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

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robotics1
2025-01-30 15:38:52 -08:00
parent 78195ed0f6 884e232b2b
commit 7dda91af9c
9 changed files with 140 additions and 115 deletions
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24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java
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@ -1,24 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment;
@TeleOp(name = "CometBot Auto v2", group = "Development")
public class CometBotDevAuto extends OpMode {
public CometBotAutoDevelopment runMode;
@Override
public void init() {
runMode = new CometBotAutoDevelopment(hardwareMap, gamepad1, gamepad2);
runMode.init();
}
@Override
public void loop() {
runMode.update();
telemetry.update();
}
}

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotTeleOpCompetition.java Normal file
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@ -0,0 +1,27 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleOpDevelopment;
@TeleOp(name = "CometBot Drive V2.137", group = "Competition")
public class CometBotTeleOpCompetition extends OpMode {
public CometBotTeleOpDevelopment runMode;
@Override
public void init() {
runMode = new CometBotTeleOpDevelopment(hardwareMap, gamepad1, gamepad2);
runMode.init();
}
@Override
public void loop() {
runMode.update();
telemetry.update();
}
public void stop(){
}
}

115
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java
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@ -2,27 +2,17 @@ package org.firstinspires.ftc.teamcode.cometbots;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.states.FieldStates;
import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.DualMotorSliderSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.HangMotorSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
public class CometBotAutoDevelopment {
public class CometBotTeleOpDevelopment {
/*
Subsystems
@ -31,7 +21,7 @@ public class CometBotAutoDevelopment {
private ClawSubsystem claw;
private WristSubsystem wrist;
private ArmSubsystem arm;
private HangMotorSubsystem hang;
private HangMotorSubsystem skyhook;
/*
Controllers
*/
@ -45,12 +35,12 @@ public class CometBotAutoDevelopment {
private Follower follower;
public CometBotAutoDevelopment(HardwareMap hardwareMap, Gamepad gamepad1, Gamepad gamepad2) {
public CometBotTeleOpDevelopment(HardwareMap hardwareMap, Gamepad gamepad1, Gamepad gamepad2) {
dualSlides = new DualMotorSliderSubsystem(hardwareMap);
claw = new ClawSubsystem(hardwareMap);
arm = new ArmSubsystem(hardwareMap);
wrist = new WristSubsystem(hardwareMap);
hang = new HangMotorSubsystem(hardwareMap);
skyhook = new HangMotorSubsystem(hardwareMap);
this.gamepad1 = gamepad1;
this.gamepad2 = gamepad2;
@ -66,6 +56,7 @@ public class CometBotAutoDevelopment {
claw.init();
wrist.initTeleOp();
arm.initTeleOp();
skyhook.init();
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
@ -89,41 +80,14 @@ public class CometBotAutoDevelopment {
openClaw();
openThumb();
//hang
grabBlueberrySkyhook();
hangSkyhook();
robotDown();
robotUp();
stopHook();
hang();
follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
follower.update();
}
private void grabBlueberrySkyhook() {
if (currentGamepad1.x) {
// claw.grabBlueberry();
//wrist.grabBlueberrySkyhook();
//arm.grabBlueberrySkyhook();
}
/*if(arm.getState() == ArmSubsystem.ArmState.GRAB_BLUEBERRY_SKYHOOK)
claw.closeClaw();*/
}
private void hangSkyhook() {
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
dualSlides.toHangHeight();
//check wrist make go throught test files again
// wrist.hangBlueberrySkyhook();
// arm.hangBlueberrySkyhook();
// if (arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK) {
// try {
// Thread.sleep(2000);
// } catch (InterruptedException e) {
// throw new RuntimeException(e);
// }
// }
}
}
private void openClaw() {
if (currentGamepad2.right_bumper && !previousGamepad2.right_bumper) {
@ -175,27 +139,6 @@ public class CometBotAutoDevelopment {
}
}
private void robotUp() {
if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
dualSlides.toHangBelowFloor();
dualSlides.update();
hang.hangRobot();
}
}
private void robotDown() {
if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
hang.robotToFloor();
}
}
private void stopHook() {
if (gamepad1.left_bumper) {
hang.disableMotor();
}
}
private void dualSlidesToFloorPosition() {
if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
dualSlides.toFloorPosition();
@ -207,5 +150,49 @@ public class CometBotAutoDevelopment {
dualSlides.toLowBucketPosition();
}
}
private void hang(){
if (gamepad1.a) {
claw.grabBlueberry();
arm.setPosition(0.15);
arm.grabBlueberrySkyhook();
//claw Open small amount
wrist.grabBlueberrySkyhook();
//wrist grab in strange way
}
if(gamepad1.b) {
//confirm grab
claw.closeClaw();
}
if (gamepad1.x) {
//now slap on bar, first wrist, then arm, then claw then driver must drive away
dualSlides.toFixedPosition(500);
dualSlides.update();
}
if (gamepad1.y) {
arm.hangBlueberrySkyhook();
wrist.hangBlueberrySkyhook();
try {
Thread.sleep(500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
dualSlides.toFixedPosition(1800);
dualSlides.update();
}
if (gamepad1.right_bumper) {
claw.openClaw();
}
if (gamepad1.dpad_up && claw.getState() == ClawSubsystem.ClawState.OPEN) {
skyhook.hangRobot();
}
skyhook.setPower(0);
if (gamepad1.dpad_down) {
skyhook.disableMotor();
skyhook.setPower(1);
}
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotTeleopDriveV2.java
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@ -1,10 +1,12 @@
package org.firstinspires.ftc.teamcode.cometbots.paths;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@TeleOp(name = "ComeBot Teleop Drive V2", group = "Competition")
@Disabled
public class CometBotTeleopDriveV2 extends OpMode {
public CometBotTeleopCompetition runMode;

