Removing more files to keep things light for this branch
This commit is contained in:
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package org.firstinspires.ftc.teamcode;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.SleepAction;
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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.OpMode;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
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import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
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import org.firstinspires.ftc.teamcode.subsystem.AutoLine2;
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import org.firstinspires.ftc.teamcode.subsystem.AutoLine3;
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@Autonomous(name = "BlueNetAuto", group = "Dev")
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public class NetAuto extends OpMode {
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public Follower follower;
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public AutoLine1 myFirstPath = new AutoLine1();
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public AutoLine2 mySecondPath = new AutoLine2();
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public int pathState = 0;
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@Override
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public void init() {
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follower = new Follower(hardwareMap);
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follower.setMaxPower(0.65);
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myFirstPath.moveToAutoLine1(follower);
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}
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@Override
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public void loop() {
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follower.update();
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switch(pathState) {
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case 0:
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if (!follower.isBusy()) {
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pathState = 1;
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mySecondPath.moveToAutoLine2(follower);
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}
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case 1:
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if (!follower.isBusy()) {
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System.out.println("Finished");
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}
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}
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// switch(pathState) {
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// case 0:
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// if (!follower.isBusy()) {
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// mySecondPath.moveToAutoLine2(follower);
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// pathState = 1;
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// }
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// case 1:
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// if (!follower.isBusy()) {
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// pathState = 2;
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// }
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// case 2:
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// // set path 3
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// // as if busy, if not, set path 4 and so on.
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// System.out.print("we're at the end");
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//
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// }
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follower.telemetryDebug(telemetry);
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}
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}
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package org.firstinspires.ftc.teamcode.subsystem;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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/*
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AutoLine# - This file does something of a path......
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*/
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public class AutoLine1 {
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private PathChain pathChain;
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private Pose autoLin1StartPose = new Pose(8,65);
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public void moveToAutoLine1(Follower robot) {
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PathBuilder builder = new PathBuilder();
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builder
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.addPath(
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// Line 1
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new BezierLine(
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new Point(8.000, 65.000, Point.CARTESIAN),
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new Point(30.000, 72.000, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(0));
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pathChain = builder.build();
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robot.setStartingPose(autoLin1StartPose);
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robot.followPath(pathChain);
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}
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}
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@ -1,40 +0,0 @@
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package org.firstinspires.ftc.teamcode.subsystem;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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/*
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AutoLine# - This file does something of a path......
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*/
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public class AutoLine2 {
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private PathChain pathChain;
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public void moveToAutoLine2(Follower robot) {
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PathBuilder builder = new PathBuilder();
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builder
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.addPath(
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// Line 2
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new BezierCurve(
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new Point(36.000, 72.000, Point.CARTESIAN),
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new Point(24.000, 24.000, Point.CARTESIAN),
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new Point(72.000, 36.000, Point.CARTESIAN),
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new Point(56.000, 24.000, Point.CARTESIAN)
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)
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)
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.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180));
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pathChain = builder.build();
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robot.followPath(pathChain);
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}
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}
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@ -1,73 +0,0 @@
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package org.firstinspires.ftc.teamcode.subsystem;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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/*
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AutoLine# - This file does something of a path......
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*/
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public class AutoLine3 implements Action {
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private Follower actionRobot;
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private PathChain pathChain;
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private Pose startPose = new Pose(56,24);
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public AutoLine3(Follower robot) {
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this.actionRobot = robot;
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this.actionRobot.setStartingPose(startPose);
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PathBuilder builder = new PathBuilder();
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builder
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/* .addPath(
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// Line 1
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new BezierLine(
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new Point(8.000, 65.000, Point.CARTESIAN),
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new Point(30.000, 72.000, Point.CARTESIAN)
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// This is the origional new Point(36.000, 72.000, Point.CARTESIAN)
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)
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)
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.setConstantHeadingInterpolation(Math.toRadians(0))
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.addPath(
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// Line 2
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new BezierCurve(
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new Point(36.000, 72.000, Point.CARTESIAN),
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new Point(24.000, 24.000, Point.CARTESIAN),
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new Point(72.000, 36.000, Point.CARTESIAN),
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new Point(56.000, 24.000, Point.CARTESIAN)
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)
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)
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.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180)) */
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.addPath(
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// Line 3
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new BezierLine(
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new Point(56.000, 24.000, Point.CARTESIAN),
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new Point(18.000, 24.000, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation();
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pathChain = builder.build();
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this.actionRobot.followPath(this.pathChain);
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}
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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this.actionRobot.update();
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return this.actionRobot.isBusy();
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}
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}
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Reference in New Issue
Block a user