From 7d83b9c254400b728ca68fa601354229bcf2b719 Mon Sep 17 00:00:00 2001 From: Carlos Rivas Date: Thu, 31 Oct 2024 15:37:09 -0700 Subject: [PATCH] Add sample cometbot package --- .../ftc/teamcode/cometbots/AsherPathV1.java | 135 ++++++++++ .../ftc/teamcode/cometbots/AutoExample.java | 79 ++++++ .../teamcode/cometbots/AutoExampleFour.java | 106 ++++++++ .../cometbots/AutoExampleSeason2025V1.java | 142 ++++++++++ .../teamcode/cometbots/AutoExampleThree.java | 89 +++++++ .../teamcode/cometbots/AutoExampleTwo.java | 80 ++++++ .../cometbots/BasicOmniOpMode_Linear.java | 197 ++++++++++++++ .../teamcode/cometbots/BlueBasketAuto.java | 161 ++++++++++++ .../ftc/teamcode/cometbots/BluebAutoV1.java | 246 ++++++++++++++++++ .../ftc/teamcode/cometbots/BluenbAutov1.java | 4 + .../cometbots/SensorIMUOrthogonal.java | 172 ++++++++++++ 11 files changed, 1411 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AsherPathV1.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExample.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleFour.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleSeason2025V1.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleThree.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleTwo.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BasicOmniOpMode_Linear.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueBasketAuto.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluebAutoV1.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AsherPathV1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AsherPathV1.java new file mode 100644 index 0000000..060548e --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AsherPathV1.java @@ -0,0 +1,135 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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 = "AsherPathV1", group = "Autonomous Pathing Tuning") +public class AsherPathV1 extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(10.0, 40, 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(9.757, 84.983, Point.CARTESIAN), + new Point(33.000, 105.000, Point.CARTESIAN), + new Point(80.000, 118.000, Point.CARTESIAN), + new Point(55.000, 120.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 2 + new BezierCurve( + new Point(55.000, 120.000, Point.CARTESIAN), + new Point(22.000, 106.000, Point.CARTESIAN), + new Point(11.000, 131.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 3 + new BezierCurve( + new Point(11.000, 131.000, Point.CARTESIAN), + new Point(75.000, 95.000, Point.CARTESIAN), + new Point(112.000, 132.000, Point.CARTESIAN), + new Point(61.000, 131.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 4 + new BezierLine( + new Point(61.000, 131.000, Point.CARTESIAN), + new Point(11.000, 131.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 5 + new BezierCurve( + new Point(11.000, 131.000, Point.CARTESIAN), + new Point(100.000, 118.000, Point.CARTESIAN), + new Point(103.000, 135.000, Point.CARTESIAN), + new Point(61.000, 135.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 6 + new BezierLine( + new Point(61.000, 135.000, Point.CARTESIAN), + new Point(11.000, 131.000, Point.CARTESIAN) + ) + ) + .addPath( + // Line 7 + new BezierCurve( + new Point(11.000, 131.000, Point.CARTESIAN), + new Point(113.000, 95.000, Point.CARTESIAN), + new Point(67.000, 95.000, 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/cometbots/AutoExample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExample.java new file mode 100644 index 0000000..a944187 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExample.java @@ -0,0 +1,79 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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.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 = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning") +public class AutoExample extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(0.0, 20.0, 0); + + /** + * 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(.6); + + follower.setStartingPose(startPose); + + path = follower.pathBuilder() + .addPath( + // Line 1 + new BezierLine( + new Point(0.000, 20.000, Point.CARTESIAN), + new Point(50.000, 20.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .build(); + + 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/cometbots/AutoExampleFour.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleFour.java new file mode 100644 index 0000000..64e96f1 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleFour.java @@ -0,0 +1,106 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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 = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning") +public class AutoExampleFour extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(12,60, 0); + + /** + * 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(.45); + + follower.setStartingPose(startPose); + + path = follower.pathBuilder() + .addPath( + // Line 1 + new BezierCurve( + new Point(12.000, 60.000, Point.CARTESIAN), + new Point(60.000, 60.000, Point.CARTESIAN), + new Point(60.000, 12.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90)) + .addPath( + // Line 2 + new BezierLine( + new Point(60.000, 12.000, Point.CARTESIAN), + new Point(40.000, 12.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90)) + .addPath( + // Line 3 + new BezierCurve( + new Point(40.000, 12.000, Point.CARTESIAN), + new Point(35.000, 35.000, Point.CARTESIAN), + new Point(12.000, 35.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90)) + .addPath( + // Line 4 + new BezierLine( + new Point(12.000, 35.000, Point.CARTESIAN), + new Point(12.000, 60.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(0)) + .build(); + + 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/cometbots/AutoExampleSeason2025V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleSeason2025V1.java new file mode 100644 index 0000000..632804e --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleSeason2025V1.java @@ -0,0 +1,142 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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.