17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -4,20 +4,23 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class RobotConstants {
public final static double clawClose = 0.95;
public final static double clawClose = 1;
public final static double clawOpen = 0.05;
public final static double armFloor = 0.7;
public final static double armSubmarine = 0.55;
public final static double armReverseBucket = 0.08;
public final static double armPark = 0.33;
//value for grabbing the hook Specimen
public final static double grabBlueberry = 0.35;
public final static double armGrabBlueberrySkyhook = 0.1;
public final static double wristGrabBlueberrySkyhook = 0.15;
public final static double armHangBlueberrySkyhook = 0.23;
public final static double wristHangBlueberrySkyhook = 0.7;
public final static double grabBlueberry = 0.69;
public final static double armGrabBlueberrySkyhook = 0.05;
public final static double wristGrabBlueberrySkyhook = 0.1;
public final static double armHangBlueberrySkyhook = 0.18;
public final static double wristHangBlueberrySkyhook = 0;
public final static int slideHangBlueberrySkyhook = 500;
public final static int slideBelowFloor = -150;
public final static int slideSpecimanHang = 900;
public final static int slideSpecimanRelease = 200;
@ -38,7 +41,7 @@ public class RobotConstants {
public final static double wristSpeciemen = 0.1;
public final static int toBar = 500;
public final static int toBar = -7000;
public final static double wristtravel = 0.525;
public final static int toFloor = 0;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmSubsystem.java
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@ -27,7 +27,7 @@ public class ArmSubsystem {
}
public void grabBlueberrySkyhook(){
setState(ArmState.GRAB_BLUEBERRY_SKYHOOK);
arm.setPosition(armGrabBlueberrySkyhook+ 0.3);
arm.setPosition(armGrabBlueberrySkyhook);
}
public void hangBlueberrySkyhook(){
setState(ArmState.HANG_BLUEBERRY_SKYHOOK);

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java
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@ -142,10 +142,7 @@ public class DualMotorSliderSubsystem {
public void toFixedPosition(int value) {
setTargetPosition(value);
}
public void toHangHeight(){
setTargetPosition(slideHangBlueberrySkyhook);
}
public void toHangHeight(){setTargetPosition(slideHangBlueberrySkyhook);}
public void toHangBelowFloor(){
setTargetPosition(slideBelowFloor);

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HangMotorSubsystem.java
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@ -30,15 +30,17 @@ public class HangMotorSubsystem {
}
public void hangRobot(){
hang.setMode(DcMotor.RunMode.RUN_TO_POSITION);
hang.setTargetPosition(toBar);
while(hang.isBusy()){
hang.setPower(1);
}
}
public void robotToFloor(){
hang.setTargetPosition(toFloor);
}
public void disableMotor(){
hang.setPower(0);
hang.setMotorDisable();
}
public void setPower(double power){

57
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HookTest.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.subsystem;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
@ -8,8 +9,9 @@ import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.DualMotorSliderSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.HangMotorSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
@TeleOp(name = "Hook Test")
public class HookTest extends OpMode {
private HangMotorSubsystem skyhook;
private ArmSubsystem arm;
private WristSubsystem wrist;
@ -26,37 +28,66 @@ public class HookTest extends OpMode {
arm.initTeleOp();
wrist.initTeleOp();
slides.init();
claw.thumbUp();
}
@Override
public void loop() {
telemetry.addData("hook", skyhook.getCurrentPosition());
telemetry.addData("arm", arm.getState());
telemetry.addData("wrist", wrist.getState());
telemetry.addData("slides", slides.getCurrentPosition());
telemetry.update();
if(gamepad1.a){
slides.update();
if (gamepad1.a) {
claw.grabBlueberry();
arm.setPosition(0.15);
arm.grabBlueberrySkyhook();
telemetry.update();
//claw Open small amount
wrist.grabBlueberrySkyhook();
//wrist grab in strange way
telemetry.update();
}
if(gamepad1.b) {
//confirm grab
claw.closeClaw();
}
if (gamepad1.x) {
//now slap on bar, first wrist, then arm, then claw then driver must drive away
slides.toFixedPosition(500);
slides.update();
}
if (gamepad1.y) {
arm.hangBlueberrySkyhook();
wrist.hangBlueberrySkyhook();
try {
Thread.sleep(500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
//claw Open small amount
wrist.grabBlueberrySkyhook();
//wrist grab in strange way
telemetry.update();
slides.toFixedPosition(1800);
slides.update();
}
if(gamepad1.b){
//after confirmed grab, close claw
claw.closeClaw();
if (gamepad1.right_bumper) {
claw.openClaw();
}
if(gamepad1.x){
//now slap on bar, first wrist, then arm, then claw then driver must drive away
if (gamepad1.dpad_up && claw.getState() == ClawSubsystem.ClawState.OPEN) {
skyhook.hangRobot();
}
if(gamepad1.y){
//go up
skyhook.setPower(0);
if (gamepad1.dpad_down) {
skyhook.disableMotor();
skyhook.setPower(1);
}
}
}