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robotics1
2024-10-17 11:06:13 -07:00
parent e08aac773d
commit 552bb3e25a
2 changed files with 190 additions and 0 deletions
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91
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java Normal file
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package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
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.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;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous (name = "Test", group = "Autonomous Pathing Tuning")
public class AutoTest extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain test;
@Override
public void init() {
follower = new Follower(hardwareMap);
test = follower.pathBuilder()
.addPath(
new BezierLine(
new Point(8.000, 60.000, Point.CARTESIAN),
new Point(18.000, 60.000, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierCurve(
new Point(18.000, 60.000, Point.CARTESIAN),
new Point(18.000, 23.000, Point.CARTESIAN),
new Point(48.000, 23.000, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierLine(
new Point(48.000, 23.000, Point.CARTESIAN),
new Point(60.000, 36.000, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(60.000, 36.000, Point.CARTESIAN),
new Point(60.000, 49.000, Point.CARTESIAN)
)
).build();
follower.followPath(test);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(test);
}
follower.telemetryDebug(telemetryA);
}
}

99
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java Normal file
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package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
public class RedAuto {
public class GeneratedPath {
public GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(131.499, 58.931, Point.CARTESIAN),
new Point(131.986, 18.183, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(131.986, 18.183, Point.CARTESIAN),
new Point(90.264, 40.911, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(90.264, 40.911, Point.CARTESIAN),
new Point(83.445, 26.300, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(83.445, 26.300, Point.CARTESIAN),
new Point(136.207, 14.286, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(136.207, 14.286, Point.CARTESIAN),
new Point(81.497, 24.352, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(81.497, 24.352, Point.CARTESIAN),
new Point(82.634, 12.988, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(82.634, 12.988, Point.CARTESIAN),
new Point(133.935, 11.364, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(133.935, 11.364, Point.CARTESIAN),
new Point(82.309, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(82.309, 11.689, Point.CARTESIAN),
new Point(83.445, 2.598, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(83.445, 2.598, Point.CARTESIAN),
new Point(132.149, 10.390, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}
}