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 = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning") +public class AutoExampleSeason2025V1 extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(15.0, 35, 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(.375); + + follower.setStartingPose(startPose); + + path = follower.pathBuilder() + .addPath( + // Line 1 + new BezierLine( + new Point(15.000, 35.000, Point.CARTESIAN), + new Point(60.000, 35.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 2 + new BezierLine( + new Point(60.000, 35.000, Point.CARTESIAN), + new Point(60.000, 25.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 3 + new BezierLine( + new Point(60.000, 25.000, Point.CARTESIAN), + new Point(15.000, 25.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 4 + new BezierLine( + new Point(15.000, 25.000, Point.CARTESIAN), + new Point(60.000, 25.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 5 + new BezierLine( + new Point(60.000, 25.000, Point.CARTESIAN), + new Point(60.000, 15.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 6 + new BezierLine( + new Point(60.000, 15.000, Point.CARTESIAN), + new Point(15.000, 15.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 7 + new BezierLine( + new Point(15.000, 15.000, Point.CARTESIAN), + new Point(60.000, 15.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 8 + new BezierLine( + new Point(60.000, 15.000, Point.CARTESIAN), + new Point(60.000, 8.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 9 + new BezierLine( + new Point(60.000, 8.000, Point.CARTESIAN), + new Point(15.000, 8.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)).build(); + + 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/cometbots/AutoExampleThree.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleThree.java new file mode 100644 index 0000000..60fb0ec --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleThree.java @@ -0,0 +1,89 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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 = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning") +public class AutoExampleThree extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(10,45, 0); + + /** + * 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() + .addPath( + // Line 1 + new BezierCurve( + new Point(10.000, 45.000, Point.CARTESIAN), + new Point(45.000, 45.000, Point.CARTESIAN), + new Point(50.000, 20.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90)) + .addPath( + // Line 2 + new BezierLine( + new Point(50.000, 20.000, Point.CARTESIAN), + new Point(10.000, 20.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90)) + .build(); + + 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/cometbots/AutoExampleTwo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleTwo.java new file mode 100644 index 0000000..0784e81 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleTwo.java @@ -0,0 +1,80 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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.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 = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning") +public class AutoExampleTwo extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(10.0, 45, 0); + + /** + * 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() + .addPath( + // Line 1 + new BezierCurve( + new Point(10.000, 45.000, Point.CARTESIAN), + new Point(45.000, 45.000, Point.CARTESIAN), + new Point(50.000, 20.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90)) + .build(); + + 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/cometbots/BasicOmniOpMode_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BasicOmniOpMode_Linear.java new file mode 100644 index 0000000..c726774 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BasicOmniOpMode_Linear.java @@ -0,0 +1,197 @@ +/* Copyright (c) 2021 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.cometbots; + +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER; +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR; +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR; +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR; +import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR; +import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER; +import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER; +import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION; + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder; + +/* + * This file contains an example of a Linear "OpMode". + * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match. + * The names of OpModes appear on the menu of the FTC Driver Station. + * When a selection is made from the menu, the corresponding OpMode is executed. + * + * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot. + * This code will work with either a Mecanum-Drive or an X-Drive train. + * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html + * Note that a Mecanum drive must display an X roller-pattern when viewed from above. + * + * Also note that it is critical to set the correct rotation direction for each motor. See details below. + * + * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously. + * Each motion axis is controlled by one Joystick axis. + * + * 1) Axial: Driving forward and backward Left-joystick Forward/Backward + * 2) Lateral: Strafing right and left Left-joystick Right and Left + * 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left + * + * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward. + * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip + * the direction of all 4 motors (see code below). + * + * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list + */ + +@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode") +public class BasicOmniOpMode_Linear extends LinearOpMode { + + // Declare OpMode members for each of the 4 motors. + private final ElapsedTime runtime = new ElapsedTime(); + + @Override + public void runOpMode() { + + // Initialize the hardware variables. Note that the strings used here must correspond + // to the names assigned during the robot configuration step on the DS or RC devices. + DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR); + DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR); + DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR); + DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR); + + + + // TODO: