SCDS/FTCRoadRunnerRobotics
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Working platform for RC 14493 robot

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This commit is contained in:
Carlos Rivas
2024-11-10 18:37:57 -08:00
parent 399a21c547
commit 555078478c
27 changed files with 653 additions and 208 deletions
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7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -4,15 +4,16 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunMode;
import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
@TeleOp(name = "Dev Teleop Actions", group = "Debug")
@TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
public class DevTeleop extends OpMode {
public DevTeleopRunMode runMode;
public DevTeleopRunModeCompetition runMode;
@Override
public void init() {
this.runMode = new DevTeleopRunMode(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java
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@ -1,4 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots;
public class BluenbAutov1 {
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherOrientBlue.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AsherOrientBlue.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AsherOrientBlue", group = "Autonomous Pathing Tuning")
public class AsherOrientBlue extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathBlueV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AsherPathBlueV1.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AsherPathBlueV1", group = "Autonomous Pathing Tuning")
public class AsherPathBlueV1 extends OpMode {
private Telemetry telemetryA;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AsherPathV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AsherPathV1.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -13,7 +14,7 @@ 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;
import com.acmerobotics.roadrunner.SleepAction;
/**
* 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,
@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
public class AsherPathV1 extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExample.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExample.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleFour.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleFour.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
public class AutoExampleFour extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleSeason2025V1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleSeason2025V1.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
public class AutoExampleSeason2025V1 extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleThree.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleThree.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
public class AutoExampleThree extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleTwo.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleTwo.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
public class AutoExampleTwo extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BasicOmniOpMode_Linear.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/BasicOmniOpMode_Linear.java
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@ -27,7 +27,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
@ -44,6 +44,7 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTI
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
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.DcMotor;
@ -81,6 +82,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
*/
@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
@Disabled
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueBasketAuto.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/BlueBasketAuto.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -27,6 +28,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
public class BlueBasketAuto extends OpMode {
private Telemetry telemetryA;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluebAutoV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/BluebAutoV1.java
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@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.poc;
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.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Disabled
@Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
public class BluebAutoV1 extends OpMode {
private Telemetry telemetryA;

124
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftRawTest.java
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@ -1,124 +0,0 @@
/* Copyright (c) 2021 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots.tests;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
@TeleOp(name = "Lift Raw Test", group = "Debug")
public class LiftRawTest extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
private final int MIN_POINT = 0;
private final int MAX_POINT = 3700;
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
DcMotor liftDrive = hardwareMap.get(DcMotor.class, "lift-motor");
liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
liftDrive.setPower(.5);
// Max position is 6800, safely setting to 6500
if (currentGamepad1.square && !previousGamepad1.square) {
liftDrive.setTargetPosition(MIN_POINT);
liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (currentGamepad1.triangle && !previousGamepad1.triangle) {
liftDrive.setTargetPosition(1500);
liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
liftDrive.setTargetPosition(2750);
liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (currentGamepad1.cross && !previousGamepad1.cross) {
liftDrive.setTargetPosition(MAX_POINT);
liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
int newPosition = liftDrive.getCurrentPosition() - 125;
if (newPosition < MIN_POINT) {
liftDrive.setTargetPosition(MIN_POINT);
} else {
liftDrive.setTargetPosition(newPosition);
}
liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
int newPosition = liftDrive.getCurrentPosition() + 125;
if (newPosition > MAX_POINT) {
liftDrive.setTargetPosition(MAX_POINT);
} else {
liftDrive.setTargetPosition(newPosition);
}
liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Lift Drive Position", liftDrive.getCurrentPosition());
telemetry.update();
}
}
}

26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftTest.java
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@ -29,32 +29,26 @@
package org.firstinspires.ftc.teamcode.cometbots.tests;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
@TeleOp(name = "Lift Test", group = "Debug")
public class LiftTest extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
private final int MIN_POINT = 0;
// 2000 ~ 2500
// 3750 max
private final int MAX_POINT = 6500;
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
LiftSubsystem lift = new LiftSubsystem(hardwareMap, telemetry);
LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
@ -74,21 +68,29 @@ public class LiftTest extends LinearOpMode {
currentGamepad1.copy(gamepad1);
if (currentGamepad1.square && !previousGamepad1.square) {
lift.toFloor();
Actions.runBlocking(lift.toFloorPosition());
}
if (currentGamepad1.triangle && !previousGamepad1.triangle) {
lift.toHighBucket();
Actions.runBlocking(lift.toHighBucketPosition());
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
lift.toLowBucket();
Actions.runBlocking(lift.toLowBucketPosition());
}
if (currentGamepad1.cross && !previousGamepad1.cross) {
lift.switchState();
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
lift.setPosition(lift.getPosition() + 25);
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
lift.setPosition(lift.getPosition() - 25);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Lift Drive Position", lift.getPosition());

