diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherOrientBlue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherOrientBlue.java new file mode 100644 index 0000000..f933253 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherOrientBlue.java @@ -0,0 +1,93 @@ +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.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; + +/** + * 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 = "AsherOrientBlue", group = "Autonomous Pathing Tuning") +public class AsherOrientBlue extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(9.757, 84.983, 90); + + /** + * This initializes the Follower and creates the PathChain for the "circle". Additionally, this + * initializes the FTC Dashboard telemetry. + */ + @Override + public void init() { + follower = new Follower(hardwareMap); + + follower.setMaxPower(.4); + + follower.setStartingPose(startPose); + + path = follower.pathBuilder() + /* + * Only update this path + */ + .addPath( + // Line 1 + new BezierLine( + new Point(20.500, 7.800, Point.CARTESIAN), + new Point(20.500, 87.500, Point.CARTESIAN) + ) + ) + .addPath( + // Line 2 + new BezierLine( + new Point(20.500, 87.500, Point.CARTESIAN), + new Point(7.800, 87.500, Point.CARTESIAN) + ) + ) + + .setConstantHeadingInterpolation(Math.toRadians(90)).build(); + /* + * End of only update this path + */ + + follower.followPath(path); + + telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + telemetryA.update(); + } + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the FTC Dashboard. + */ + @Override + public void loop() { + follower.update(); + if (follower.atParametricEnd()) { + follower.followPath(path); + } + follower.telemetryDebug(telemetryA); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathBlueV1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathBlueV1.java new file mode 100644 index 0000000..18bddac --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathBlueV1.java @@ -0,0 +1,133 @@ +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.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; + +/** + * 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 = "AsherPathBlueV1", group = "Autonomous Pathing Tuning") +public class AsherPathBlueV1 extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(9.757, 84.983, 90); + + /** + * This initializes the Follower and creates the PathChain for the "circle". Additionally, this + * initializes the FTC Dashboard telemetry. + */ + @Override + public void init() { + follower = new Follower(hardwareMap); + + follower.setMaxPower(.4); + + follower.setStartingPose(startPose); + + path = follower.pathBuilder() + /* + * Only update this path + */ + .addPath( + // Line 1 + new BezierCurve( + new Point(7.800, 87.5, Point.CARTESIAN), + new Point(19.000, 116.000, Point.CARTESIAN), + new Point(93.000, 118.000, Point.CARTESIAN), + new Point(45.000, 115.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 2 + new BezierLine( + new Point(45.000, 115.000, Point.CARTESIAN), + new Point(14.000, 126.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 3 + new BezierCurve( + new Point(14.000, 126.000, Point.CARTESIAN), + new Point(43.000, 112.500, Point.CARTESIAN), + new Point(64.000, 92.000, Point.CARTESIAN), + new Point(77.000, 117.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 4 + new BezierLine( + new Point(77.000, 117.000, Point.CARTESIAN), + new Point(20.000, 135.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 5 + new BezierCurve( + new Point(20.000, 135.000, Point.CARTESIAN), + new Point(113.000, 95.000, Point.CARTESIAN), + new Point(69.000, 135.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 6 + new BezierLine( + new Point(69.000, 135.000, Point.CARTESIAN), + new Point(20.500, 135.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 7 + new BezierCurve( + new Point(20.500, 135.000, Point.CARTESIAN), + new Point(101.500, 95.500, Point.CARTESIAN), + new Point(72.500, 95.500, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)).build(); + /* + * End of only update this path + */ + + follower.followPath(path); + + telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + telemetryA.update(); + } + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the FTC Dashboard. + */ + @Override + public void loop() { + follower.update(); + if (follower.atParametricEnd()) { + follower.followPath(path); + } + follower.telemetryDebug(telemetryA); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java index 0f098df..9699cf6 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java @@ -14,6 +14,7 @@ public class PedroConstants { // Robot motor configurations + public static final String BRAIN_ROT = "Sikidi rizz 360 no teleop tf2 mama mia 2cool 4skool yasyasy yasyasyasyasyasyasyaysy ohio yes heh me is moar skeebeedee than u walked and got tripped on by your aunt my very educaded mother just served us nine what? just kydinfoiwfowefwofwioefoiejfeoiwjfomdsklfnslefknesfklnkfenfenkfeknfenkfeknfenkefnk"; public static final String FRONT_LEFT_MOTOR = "Drive front lt"; public static final String BACK_LEFT_MOTOR = "Drive back lt"; public static final String FRONT_RIGHT_MOTOR = "Drive front rt"; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java index 30fb764..e217312 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java @@ -18,7 +18,6 @@ import org.firstinspires.ftc.robotcore.external.Telemetry; public class MotorsSubsystem { public HardwareMap hardwareMap; - public Telemetry telemetry; public DcMotor frontLeftMotor; @@ -26,6 +25,12 @@ public class MotorsSubsystem { public DcMotor frontRightMotor; public DcMotor backRightMotor; + public enum TravelState { + PARKED, BUCKET, SUBMARINE + } + + public TravelState travelState; + public double power; public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) { @@ -114,4 +119,12 @@ public class MotorsSubsystem { this.telemetry.update(); } + public void setState(TravelState travelState) { + this.travelState = travelState; + } + + public TravelState getState() { + return this.travelState; + } + }