replace these with your encoder ports + Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER)); + Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER)); + Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER)); + + // TODO: reverse any encoders necessary + leftEncoder.setDirection(LEFT_ENCODER_DIRECTION); + rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION); + strafeEncoder.setDirection(BACK_ENCODER_DIRECTION); + + // ######################################################################################## + // !!! IMPORTANT Drive Information. Test your motor directions. !!!!! + // ######################################################################################## + // Most robots need the motors on one side to be reversed to drive forward. + // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft) + // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure + // that your motors are turning in the correct direction. So, start out with the reversals here, BUT + // when you first test your robot, push the left joystick forward and observe the direction the wheels turn. + // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward + // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward. + leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION); + leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION); + rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION); + rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION); + + // Wait for the game to start (driver presses START) + telemetry.addData("Status", "Initialized"); + telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition()); + telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition()); + telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition()); + telemetry.update(); + + waitForStart(); + runtime.reset(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + double max; + + // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate. + double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value + double lateral = gamepad1.left_stick_x; + double yaw = gamepad1.right_stick_x; + + // Combine the joystick requests for each axis-motion to determine each wheel's power. + // Set up a variable for each drive wheel to save the power level for telemetry. + double leftFrontPower = axial + lateral + yaw; + double rightFrontPower = axial - lateral - yaw; + double leftBackPower = axial - lateral + yaw; + double rightBackPower = axial + lateral - yaw; + + // Normalize the values so no wheel power exceeds 100% + // This ensures that the robot maintains the desired motion. + max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower)); + max = Math.max(max, Math.abs(leftBackPower)); + max = Math.max(max, Math.abs(rightBackPower)); + + if (max > 1.0) { + leftFrontPower /= max; + rightFrontPower /= max; + leftBackPower /= max; + rightBackPower /= max; + } + + // This is test code: + // + // Uncomment the following code to test your motor directions. + // Each button should make the corresponding motor run FORWARD. + // 1) First get all the motors to take to correct positions on the robot + // by adjusting your Robot Configuration if necessary. + // 2) Then make sure they run in the correct direction by modifying the + // the setDirection() calls above. + // Once the correct motors move in the correct direction re-comment this code. + + /* + leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad + leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad + rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad + rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad + */ + + // Send calculated power to wheels + leftFrontDrive.setPower(leftFrontPower); + rightFrontDrive.setPower(rightFrontPower); + leftBackDrive.setPower(leftBackPower); + rightBackDrive.setPower(rightBackPower); + + // Show the elapsed game time and wheel power. + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower); + telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower); + telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition()); + telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition()); + telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition()); + telemetry.update(); + } + }} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueBasketAuto.java new file mode 100644 index 0000000..c596660 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueBasketAuto.java @@ -0,0 +1,161 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +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 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 = "BlueBasketAuto", group = "Autonomous Pathing Tuning") +public class BlueBasketAuto extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(11.25, 95.75); + + /** + * 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(.45); + + follower.setStartingPose(startPose); + + path = follower.pathBuilder() + .addPath( + // Line 1 + new BezierLine( + new Point(11.250, 95.750, Point.CARTESIAN), + new Point(37.000, 108.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 2 + new BezierCurve( + new Point(37.000, 108.000, Point.CARTESIAN), + new Point(73.286, 111.536, Point.CARTESIAN), + new Point(67.821, 120.536, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 3 + new BezierLine( + new Point(67.821, 120.536, Point.CARTESIAN), + new Point(28.000, 121.500, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 4 + new BezierLine( + new Point(28.000, 121.500, Point.CARTESIAN), + new Point(18.000, 130.179, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 5 + new BezierCurve( + new Point(18.000, 130.179, Point.CARTESIAN), + new Point(59.000, 102.500, Point.CARTESIAN), + new Point(68.700, 130.500, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 6 + new BezierLine( + new Point(68.700, 130.500, Point.CARTESIAN), + new Point(18.000, 130.339, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 7 + new BezierCurve( + new Point(18.000, 130.339, Point.CARTESIAN), + new Point(49.018, 121.179, Point.CARTESIAN), + new Point(63.804, 135.321, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 8 + new BezierLine( + new Point(63.804, 135.321, Point.CARTESIAN), + new Point(53.036, 135.161, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 9 + new BezierLine( + new Point(53.036, 135.161, Point.CARTESIAN), + new Point(18.643, 135.