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/WristTest.java
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@ -29,11 +29,13 @@
package org.firstinspires.ftc.teamcode.cometbots.tests;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
@TeleOp(name = "Wrist Test", group = "Debug")
@ -48,7 +50,7 @@ public class WristTest extends LinearOpMode {
/*
* Instantiate Wrist
*/
WristSubsystem wrist = new WristSubsystem(hardwareMap, telemetry);
WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
@ -67,11 +69,11 @@ public class WristTest extends LinearOpMode {
currentGamepad1.copy(gamepad1);
if (currentGamepad1.square && !previousGamepad1.square) {
wrist.toBucketPosition();
Actions.runBlocking(wrist.toBucketPosition());
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
wrist.toFloorPosition();
Actions.runBlocking(wrist.toFloorPosition());
}
if (currentGamepad1.cross && !previousGamepad1.cross) {

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -4,18 +4,21 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class RobotConstants {
public static double clawClose = 1.00;
public static double clawOpen = 0.0625;
public final static double clawClose = 1.00;
public final static double clawOpen = 0.05;
public static double armFloor = 0.375;
public static double armPark = 0.0;
public static double armBucket = 0.15;
public final static double armFloor = 0.45;
public final static double armSubmarine = 0.375;
public final static double armPark = 0.0;
public final static double armBucket = 0.15;
public static double wristFloor = 0.625;
public static double wristBucket = 0.215;
public static int liftToFloorPos = 20;
public static int liftToFloatPos = 150;
public static int liftToLowBucketPos = 2250;
public static int liftToHighBucketPos = 3850;
public static double liftPower = .375;
public final static double wristFloor = 0.7;
public final static double wristBucket = 0.215;
public final static int liftToFloorPos = 0;
public final static int liftToFloatPos = 150;
public final static int liftToSubmarinePos = 250;
public final static int liftToLowBucketPos = 2250;
public final static int liftToHighBucketPos = 3850;
public final static double liftPower = .625;
}

33
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
View File

@ -66,11 +66,11 @@ public class DevTeleopRunMode {
this.currentGP1.copy(this.GP1);
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
this.theDrop();
this.toTravelfromField();
this.thePickup();
this.theTravel();
this.theLowBucketScore();
this.theHighBucketScore();
this.toFieldFromBucketScore();
this.toLowBucketScore();
this.toHighBucketScore();
this.toHold();
this.motors.calculateTrajectory(this.GP1);
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
@ -87,15 +87,16 @@ public class DevTeleopRunMode {
Button: A
Action: On button press, Arm hovers the floor with wrist parallel to arm
*/
public void theDrop() {
public void toTravelfromField() {
if (this.currentGP1.dpad_down && !this.previousGP1.dpad_down) {
if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD &&
if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.TRAVELING &&
this.lift.getPosition() < 40) {
Actions.runBlocking(new SequentialAction(
this.wrist.toFloorPosition,
new SleepAction(.75),
this.arm.toFloorPosition
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
}
@ -118,12 +119,10 @@ public class DevTeleopRunMode {
*/
public void toHold() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD) {
Actions.runBlocking(new SequentialAction(
arm.toParkPosition,
wrist.toFloorPosition
));
}
Actions.runBlocking(new SequentialAction(
arm.toParkPosition,
wrist.toFloorPosition
));
}
}
@ -133,7 +132,7 @@ public class DevTeleopRunMode {
Action: On button press, lift to low bucket height,
arm to bucket position, wrist to bucket position
*/
public void theLowBucketScore() {
public void toLowBucketScore() {
if (this.currentGP1.a && !this.previousGP1.a) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
@ -150,7 +149,7 @@ public class DevTeleopRunMode {
Action: On button press, lift to low bucket height,
arm to bucket position, wrist to bucket position
*/
public void theHighBucketScore() {
public void toHighBucketScore() {
if (this.currentGP1.b && !this.previousGP1.b) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
@ -167,15 +166,15 @@ public class DevTeleopRunMode {
Action: On directional press, lift to floor height,
arm to bucket position, wrist to floor position
*/
public void theTravel(){
if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right){
public void toFieldFromBucketScore() {
if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right) {
if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
Actions.runBlocking(new SequentialAction(
lift.toFloor,
arm.toBucketPosition,
wrist.toFloorPosition
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
// fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
}
}
}

