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Working Pre loaded auto! Can score 11 points consistently!

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robotics1
2024-11-14 17:10:46 -08:00
parent ad0a8d3374
commit 66f3339e26
1 changed files with 122 additions and 0 deletions
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java Normal file
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package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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.localization.Pose;
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;
@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
public class PreLoadedBlueBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(7.875, 89.357);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(8.036, 89.196, Point.CARTESIAN),
new Point(10.125, 126.804, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(10.125, 126.804, Point.CARTESIAN),
new Point(37.607, 90.000, Point.CARTESIAN),
new Point(62.357, 119.893, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierCurve(
new Point(62.357, 119.893, Point.CARTESIAN),
new Point(33.750, 112.500, Point.CARTESIAN),
new Point(15.107, 130.661, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierCurve(
new Point(15.107, 130.661, Point.CARTESIAN),
new Point(58.821, 103.018, Point.CARTESIAN),
new Point(59.625, 126.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(15.107, 130.339, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(15.107, 130.339, Point.CARTESIAN),
new Point(59.625, 126.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(57.857, 133.071, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(57.857, 133.071, Point.CARTESIAN),
new Point(18.964, 134.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierCurve(
new Point(18.964, 134.679, Point.CARTESIAN),
new Point(84.536, 131.786, Point.CARTESIAN),
new Point(80.036, 96.429, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}