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(0)) + .addPath( + // Line 10 + new BezierLine( + new Point(18.643, 135.000, Point.CARTESIAN), + new Point(72.300, 97.400, Point.CARTESIAN) + ) + ) + .addPath( + // Line 9 + new BezierLine( + new Point(18.643, 135.000, Point.CARTESIAN), + new Point(83.250, 95.464, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build(); + 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/cometbots/BluebAutoV1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluebAutoV1.java new file mode 100644 index 0000000..778c4c8 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluebAutoV1.java @@ -0,0 +1,246 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +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.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 = "BluebAutoV1", group = "Autonomous Pathing Tuning") +public class BluebAutoV1 extends OpMode { + private Telemetry telemetryA; + + private Follower follower; + + private PathChain path; + + private final Pose startPose = new Pose(7.5, 72, 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() + .addPath( + // Line 1 + new BezierLine( + new Point(7.5, 72, Point.CARTESIAN), + new Point(29.893, 38.250, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 2 + new BezierLine( + new Point(29.893, 38.250, Point.CARTESIAN), + new Point(65.250, 32.143, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 3 + new BezierLine( + new Point(65.250, 32.143, Point.CARTESIAN), + new Point(61.714, 24.429, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 4 + new BezierLine( + new Point(61.714, 24.429, Point.CARTESIAN), + new Point(13.821, 22.821, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 5 + new BezierLine( + new Point(13.821, 22.821, Point.CARTESIAN), + new Point(61.714, 24.429, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 6 + new BezierLine( + new Point(61.714, 24.429, Point.CARTESIAN), + new Point(60.750, 12.696, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 7 + new BezierLine( + new Point(60.750, 12.696, Point.CARTESIAN), + new Point(12.375, 13.179, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 8 + new BezierLine( + new Point(12.375, 13.179, Point.CARTESIAN), + new Point(60.750, 12.536, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 9 + new BezierLine( + new Point(60.750, 12.536, Point.CARTESIAN), + new Point(60.589, 9.321, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 10 + new BezierLine( + new Point(60.589, 9.321, Point.CARTESIAN), + new Point(12.536, 8.357, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 11 + new BezierLine( + new Point(12.536, 8.357, Point.CARTESIAN), + new Point(26.679, 8.679, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 12 + new BezierLine( + new Point(26.679, 8.679, Point.CARTESIAN), + new Point(22.821, 109.446, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 13 + new BezierLine( + new Point(22.821, 109.446, Point.CARTESIAN), + new Point(70.714, 109.446, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 14 + new BezierLine( + new Point(70.714, 109.446, Point.CARTESIAN), + new Point(71.036, 120.214, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 15 + new BezierLine( + new Point(71.036, 120.214, Point.CARTESIAN), + new Point(22.179, 120.214, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 16 + new BezierLine( + new Point(22.179, 120.214, Point.CARTESIAN), + new Point(11.089, 130.821, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 17 + new BezierLine( + new Point(11.089, 130.821, Point.CARTESIAN), + new Point(70.714, 112.018, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 18 + new BezierLine( + new Point(70.714, 112.018, Point.CARTESIAN), + new Point(70.714, 128.250, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 19 + new BezierLine( + new Point(70.714, 128.250, Point.CARTESIAN), + new Point(9.964, 130.018, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 20 + new BezierLine( + new Point(9.964, 130.018, Point.CARTESIAN), + new Point(70.554, 130.500, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 21 + new BezierLine( + new Point(70.554, 130.500, Point.CARTESIAN), + new Point(70.393, 135.000, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)) + .addPath( + // Line 22 + new BezierLine( + new Point(70.393, 135.000, Point.CARTESIAN), + new Point(13.821, 134.839, Point.CARTESIAN) + ) + ) + .setConstantHeadingInterpolation(Math.toRadians(90)).build(); + + 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/cometbots/BluenbAutov1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java new file mode 100644 index 0000000..039e835 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java @@ -0,0 +1,4 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +public class BluenbAutov1 { +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java new file mode 100644 index 0000000..6473172 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java @@ -0,0 +1,172 @@ +/* Copyright (c) 2022 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.cometbots; + +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER; +import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_LOGO_FACING_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_USB_FACING_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER; +import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER; +import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION; + +import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.IMU; + +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity; +import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; +import org.firstinspires.ftc.teamcode.PedroConstants; +import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder; + +/* + * This OpMode shows how to use the new universal IMU interface. This + * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured + * on the robot with the name "imu". + * + * The sample will display the current Yaw, Pitch and Roll of the robot.