185
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java Normal file
View File

@ -0,0 +1,185 @@
package org.firstinspires.ftc.teamcode.runmodes;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.states.FieldStates;
import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
public class DevTeleopRunModeCompetition {
/*
Subsystems
*/
private MotorsSubsystem motors;
public ClawActionsSubsystem claw;
public ArmActionsSubsystem arm;
public WristActionsSubsystem wrist;
public LiftActionsSubsystem lift;
/*
Controllers
*/
public Gamepad GP1;
public Gamepad GP2;
public Gamepad currentGP1;
public Gamepad previousGP1;
public Gamepad currentGP2;
public Gamepad previousGP2;
private Telemetry telemetry;
public FieldStates fieldStates;
private Follower follower;
public DevTeleopRunModeCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
this.claw = new ClawActionsSubsystem(hardwareMap);
this.arm = new ArmActionsSubsystem(hardwareMap);
this.wrist = new WristActionsSubsystem(hardwareMap);
this.lift = new LiftActionsSubsystem(hardwareMap);
this.GP1 = gp1;
this.GP2 = gp2;
this.telemetry = telemetry;
this.currentGP1 = new Gamepad();
this.currentGP2 = new Gamepad();
this.previousGP1 = new Gamepad();
this.previousGP2 = new Gamepad();
this.fieldStates = new FieldStates();
this.follower = new Follower(hardwareMap);
}
public void init() {
this.motors.init();
this.claw.init();
this.arm.init();
this.wrist.init();
this.lift.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
follower.setMaxPower(.75);
follower.startTeleopDrive();
}
public void update() {
this.previousGP1.copy(currentGP1);
this.currentGP1.copy(this.GP1);
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
this.toHighBucketScore();
this.toLowBucketScore();
this.toArmParkPosition();
this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
this.clawControl();
// this.motors.calculateTrajectory(this.GP1);
follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
follower.update();
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
this.telemetry.addData("Claw State", this.claw.getState());
this.telemetry.addData("Claw Position", this.claw.getPosition());
this.telemetry.addData("Wrist State", this.wrist.getState());
this.telemetry.addData("Arm State", this.arm.getState());
this.telemetry.addData("Lift State", this.lift.getState());
this.telemetry.addData("Lift Position", this.lift.getPosition());
}
/*
Controller: 1
Button: A
Action: On button press, Arm hovers the floor with wrist parallel to arm
*/
public void toHighBucketScore() {
if (this.currentGP1.triangle && !this.previousGP1.triangle) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.wrist.toFloorPosition(),
this.arm.toParkPosition(),
this.lift.toHighBucketPosition(),
new SleepAction(.5),
this.arm.toBucketPosition(),
new SleepAction(.5),
this.wrist.toBucketPosition(),
new SleepAction(.5),
this.claw.openClaw(),
new SleepAction(.5),
this.wrist.toFloorPosition(),
new SleepAction(.5),
this.arm.toParkPosition(),
this.lift.toFloorPosition()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
public void toLowBucketScore() {
if (this.currentGP1.circle && !this.previousGP1.circle) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.wrist.toFloorPosition(),
this.arm.toParkPosition(),
this.lift.toLowBucketPosition(),
new SleepAction(.5),
this.arm.toBucketPosition(),
new SleepAction(.5),
this.wrist.toBucketPosition(),
new SleepAction(.5),
this.claw.openClaw(),
new SleepAction(.5),
this.wrist.toFloorPosition(),
new SleepAction(.5),
this.arm.toParkPosition(),
this.lift.toFloorPosition()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
public void clawControl() {
if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
this.claw.switchState();
}
}
public void toArmParkPosition() {
if (this.currentGP1.square && !this.previousGP1.square) {
Actions.runBlocking(this.arm.toParkPosition());
}
}
public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
if (this.currentGP1.cross && !previousGP1.cross) {
if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
Actions.runBlocking(
new SequentialAction(
this.arm.toSubmarinePosition(),
this.wrist.toFloorPosition()
)
);
} else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE) {
Actions.runBlocking(
new SequentialAction(
this.arm.toFloorPosition(),
this.wrist.toFloorPosition()
)
);
} else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
Actions.runBlocking(
new SequentialAction(
this.arm.toSubmarinePosition(),
this.wrist.toFloorPosition()
)
);
}
}
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/states/FieldStates.java
View File

