Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493
# Conflicts: # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
This commit is contained in:
107
TeamCode/src/main/java/GeneratedPath.java
Normal file
107
TeamCode/src/main/java/GeneratedPath.java
Normal file
@ -0,0 +1,107 @@
|
||||
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 GeneratedPath {
|
||||
public GeneratedPath() {
|
||||
PathBuilder builder = new PathBuilder();
|
||||
|
||||
builder
|
||||
.addPath(
|
||||
// Line 1
|
||||
new BezierLine(
|
||||
new Point(9.757, 84.983, Point.CARTESIAN),
|
||||
new Point(28.573, 76.302, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 2
|
||||
new BezierLine(
|
||||
new Point(28.573, 76.302, Point.CARTESIAN),
|
||||
new Point(36.203, 76.140, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 3
|
||||
new BezierLine(
|
||||
new Point(36.203, 76.140, Point.CARTESIAN),
|
||||
new Point(35.067, 35.716, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 4
|
||||
new BezierLine(
|
||||
new Point(35.067, 35.716, Point.CARTESIAN),
|
||||
new Point(73.705, 34.742, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 5
|
||||
new BezierLine(
|
||||
new Point(73.705, 34.742, Point.CARTESIAN),
|
||||
new Point(73.705, 24.839, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 6
|
||||
new BezierLine(
|
||||
new Point(73.705, 24.839, Point.CARTESIAN),
|
||||
new Point(7.630, 26.462, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 7
|
||||
new BezierLine(
|
||||
new Point(7.630, 26.462, Point.CARTESIAN),
|
||||
new Point(64.126, 22.728, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 8
|
||||
new BezierLine(
|
||||
new Point(64.126, 22.728, Point.CARTESIAN),
|
||||
new Point(63.964, 13.150, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 9
|
||||
new BezierLine(
|
||||
new Point(63.964, 13.150, Point.CARTESIAN),
|
||||
new Point(12.338, 15.260, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 10
|
||||
new BezierLine(
|
||||
new Point(12.338, 15.260, Point.CARTESIAN),
|
||||
new Point(63.802, 13.150, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 11
|
||||
new BezierLine(
|
||||
new Point(63.802, 13.150, Point.CARTESIAN),
|
||||
new Point(63.639, 11.689, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 12
|
||||
new BezierLine(
|
||||
new Point(63.639, 11.689, Point.CARTESIAN),
|
||||
new Point(12.014, 11.689, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation();
|
||||
}
|
||||
}
|
||||
236
TeamCode/src/main/java/bBlueAutoV1.java
Normal file
236
TeamCode/src/main/java/bBlueAutoV1.java
Normal file
@ -0,0 +1,236 @@
|
||||
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.BezierLine;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
|
||||
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
|
||||
|
||||
@Autonomous(name = "bBlueAutoV1", group = "V1")
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||||
public class bBlueAutoV1 extends OpMode {
|
||||
|
||||
public Telemetry telemetry;
|
||||
public Follower robot;
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||||
public PathChain path;
|
||||
|
||||
@Override
|
||||
public void init() {
|
||||
robot = new Follower(hardwareMap);
|
||||
|
||||
PathBuilder builder = new PathBuilder();
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||||
|
||||
path = builder
|
||||
.addPath(
|
||||
// Line 1
|
||||
new BezierLine(
|
||||
new Point(9.757, 84.983, Point.CARTESIAN),
|
||||
new Point(28.573, 76.302, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 2
|
||||
new BezierLine(
|
||||
new Point(28.573, 76.302, Point.CARTESIAN),
|
||||
new Point(36.203, 76.140, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 3
|
||||
new BezierLine(
|
||||
new Point(36.203, 76.140, Point.CARTESIAN),
|
||||
new Point(35.067, 35.716, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 4
|
||||
new BezierLine(
|
||||
new Point(35.067, 35.716, Point.CARTESIAN),
|
||||
new Point(73.705, 34.742, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 5
|
||||
new BezierLine(
|
||||
new Point(73.705, 34.742, Point.CARTESIAN),
|
||||
new Point(73.705, 24.839, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 6
|
||||
new BezierLine(
|
||||
new Point(73.705, 24.839, Point.CARTESIAN),
|
||||
new Point(7.630, 26.462, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 7
|
||||
new BezierLine(
|
||||
new Point(7.630, 26.462, Point.CARTESIAN),
|
||||
new Point(64.126, 22.728, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 8
|
||||
new BezierLine(
|
||||
new Point(64.126, 22.728, Point.CARTESIAN),
|
||||
new Point(63.964, 13.150, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 9
|
||||
new BezierLine(
|
||||
new Point(63.964, 13.150, Point.CARTESIAN),
|
||||
new Point(12.338, 15.260, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 10
|
||||
new BezierLine(
|
||||
new Point(12.338, 15.260, Point.CARTESIAN),
|
||||
new Point(63.802, 13.150, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 11
|
||||
new BezierLine(
|
||||
new Point(63.802, 13.150, Point.CARTESIAN),
|
||||
new Point(63.639, 11.689, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 12
