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robotics1
2024-12-12 13:47:16 -08:00
parent fe39ffda11
commit 46dac51c28
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop.java
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@ -1,195 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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.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.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(8.000, 65.000, Point.CARTESIAN),
new Point(33.000, 65.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierLine(
new Point(33.000, 65.000, Point.CARTESIAN),
new Point(31.000, 65.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierCurve(
new Point(31.000, 65.000, Point.CARTESIAN),
new Point(26.000, 32.000, Point.CARTESIAN),
new Point(60.000, 34.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))
.addPath(
// Line 4
new BezierLine(
new Point(60.000, 34.000, Point.CARTESIAN),
new Point(60.000, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 5
new BezierLine(
new Point(60.000, 24.000, Point.CARTESIAN),
new Point(14.500, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 6
new BezierLine(
new Point(14.500, 24.000, Point.CARTESIAN),
new Point(18.000, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 1
new BezierCurve(
new Point(18.000, 24.000, Point.CARTESIAN),
new Point(18.000, 67.000, Point.CARTESIAN),
new Point(31.000, 67.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(31.000, 67.500, Point.CARTESIAN),
new Point(33.000, 67.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(33.000, 67.500, Point.CARTESIAN),
new Point(31.000, 67.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierCurve(
new Point(31.000, 67.500, Point.CARTESIAN),
new Point(26.000, 32.000, Point.CARTESIAN),
new Point(60.000, 34.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))
.addPath(
// Line 11
new BezierLine(
new Point(60.000, 34.000, Point.CARTESIAN),
new Point(60.000, 12.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 12
new BezierLine(
new Point(60.000, 12.000, Point.CARTESIAN),
new Point(12.000, 12.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 13
new BezierLine(
new Point(12.000, 12.000, Point.CARTESIAN),
new Point(20.000, 12.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 14
new BezierLine(
new Point(20.000, 12.000, Point.CARTESIAN),
new Point(20.000, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 15
new BezierLine(
new Point(20.000, 24.000, Point.CARTESIAN),
new Point(14.000, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 16
new BezierCurve(
new Point(14.000, 24.000, Point.CARTESIAN),
new Point(14.000, 70.000, Point.CARTESIAN),
new Point(31.000, 70.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(180), Math.toRadians(0))
.addPath(
// Line 17
new BezierLine(
new Point(31.000, 70.000, Point.CARTESIAN),
new Point(33.000, 70.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 18
new BezierLine(
new Point(33.000, 70.000, Point.CARTESIAN),
new Point(31.000, 70.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}