@ -3,7 +3,7 @@ package org.firstinspires.ftc.teamcode.states;
public class FieldStates {
public enum FieldLocation {
BUCKET, SUBMARINE, FIELD
BUCKET, SUBMARINE, FLOATING, TRAVELING
}
private FieldLocation fieldLocation;

88
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmActionsSubsystem.java Normal file
View File

@ -0,0 +1,88 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armSubmarine;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.ServoImplEx;
public class ArmActionsSubsystem {
public enum ArmState {
PARK, FLOOR, BUCKET, SUBMARINE
}
private ServoImplEx arm;
private ArmState state;
public ArmActionsSubsystem(HardwareMap hardwareMap) {
this.arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
}
public class MoveToPosition implements Action {
private double positionValue;
private ArmState positionState;
public MoveToPosition(double positionValue, ArmState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
arm.setPosition(positionValue);
setState(positionState);
telemetryPacket.put("Arm State", positionState);
return false;
}
}
public Action toParkPosition() {
return new MoveToPosition(armPark, ArmState.PARK);
}
public Action toSubmarinePosition() {
return new MoveToPosition(armSubmarine, ArmState.SUBMARINE);
}
public Action toFloorPosition() {
return new MoveToPosition(armFloor, ArmState.FLOOR);
}
public Action toBucketPosition() {
return new MoveToPosition(armBucket, ArmState.BUCKET);
}
public void setState(ArmState armState) {
this.state = armState;
}
public ArmState getState() {
return this.state;
}
public void init() {
this.arm.resetDeviceConfigurationForOpMode();
Actions.runBlocking(this.toParkPosition());
}
public void start() {
Actions.runBlocking(this.toParkPosition());
}
public double getPosition() {
return this.arm.getPosition();
}
public void setPosition(double position) {
this.arm.setPosition(position);
}
}

81
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ClawActionsSubsystem.java Normal file
View File

@ -0,0 +1,81 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
public class ClawActionsSubsystem {
public enum ClawState {
CLOSED, OPEN
}
private Servo claw;
private ClawState state;
public ClawActionsSubsystem(HardwareMap hardwareMap) {
this.claw = hardwareMap.get(Servo.class, "claw-servo");
}
public class MoveToPosition implements Action {
private double positionValue;
private ClawState positionState;
public MoveToPosition(double positionValue, ClawState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
claw.setPosition(positionValue);
telemetryPacket.put("Arm State", positionState);
return false;
}
}
public Action openClaw() {
return new MoveToPosition(clawOpen, ClawState.OPEN);
}
public Action closeClaw() {
return new MoveToPosition(clawClose, ClawState.CLOSED);
}
public void setState(ClawState clawState) {
this.state = clawState;
}
public ClawState getState() {
return this.state;
}
public void switchState() {
if (state == ClawState.CLOSED) {
Actions.runBlocking(openClaw());
} else if (state == ClawState.OPEN) {
Actions.runBlocking(closeClaw());
}
}
public void init() {
Actions.runBlocking(closeClaw());
}
public void start() {
Actions.runBlocking(closeClaw());
}
public double getPosition() {
return this.claw.getPosition();
}
}

102
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java Normal file
View File

