Commit changes to Control Hub positioning and new sample file

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDrive.java

@@ -0,0 +1,193 @@
+package org.firstinspires.ftc.teamcode;
+
+import androidx.annotation.NonNull;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import org.firstinspires.ftc.teamcode.MecanumDrive;
+
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.Servo;
+
+@Config
+@Autonomous(name = "BLUE_TEST_AUTO_PIXEL", group = "Autonomous")
+public class AutoDrive extends LinearOpMode {
+    public class Lift {
+
+        private DcMotorEx lift;
+
+        public Lift(HardwareMap hardwareMap) {
+            lift = hardwareMap.get(DcMotorEx.class, "liftMotor");
+            lift.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.BRAKE);
+            lift.setDirection(DcMotorSimple.Direction.FORWARD);
+        }
+
+        public class LiftUp implements Action {
+            private boolean initialized = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket packet) {
+                if (!initialized) {
+                    lift.setPower(0.8);
+                    initialized = true;
+                }
+
+                double pos = lift.getCurrentPosition();
+                packet.put("liftPos", pos);
+                if (pos < 3000.0) {
+                    return true;
+                } else {
+                    lift.setPower(0);
+                    return false;
+                }
+            }
+        }
+        public Action liftUp() {
+            return new LiftUp();
+        }
+
+        public class LiftDown implements Action {
+            private boolean initialized = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket packet) {
+                if (!initialized) {
+                    lift.setPower(-0.8);
+                    initialized = true;
+                }
+
+                double pos = lift.getCurrentPosition();
+                packet.put("liftPos", pos);
+                if (pos > 100.0) {
+                    return true;
+                } else {
+                    lift.setPower(0);
+                    return false;
+                }
+            }
+        }
+        public Action liftDown(){
+            return new LiftDown();
+        }
+    }
+
+    public class Claw {
+        private Servo claw;
+
+        public Claw(HardwareMap hardwareMap) {
+            claw = hardwareMap.get(Servo.class, "claw");
+        }
+
+        public class CloseClaw implements Action {
+            @Override
+            public boolean run(@NonNull TelemetryPacket packet) {
+                claw.setPosition(0.55);
+                return false;
+            }
+        }
+        public Action closeClaw() {
+            return new CloseClaw();
+        }
+
+        public class OpenClaw implements Action {
+            @Override
+            public boolean run(@NonNull TelemetryPacket packet) {
+                claw.setPosition(1.0);
+                return false;
+            }
+        }
+        public Action openClaw() {
+            return new OpenClaw();
+        }
+    }
+
+    @Override
+    public void runOpMode() {
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(11.8, 61.7, Math.toRadians(90)));
+        Claw claw = new Claw(hardwareMap);
+        Lift lift = new Lift(hardwareMap);
+
+        // vision here that outputs position
+        int visionOutputPosition = 1;
+
+        Action trajectoryAction1;
+        Action trajectoryAction2;
+        Action trajectoryAction3;
+        Action trajectoryActionCloseOut;
+
+        trajectoryAction1 = drive.actionBuilder(drive.pose)
+                .lineToYSplineHeading(33, Math.toRadians(0))
+                .waitSeconds(2)
+                .setTangent(Math.toRadians(90))
+                .lineToY(48)
+                .setTangent(Math.toRadians(0))
+                .lineToX(32)
+                .strafeTo(new Vector2d(44.5, 30))
+                .turn(Math.toRadians(180))
+                .lineToX(47.5)
+                .waitSeconds(3)
+                .build();
+        trajectoryAction2 = drive.actionBuilder(drive.pose)
+                .lineToY(37)
+                .setTangent(Math.toRadians(0))
+                .lineToX(18)
+                .waitSeconds(3)
+                .setTangent(Math.toRadians(0))
+                .lineToXSplineHeading(46, Math.toRadians(180))
+                .waitSeconds(3)
+                .build();
+        trajectoryAction3 = drive.actionBuilder(drive.pose)
+                .lineToYSplineHeading(33, Math.toRadians(180))
+                .waitSeconds(2)
+                .strafeTo(new Vector2d(46, 30))
+                .waitSeconds(3)
+                .build();
+        trajectoryActionCloseOut = drive.actionBuilder(drive.pose)
+                .strafeTo(new Vector2d(48, 12))
+                .build();
+
+        // actions that need to happen on init; for instance, a claw tightening.
+        Actions.runBlocking(claw.closeClaw());
+
+
+        while (!isStopRequested() && !opModeIsActive()) {
+            int position = visionOutputPosition;
+            telemetry.addData("Position during Init", position);
+            telemetry.update();
+        }
+
+        int startPosition = visionOutputPosition;
+        telemetry.addData("Starting Position", startPosition);
+        telemetry.update();
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        Action trajectoryActionChosen;
+        if (startPosition == 1) {
+            trajectoryActionChosen = trajectoryAction1;
+        } else if (startPosition == 2) {
+            trajectoryActionChosen = trajectoryAction2;
+        } else {
+            trajectoryActionChosen = trajectoryAction3;
+        }
+
+        Actions.runBlocking(
+                new SequentialAction(
+                        trajectoryActionChosen,
+                        lift.liftUp(),
+                        claw.openClaw(),
+                        lift.liftDown(),
+                        trajectoryActionCloseOut
+                )
+        );
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorIMUOrthogonal.java

@@ -34,7 +34,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.IMU;
-
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
 import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
@@ -77,7 +76,6 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  * to use those parameters.
  */
 @TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
-@Disabled   // Comment this out to add to the OpMode list
 public class SensorIMUOrthogonal extends LinearOpMode
 {
     // The IMU sensor object
@@ -106,8 +104,8 @@ public class SensorIMUOrthogonal extends LinearOpMode
          *
          * To Do:  EDIT these two lines to match YOUR mounting configuration.
          */
-        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
+        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
-        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.RIGHT;
 
         RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);