug(telemetry); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java deleted file mode 100644 index 6ebc8f5..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java +++ /dev/null @@ -1,44 +0,0 @@ -package org.firstinspires.ftc.teamcode.subsystem; - -import androidx.annotation.NonNull; - -import com.acmerobotics.dashboard.telemetry.TelemetryPacket; -import com.acmerobotics.roadrunner.Action; - -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -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 AutoLine1 { - - private PathChain pathChain; - private Pose autoLin1StartPose = new Pose(8,65); - - public void moveToAutoLine1(Follower robot) { - PathBuilder builder = new PathBuilder(); - builder - .addPath( - // Line 1 - new BezierLine( - new Point(8.000, 65.000, Point.CARTESIAN), - new Point(30.000, 72.000, Point.CARTESIAN) - ) - ) - .setConstantHeadingInterpolation(Math.toRadians(0)); - pathChain = builder.build(); - robot.setStartingPose(autoLin1StartPose); - robot.followPath(pathChain); - } - -} - diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java deleted file mode 100644 index eb7382f..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java +++ /dev/null @@ -1,40 +0,0 @@ -package org.firstinspires.ftc.teamcode.subsystem; - -import androidx.annotation.NonNull; - -import com.acmerobotics.dashboard.telemetry.TelemetryPacket; -import com.acmerobotics.roadrunner.Action; - -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -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 AutoLine2 { - private PathChain pathChain; - public void moveToAutoLine2(Follower robot) { - PathBuilder builder = new PathBuilder(); - builder - .addPath( - // Line 2 - new BezierCurve( - new Point(36.000, 72.000, Point.CARTESIAN), - new Point(24.000, 24.000, Point.CARTESIAN), - new Point(72.000, 36.000, Point.CARTESIAN), - new Point(56.000, 24.000, Point.CARTESIAN) - ) - ) - .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180)); - pathChain = builder.build(); - robot.followPath(pathChain); - } -} - diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java deleted file mode 100644 index 2a7d8d1..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java +++ /dev/null @@ -1,73 +0,0 @@ -package org.firstinspires.ftc.teamcode.subsystem; - -import androidx.annotation.NonNull; - -import com.acmerobotics.dashboard.telemetry.TelemetryPacket; -import com.acmerobotics.roadrunner.Action; - -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -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 AutoLine3 implements Action { - - private Follower actionRobot; - private PathChain pathChain; - - private Pose startPose = new Pose(56,24); - - public AutoLine3(Follower robot) { - this.actionRobot = robot; - this.actionRobot.setStartingPose(startPose); - - PathBuilder builder = new PathBuilder(); - builder - /* .addPath( - // Line 1 - new BezierLine( - new Point(8.000, 65.000, Point.CARTESIAN), - new Point(30.000, 72.000, Point.CARTESIAN) -// This is the origional new Point(36.000, 72.000, Point.CARTESIAN) - ) - ) - .setConstantHeadingInterpolation(Math.toRadians(0)) - .addPath( - // Line 2 - new BezierCurve( - new Point(36.000, 72.000, Point.CARTESIAN), - new Point(24.000, 24.000, Point.CARTESIAN), - new Point(72.000, 36.000, Point.CARTESIAN), - new Point(56.000, 24.000, Point.CARTESIAN) - ) - ) - .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180)) */ - .addPath( - // Line 3 - new BezierLine( - new Point(56.000, 24.000, Point.CARTESIAN), - new Point(18.000, 24.000, Point.CARTESIAN) - ) - ) - .setTangentHeadingInterpolation(); - - pathChain = builder.build(); - - this.actionRobot.followPath(this.pathChain); - } - - @Override - public boolean run(@NonNull TelemetryPacket telemetryPacket) { - this.actionRobot.update(); - return this.actionRobot.isBusy(); - } -} -