@ -0,0 +1,102 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
public class LiftActionsSubsystem {
public DcMotor lift;
public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE
}
private LiftState liftState;
public LiftActionsSubsystem(HardwareMap hardwareMap) {
lift = hardwareMap.get(DcMotor.class, "lift-motor");
}
public class MoveToPosition implements Action {
private int positionValue;
private LiftState positionState;
public MoveToPosition(int positionValue, LiftState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
lift.setTargetPosition(positionValue);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetryPacket.put("Lift State", positionState);
telemetryPacket.put("Lift Position", lift.getCurrentPosition());
boolean result = lift.getTargetPosition() - 15 < lift.getCurrentPosition() &&
lift.getCurrentPosition() < lift.getTargetPosition() + 15;
return !result;
}
}
public Action toFloorPosition() {
return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
}
public Action toLowBucketPosition() {
return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
}
public Action toHighBucketPosition() {
return new MoveToPosition(liftToHighBucketPos, LiftState.HIGH_BUCKET);
}
public void switchState() {
if (this.liftState == LiftState.FLOOR) {
Actions.runBlocking(toLowBucketPosition());
} else if (this.liftState == LiftState.LOW_BUCKET) {
Actions.runBlocking(toHighBucketPosition());
} else if (this.liftState == LiftState.HIGH_BUCKET) {
Actions.runBlocking(toFloorPosition());
}
}
public void init() {
lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lift.setDirection(DcMotorSimple.Direction.REVERSE);
lift.setPower(liftPower);
}
private void setState(LiftState liftState) {
this.liftState = liftState;
}
public LiftState getState() {
return this.liftState;
}
public int getPosition() {
return lift.getCurrentPosition();
}
public void setPosition(int position) {
lift.setTargetPosition(position);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void start() {
Actions.runBlocking(toFloorPosition());
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
View File

@ -1,7 +1,7 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToSubmarinePos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
@ -59,7 +59,7 @@ public class LiftSubsystem {
public void toFloat() {
this.setState(LiftState.FLOAT);
this.setTarget(liftToFloatPos);
this.setTarget(liftToSubmarinePos);
}
public void toLowBucket() {

86
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristActionsSubsystem.java Normal file
View File

@ -0,0 +1,86 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.ServoImplEx;
public class WristActionsSubsystem {
public enum WristState {
FLOOR, BUCKET
}
public ServoImplEx wrist;
public WristState state;
public WristActionsSubsystem(HardwareMap hardwareMap) {
this.wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
}
public class MoveToPosition implements Action {
private double positionValue;
private WristState positionState;
public MoveToPosition(double positionValue, WristState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
wrist.setPosition(positionValue);
telemetryPacket.put("Wrist State", positionState);
return false;
}
}
public Action toFloorPosition() {
return new MoveToPosition(wristFloor, WristState.FLOOR);
}
public Action toBucketPosition() {
return new MoveToPosition(wristBucket, WristState.BUCKET);
}
public void setState(WristState wristState) {
this.state = wristState;
}
public void switchState() {
if (state == WristState.FLOOR) {
Actions.runBlocking(this.toBucketPosition());
} else if (state == WristState.BUCKET) {
Actions.runBlocking(this.toFloorPosition());
}
}
public WristState getState() {
return this.state;
}
public void init() {
wrist.resetDeviceConfigurationForOpMode();
Actions.runBlocking(this.toFloorPosition());
}
public void start() {
Actions.runBlocking(this.toFloorPosition());
}
public void setPosition(double position) {
wrist.setPosition(position);
}
public double getPosition() {
return wrist.getPosition();
}
}

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java
View File

@ -2,31 +2,30 @@ package org.firstinspires.ftc.teamcode.util.action;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import java.util.Timer;
import java.util.TimerTask;
public class SleepAction implements Action {
private final double dt;
private boolean isFinished = false;
private double dt;
private double beginTs = -1.0;
public SleepAction(double dt) {
this.dt = dt;
}
public static double now() {
return System.nanoTime() * 1e-9;
}
@Override
public boolean run(TelemetryPacket p) {
if (!isFinished) {
Timer timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
isFinished = true;
}
}, (long) (dt * 1000));
double t;
if (beginTs < 0) {
beginTs = now();
t = 0.0;
} else {
isFinished = false; // Reset the flag after sleep is complete
return false; // Indicate that the action is finished
t = now() - beginTs;
}
return true; // Indicate that the action is still running
boolean output = t < dt;
System.out.println(t + ":" + now() + ":" + beginTs + ":" + output);
return t < dt;
}
}

7
build.dependencies.gradle
View File

@ -16,6 +16,9 @@ dependencies {
implementation 'org.firstinspires.ftc:Vision:10.1.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
}
implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
implementation "com.acmerobotics.roadrunner:core:1.0.0"
implementation "com.acmerobotics.roadrunner:actions:1.0.0"
implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
}