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Merge remote-tracking branch 'origin/branch-rc-chassis-14493-subsystem' into branch-rc-chassis-14493-subsystem

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# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
This commit is contained in:
carlos
2024-11-05 17:21:31 -08:00
parent 2c1f0d6c57 a55d1902d2
commit 7a42724b44
4 changed files with 241 additions and 1 deletions
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93
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherOrientBlue.java Normal file
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@ -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);
}
}

133
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathBlueV1.java Normal file
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@ -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);
}
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -14,6 +14,7 @@ public class PedroConstants {
// Robot motor configurations // 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 FRONT_LEFT_MOTOR = "Drive front lt";
public static final String BACK_LEFT_MOTOR = "Drive back lt"; public static final String BACK_LEFT_MOTOR = "Drive back lt";
public static final String FRONT_RIGHT_MOTOR = "Drive front rt"; public static final String FRONT_RIGHT_MOTOR = "Drive front rt";

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java
View File

@ -18,7 +18,6 @@ import org.firstinspires.ftc.robotcore.external.Telemetry;
public class MotorsSubsystem { public class MotorsSubsystem {
public HardwareMap hardwareMap; public HardwareMap hardwareMap;
public Telemetry telemetry; public Telemetry telemetry;
public DcMotor frontLeftMotor; public DcMotor frontLeftMotor;
@ -26,6 +25,12 @@ public class MotorsSubsystem {
public DcMotor frontRightMotor; public DcMotor frontRightMotor;
public DcMotor backRightMotor; public DcMotor backRightMotor;
public enum TravelState {
PARKED, BUCKET, SUBMARINE
}
public TravelState travelState;
public double power; public double power;
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) { public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
@ -114,4 +119,12 @@ public class MotorsSubsystem {
this.telemetry.update(); this.telemetry.update();
} }
public void setState(TravelState travelState) {
this.travelState = travelState;
}
public TravelState getState() {
return this.travelState;
}
} }