Merge remote-tracking branch 'origin/branch-swiss-cheese' into branch-swiss-cheese

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java

@@ -0,0 +1,115 @@
+package org.firstinspires.ftc.teamcode;
+/*
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.SleepAction;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition;
+import org.firstinspires.ftc.teamcode.configs.RobotConstants;
+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.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+import org.firstinspires.ftc.teamcode.subsystem.AutoPark;
+import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
+import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
+import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
+
+@Autonomous(name = "Auto Test Competition", group = "Dev")
+public class BlueBasketAuto extends OpMode {
+    private Follower follower;
+    private int state;
+
+    private HighBasketAutoPath1 path1;
+    private HighBasketAutoPath2 path2;
+    private AutoPark pathPark;
+    private SkyHookSubsystem hook;
+    private CometBotTeleopCompetition comp;
+    private ElapsedTime runtime;
+
+    private LiftActionsSubsystem liftActionsSubsystem;
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+        follower.setMaxPower(.75);
+        path1    = new HighBasketAutoPath1();
+        path2    = new HighBasketAutoPath2();
+        pathPark = new AutoPark();
+
+        comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
+        comp.initCloseClaw();
+        runtime = new ElapsedTime();
+        hook = new SkyHookSubsystem(hardwareMap);
+        state = 0;
+
+    }
+
+
+    @Override
+    public void loop() {
+        switch(state) {
+            case 0:
+                telemetry.addData("case0", "case0");
+
+                path1.moveToPath1(follower);
+                state = 1;
+                runtime.reset();
+            case 1:
+                if (runtime.seconds() > 5) {
+                    telemetry.addData("case1", "case1");
+
+                    new SleepAction(.5);
+                    comp.highBucketDropAuto();
+
+                    state = 2;
+                }
+            case 2:
+                if (runtime.seconds() > 15) {
+                    telemetry.addData("case2", "case2");
+
+                   // new SleepAsction(.5);
+                    //path2.moveToPath1(follower);
+
+                    //For next time, add encoder control to skyhook and extend here
+                    //comp.moveSkyHook();
+
+                    //pathPark.moveToPark(follower);
+
+                    state = 3;
+                }
+            case 3:
+                if (runtime.seconds() > 15) {
+                    telemetry.addData("case3", "case3");
+                    hook.toLevel1Position();
+
+
+                    state = 4;
+                }
+            case 4:
+                if (runtime.seconds() > 15) {
+                    telemetry.addData("case3", "case3");
+                    hook.toLevel1Position();
+
+
+                    state = 4;
+                }
+                //System.out.println("default");
+                //telemetry.addData("default", "default");
+                //telemetry.update();
+        }
+        telemetry.update();
+        follower.update();
+        //follower.telemetryDebug(telemetry);
+    }
+}
+*/

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java

@@ -13,7 +13,7 @@ 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")
+@Autonomous(name = "Specimen Test", group = "Competition")
 public class PreLoadedBlueBasketAuto extends OpMode {
     private Telemetry telemetryA;
 
@@ -21,7 +21,7 @@ public class PreLoadedBlueBasketAuto extends OpMode {
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(7.875, 89.357);
+    private final Pose startPose = new Pose(8, 55);
 
     @Override
     public void init() {
@@ -35,79 +35,11 @@ public class PreLoadedBlueBasketAuto extends OpMode {
                 .addPath(
                         // Line 1
                         new BezierLine(
-                                new Point(8.036, 89.196, Point.CARTESIAN),
+                                new Point(8, 55, Point.CARTESIAN),
-                                new Point(10.125, 126.804, Point.CARTESIAN)
+                                new Point(24, 21, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-180)).build();
-                .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());