|
||||
new BezierLine(
|
||||
new Point(63.639, 11.689, Point.CARTESIAN),
|
||||
new Point(12.014, 11.689, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 13
|
||||
new BezierLine(
|
||||
new Point(12.014, 11.689, Point.CARTESIAN),
|
||||
new Point(62.665, 30.196, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 14
|
||||
new BezierLine(
|
||||
new Point(62.665, 30.196, Point.CARTESIAN),
|
||||
new Point(13.312, 51.463, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 15
|
||||
new BezierLine(
|
||||
new Point(13.312, 51.463, Point.CARTESIAN),
|
||||
new Point(16.234, 103.738, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 16
|
||||
new BezierLine(
|
||||
new Point(16.234, 103.738, Point.CARTESIAN),
|
||||
new Point(68.023, 108.284, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 17
|
||||
new BezierLine(
|
||||
new Point(68.023, 108.284, Point.CARTESIAN),
|
||||
new Point(68.185, 121.109, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 18
|
||||
new BezierLine(
|
||||
new Point(68.185, 121.109, Point.CARTESIAN),
|
||||
new Point(21.754, 119.811, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 19
|
||||
new BezierLine(
|
||||
new Point(21.754, 119.811, Point.CARTESIAN),
|
||||
new Point(11.526, 129.227, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 20
|
||||
new BezierLine(
|
||||
new Point(11.526, 129.227, Point.CARTESIAN),
|
||||
new Point(72.568, 111.856, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 21
|
||||
new BezierLine(
|
||||
new Point(72.568, 111.856, Point.CARTESIAN),
|
||||
new Point(58.607, 128.902, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 22
|
||||
new BezierLine(
|
||||
new Point(58.607, 128.902, Point.CARTESIAN),
|
||||
new Point(11.364, 130.850, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 23
|
||||
new BezierLine(
|
||||
new Point(11.364, 130.850, Point.CARTESIAN),
|
||||
new Point(58.931, 128.577, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 24
|
||||
new BezierLine(
|
||||
new Point(58.931, 128.577, Point.CARTESIAN),
|
||||
new Point(58.769, 133.123, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
|
||||
.addPath(
|
||||
// Line 25
|
||||
new BezierLine(
|
||||
new Point(58.769, 133.123, Point.CARTESIAN),
|
||||
new Point(13.475, 133.935, Point.CARTESIAN)
|
||||
)
|
||||
).build();
|
||||
;
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void loop() {
|
||||
robot.update();
|
||||
if (robot.atParametricEnd())
|
||||
robot.followPath(path);
|
||||
robot.telemetryDebug(telemetry);
|
||||
}
|
||||
}
|
||||
8
TeamCode/src/main/java/nbRedAutoV1/Java.java
Normal file
8
TeamCode/src/main/java/nbRedAutoV1/Java.java
Normal file
@ -0,0 +1,8 @@
|
||||
package nbRedAutoV1;
|
||||
|
||||
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 Java {
|
||||
}
|
||||
174
TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java
Normal file
174
TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java
Normal file
@ -0,0 +1,174 @@
|
||||
package nbRedAutoV1;
|
||||
|
||||
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 bRedAutoV1 {
|
||||
|
||||
public bRedAutoV1() {
|
||||
PathBuilder builder = new PathBuilder();
|
||||
|
||||
builder
|
||||
.addPath(
|
||||
// Line 1
|
||||
new BezierLine(
|
||||
new Point(133.935, 83.770, Point.CARTESIAN),
|
||||
new Point(79.874, 117.213, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 2
|
||||
new BezierLine(
|
||||
new Point(79.874, 117.213, Point.CARTESIAN),
|
||||
new Point(79.874, 120.785, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 3
|
||||
new BezierLine(
|
||||
new Point(79.874, 120.785, Point.CARTESIAN),
|
||||
new Point(131.824, 118.349, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 4
|
||||
new BezierLine(
|
||||
new Point(131.824, 118.349, Point.CARTESIAN),
|
||||
new Point(79.549, 120.460, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 5
|
||||
new BezierLine(
|
||||
new Point(79.549, 120.460, Point.CARTESIAN),
|
||||
new Point(79.549, 128.740, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 6
|
||||
new BezierLine(
|
||||
new Point(79.549, 128.740, Point.CARTESIAN),
|
||||
new Point(131.337, 128.090, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 7
|
||||
new BezierLine(
|
||||
new Point(131.337, 128.090, Point.CARTESIAN),
|
||||
new Point(79.549, 128.740, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 8
|
||||
new BezierLine(
|
||||
new Point(79.549, 128.740, Point.CARTESIAN),
|
||||
new Point(79.549, 133.610, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 9
|
||||
new BezierLine(
|
||||
new Point(79.549, 133.610, Point.CARTESIAN),
|
||||
new Point(130.850, 133.285, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 10
|
||||
new BezierLine(
|
||||
new Point(130.850, 133.285, Point.CARTESIAN),
|
||||
new Point(130.201, 36.528, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 11
|
||||
new BezierLine(
|
||||
new Point(130.201, 36.528, Point.CARTESIAN),
|
||||
new Point(84.095, 36.203, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 12
|
||||
new BezierLine(
|
||||
new Point(84.095, 36.203, Point.CARTESIAN),
