diff --git a/TeamCode/src/main/java/GeneratedPath.java b/TeamCode/src/main/java/GeneratedPath.java new file mode 100644 index 0000000..301a70a --- /dev/null +++ b/TeamCode/src/main/java/GeneratedPath.java @@ -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(); + } +} diff --git a/TeamCode/src/main/java/bBlueAutoV1.java b/TeamCode/src/main/java/bBlueAutoV1.java new file mode 100644 index 0000000..48f57c4 --- /dev/null +++ b/TeamCode/src/main/java/bBlueAutoV1.java @@ -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") +public class bBlueAutoV1 extends OpMode { + + public Telemetry telemetry; + public Follower robot; + public PathChain path; + + @Override + public void init() { + robot = new Follower(hardwareMap); + + PathBuilder builder = new PathBuilder(); + + 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); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/nbRedAutoV1/Java.java b/TeamCode/src/main/java/nbRedAutoV1/Java.java new file mode 100644 index 0000000..c8df1e0 --- /dev/null +++ b/TeamCode/src/main/java/nbRedAutoV1/Java.java @@ -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 { +} diff --git a/TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java b/TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java new file mode 100644 index 0000000..949d68c --- /dev/null +++ b/TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java @@ -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(); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java new file mode 100644 index 0000000..7f5fea7 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java @@ -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); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAuto.java new file mode 100644 index 0000000..1af2c8e --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAuto.java @@ -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(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java new file mode 100644 index 0000000..ef7ea4f --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java @@ -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(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md index bd22f46..c7fa481 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md @@ -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`