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In-flight untested red-side code

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robotics1
2024-10-31 15:20:56 -07:00
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commit a793efd2a0
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBasketAuto.java Normal file
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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 = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
public class RedBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(
135.6
, 48.05);
/**
* 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(136.286, 48.536, Point.CARTESIAN),
new Point(102.375, 32.946, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 2
new BezierLine(
new Point(102.375, 32.946, Point.CARTESIAN),
new Point(80.679, 31.982, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 3
new BezierLine(
new Point(80.679, 31.982, Point.CARTESIAN),
new Point(80.679, 23.304, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 4
new BezierLine(
new Point(80.679, 23.304, Point.CARTESIAN),
new Point(131.143, 21.536, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 5
new BezierLine(
new Point(131.143, 21.536, Point.CARTESIAN),
new Point(81.000, 23.304, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 6
new BezierLine(
new Point(81.000, 23.304, Point.CARTESIAN),
new Point(81.161, 13.179, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 7
new BezierLine(
new Point(81.161, 13.179, Point.CARTESIAN),
new Point(124.554, 13.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 8
new BezierLine(
new Point(124.554, 13.018, Point.CARTESIAN),
new Point(81.000, 13.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 9
new BezierLine(
new Point(81.000, 13.018, Point.CARTESIAN),
new Point(80.839, 8.800, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 10
new BezierLine(
new Point(80.839, 8.800, Point.CARTESIAN),
new Point(120.054, 8.518, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 11
new BezierCurve(
new Point(120.054, 8.518, Point.CARTESIAN),
new Point(49.821, 27.643, Point.CARTESIAN),
new Point(60.429, 48.214, 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);
}
}