|
||||
new Point(84.095, 23.378, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 13
|
||||
new BezierLine(
|
||||
new Point(84.095, 23.378, Point.CARTESIAN),
|
||||
new Point(119.811, 23.378, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 14
|
||||
new BezierLine(
|
||||
new Point(119.811, 23.378, Point.CARTESIAN),
|
||||
new Point(127.603, 13.475, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 15
|
||||
new BezierLine(
|
||||
new Point(127.603, 13.475, Point.CARTESIAN),
|
||||
new Point(88.640, 28.248, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 16
|
||||
new BezierLine(
|
||||
new Point(88.640, 28.248, Point.CARTESIAN),
|
||||
new Point(87.666, 15.910, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 17
|
||||
new BezierLine(
|
||||
new Point(87.666, 15.910, Point.CARTESIAN),
|
||||
new Point(127.603, 12.014, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 18
|
||||
new BezierLine(
|
||||
new Point(127.603, 12.014, Point.CARTESIAN),
|
||||
new Point(86.692, 12.825, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 19
|
||||
new BezierLine(
|
||||
new Point(86.692, 12.825, Point.CARTESIAN),
|
||||
new Point(86.692, 10.390, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 20
|
||||
new BezierLine(
|
||||
new Point(86.692, 10.390, Point.CARTESIAN),
|
||||
new Point(126.467, 9.903, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation();
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,91 @@
|
||||
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);
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,128 @@
|
||||
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 BlueAuto {
|
||||
|
||||
|
||||
|
||||
public void GeneratedPath() {
|
||||
PathBuilder builder = new PathBuilder();
|
||||
|
||||
builder
|
||||
.addPath(
|
||||
// Line 1
|
||||
new BezierLine(
|
||||
new Point(9.757, 84.983, Point.CARTESIAN),
|
||||
new Point(8.442, 129.227, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 2
|
||||
new BezierLine(
|
||||
new Point(8.442, 129.227, Point.CARTESIAN),
|
||||
new Point(52.762, 101.628, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 3
|
||||
new BezierLine(
|
||||
new Point(52.762, 101.628, Point.CARTESIAN),
|
||||
new Point(79.224, 116.564, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 4
|
||||
new BezierLine(
|
||||
new Point(79.224, 116.564, Point.CARTESIAN),
|
||||
new Point(54.548, 130.525, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 5
|
||||
new BezierLine(
|
||||
new Point(54.548, 130.525, Point.CARTESIAN),
|
||||
new Point(12.338, 133.772, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 6
|
||||
new BezierLine(
|
||||
new Point(12.338, 133.772, Point.CARTESIAN),
|
||||
new Point(52.437, 101.628, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 7
|
||||
new BezierLine(
|
||||
new Point(52.437, 101.628, Point.CARTESIAN),
|
||||
new Point(71.594, 120.947, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 8
|
||||
new BezierLine(
|
||||
new Point(71.594, 120.947, Point.CARTESIAN),
|
||||
new Point(52.275, 120.785, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 9
|
||||
new BezierLine(
|
||||
new Point(52.275, 120.785, Point.CARTESIAN),
|
||||
new Point(11.039, 131.012, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 10
|
||||
new BezierLine(
|
||||
new Point(11.039, 131.012, Point.CARTESIAN),
|
||||
new Point(70.782, 120.460, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 11
|
||||
new BezierLine(
|
||||
new Point(70.782, 120.460, Point.CARTESIAN),
|
||||
new Point(50.327, 142.377, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 12
|
||||
new BezierLine(
|
||||
new Point(50.327, 142.377, Point.CARTESIAN),
|
||||
new Point(13.799, 134.422, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 13
|
||||
new BezierLine(
|
||||
new Point(13.799, 134.422, Point.CARTESIAN),
|
||||
new Point(13.799, 134.422, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation()
|
||||
.addPath(
|
||||
// Line 14
|
||||
new BezierLine(
|
||||
new Point(13.799, 134.422, Point.CARTESIAN),
|
||||
new Point(71.919, 103.901, Point.CARTESIAN)
|
||||
)
|
||||
)
|
||||
.setTangentHeadingInterpolation();
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,99 @@
|
||||
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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -71,7 +71,8 @@ measurements will be in centimeters.
|
||||
of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
|
||||
what works best for you is most important. Higher numbers will cause a faster brake, but increase
|
||||
oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
|
||||
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference,
|
||||
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more
|
||||
* sensitive than the others. For reference,
|
||||
my P values were in the hundredths and thousandths place values, and my D values were in the hundred
|
||||
thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
|
||||
`useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`
|
||||
|
||||
Reference in New Issue
Block a user