+ * With the correct orientation parameters selected, pitch/roll/yaw should act as follows: + * Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X)
+ * Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y)
+ * Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z)
+ * + * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller) + * + * This specific sample assumes that the Hub is mounted on one of the three orthogonal planes + * (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments. + * + * Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at + * the alternative SensorIMUNonOrthogonal sample in this folder. + * + * This "Orthogonal" requirement means that: + * + * 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions: + * FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT. + * + * 2) The USB ports can only be pointing in one of the same six directions:
+ * FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT. + * + * So, To fully define how your Hub is mounted to the robot, you must simply specify:
+ * logoFacingDirection
+ * usbFacingDirection + * + * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list. + * + * Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode + * to use those parameters. + */ +@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor") +@Disabled // Comment this out to add to the OpMode list +public class SensorIMUOrthogonal extends LinearOpMode { + // The IMU sensor object + IMU imu; + private Encoder leftEncoder; + private Encoder rightEncoder; + private Encoder strafeEncoder; + + //---------------------------------------------------------------------------------------------- + // Main logic + //---------------------------------------------------------------------------------------------- + + @Override + public void runOpMode() throws InterruptedException { + + // Retrieve and initialize the IMU. + // This sample expects the IMU to be in a REV Hub and named "imu". + imu = hardwareMap.get(IMU.class, PedroConstants.IMU); + + // TODO: replace these with your encoder ports + leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER)); + rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER)); + strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER)); + + // TODO: reverse any encoders necessary + leftEncoder.setDirection(LEFT_ENCODER_DIRECTION); + rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION); + strafeEncoder.setDirection(BACK_ENCODER_DIRECTION); + + /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values. + * + * Two input parameters are required to fully specify the Orientation. + * The first parameter specifies the direction the printed logo on the Hub is pointing. + * The second parameter specifies the direction the USB connector on the Hub is pointing. + * All directions are relative to the robot, and left/right is as-viewed from behind the robot. + * + * If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the + * RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection. + */ + + /* The next two lines define Hub orientation. + * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD. + * + * To Do: EDIT these two lines to match YOUR mounting configuration. + */ + RevHubOrientationOnRobot.LogoFacingDirection logoDirection = IMU_LOGO_FACING_DIRECTION; + RevHubOrientationOnRobot.UsbFacingDirection usbDirection = IMU_USB_FACING_DIRECTION; + + RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection); + + // Now initialize the IMU with this mounting orientation + // Note: if you choose two conflicting directions, this initialization will cause a code exception. + imu.initialize(new IMU.Parameters(orientationOnRobot)); + + // Loop and update the dashboard + while (!isStopRequested()) { + + telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection); + + // Check to see if heading reset is requested + if (gamepad1.y) { + telemetry.addData("Yaw", "Resetting\n"); + imu.resetYaw(); + } else { + telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n"); + } + + // Retrieve Rotational Angles and Velocities + YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles(); + AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES); + + telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES)); + telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES)); + telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES)); + telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate); + telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate); + telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate); + telemetry.update(); + } + } +}