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Fixed floor position issue

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This commit is contained in:
carlos
2025-01-28 17:13:58 -08:00
parent 90ff225bfa
commit 7376c79cdd
2 changed files with 242 additions and 0 deletions
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72
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAuto.java Normal file
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
@Autonomous(name = "Specimen Auto", group = "Dev")
public class SpecimenAuto extends OpMode {
private Follower follower;
private int state;
private ElapsedTime runtime;
public void init(){
state = 0;
follower = new Follower(hardwareMap);
follower.setMaxPower(.90);
runtime = new ElapsedTime();
}
@Override
public void loop() {
switch(state) {
case 0:
//path 1
break;
case 1:
//specimen drop
break;
case 2:
//path 2
break;
case 3:
//specimen pick up
break;
case 4:
//path 3
break;
case 5:
//specimen drop
break;
case 6:
//path 4
break;
case 7:
//specimen pick up
break;
case 8:
//path 5
break;
case 9:
//specimen drop
break;
case 10:
//path 6
break;
case 11:
//specimen pickup
break;
case 12:
//path 7
break;
case 13:
//specimen drop
break;
}
}
}

170
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SpecimenAutoLineTest.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 = "Specimen Test", group = "Competition")
public class SpecimenAutoLineTest extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 60);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.35);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(8.000, 60.000, Point.CARTESIAN),
new Point(39.500, 60.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))
.addPath(
// Line 2
new BezierLine(
new Point(39.500, 60.000, Point.CARTESIAN),
new Point(37.000, 60.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 3
new BezierCurve(
new Point(37.000, 60.000, Point.CARTESIAN),
new Point(16.000, 12.000, Point.CARTESIAN),
new Point(80.000, 54.000, Point.CARTESIAN),
new Point(58.000, 23.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 4
new BezierLine(
new Point(58.000, 23.500, Point.CARTESIAN),
new Point(14.000, 23.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 5
new BezierLine(
new Point(14.000, 23.500, Point.CARTESIAN),
new Point(58.000, 23.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 6
new BezierCurve(
new Point(58.000, 23.500, Point.CARTESIAN),
new Point(64.000, 6.000, Point.CARTESIAN),
new Point(14.000, 12.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 7
new BezierCurve(
new Point(14.000, 12.000, Point.CARTESIAN),
new Point(60.000, 14.000, Point.CARTESIAN),
new Point(60.000, 7.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 8
new BezierLine(
new Point(60.000, 7.500, Point.CARTESIAN),
new Point(14.000, 7.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 9
new BezierCurve(
new Point(14.000, 7.500, Point.CARTESIAN),
new Point(34.000, 14.250, Point.CARTESIAN),
new Point(19.000, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 10
new BezierCurve(
new Point(19.000, 24.000, Point.CARTESIAN),
new Point(39.500, 24.000, Point.CARTESIAN),
new Point(19.000, 64.000, Point.CARTESIAN),
new Point(39.500, 64.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 11
new BezierLine(
new Point(39.500, 64.000, Point.CARTESIAN),
new Point(37.000, 64.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 12
new BezierCurve(
new Point(37.000, 64.000, Point.CARTESIAN),
new Point(19.000, 64.000, Point.CARTESIAN),
new Point(37.000, 24.000, Point.CARTESIAN),
new Point(19.000, 24.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 13
new BezierCurve(
new Point(19.000, 24.000, Point.CARTESIAN),
new Point(39.500, 24.000, Point.CARTESIAN),
new Point(19.000, 68.000, Point.CARTESIAN),
new Point(39.500, 68.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 14
new BezierLine(
new Point(39.500, 68.000, Point.CARTESIAN),
new Point(37.000, 68.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}