SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493

Browse Source
This commit is contained in:
robotics1
2024-11-14 16:23:46 -08:00
parent 2008c3cd88 dc71eb4317
commit ad0a8d3374
27 changed files with 326 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
TeamCode/src/main/java/nbRedAutoV1/Java.java
View File

@ -1,8 +0,0 @@
package nbRedAutoV1;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
public class Java {
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java Normal file
View File

@ -0,0 +1,24 @@
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", group = "Development")
public class CometBotDevAuto extends OpMode {
public CometBotAutoDevelopment runMode;
@Override
public void init() {
this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
}
@Override
public void loop() {
this.runMode.update();
telemetry.update();
}
}

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -13,9 +13,9 @@ public class PedroConstants {
// Robot motor configurations
public static final String FRONT_LEFT_MOTOR = "front-left";
public static final String BACK_LEFT_MOTOR = "back-left";
public static final String FRONT_RIGHT_MOTOR = "front-right";
public static final String BACK_RIGHT_MOTOR = "back-right";
public static final String BACK_LEFT_MOTOR = "back-left";
public static final String FRONT_RIGHT_MOTOR = "front-right";
public static final String BACK_RIGHT_MOTOR = "back-right";
// Robot motor direction
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
@ -23,6 +23,11 @@ public class PedroConstants {
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
/*
Motor Max Power
*/
public static final double MAX_POWER = .75;
// Robot IMU configuration
public static final String IMU = "imu";

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java
View File

@ -1,4 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots;
public class BluenbAutov1 {
}

142
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java Normal file
View File

@ -0,0 +1,142 @@
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.MotorsSubsystem;
public class CometBotAutoDevelopment {
/*
Subsystems
*/
private MotorsSubsystem motors;
/*
Controllers
*/
public Gamepad GP1;
public Gamepad GP2;
public Gamepad currentGP1;
public Gamepad previousGP1;
public Gamepad currentGP2;
public Gamepad previousGP2;
private Telemetry telemetry;
public FieldStates fieldStates;
private boolean centricity = false;
private Follower follower;
private HardwareMap hardwareMap;
public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry);
this.GP1 = gp1;
this.GP2 = gp2;
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.currentGP1 = new Gamepad();
this.currentGP2 = new Gamepad();
this.previousGP1 = new Gamepad();
this.previousGP2 = new Gamepad();
this.fieldStates = new FieldStates();
this.follower = new Follower(hardwareMap);
}
public class ZeroOutPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(0);
System.out.println("Running ZeroOutPower");
return follower.isBusy();
}
}
public class ReturnToMaxPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
System.out.println("Running ReturnToMaxPower");
return follower.isBusy();
}
}
public Action zeroOutPower() {
return new ZeroOutPower();
}
public Action returnToMaxPower() {
return new ReturnToMaxPower();
}
public void init() {
this.motors.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
public void update() {
this.previousGP1.copy(currentGP1);
this.currentGP1.copy(this.GP1);
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
this.toFixMotorBlockingIssueFirstMethod();
this.toFixMotorBlockingIssueSecondMethod();
this.changeCentricity();
follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
follower.update();
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
}
public void changeCentricity() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
this.centricity = !centricity;
this.follower.breakFollowing();
this.follower.startTeleopDrive();
}
}
public void toFixMotorBlockingIssueFirstMethod() {
if (this.currentGP1.cross && !this.previousGP1.cross) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.zeroOutPower(),
new SleepAction(3),
this.returnToMaxPower()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
public void toFixMotorBlockingIssueSecondMethod() {
if (this.currentGP1.circle && !this.previousGP1.circle) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
new SleepAction(3)
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AsherPathV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AsherPathV1.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExample.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExample.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleFour.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleFour.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleSeason2025V1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleSeason2025V1.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleThree.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleThree.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/AutoExampleTwo.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleTwo.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoTest.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BasicOmniOpMode_Linear.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BasicOmniOpMode_Linear.java
View File

@ -27,7 +27,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAuto.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueAuto.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueBasketAuto.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueBasketAuto.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.acmerobotics.dashboard.FtcDashboard;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluebAutoV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluebAutoV1.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluenbAutov1.java Normal file
View File

@ -0,0 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
public class BluenbAutov1 {
}

2
TeamCode/src/main/java/GeneratedPath.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/GeneratedPath.java
View File

@ -1,3 +1,5 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAuto.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/RedAuto.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorBNO055IMU.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMU.java
View File

@ -27,11 +27,10 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorBNO055IMUCalibration.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMUCalibration.java
View File

@ -27,10 +27,9 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.hardware.bosch.BNO055IMU;
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.util.ReadWriteFile;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorIMUOrthogonal.java
View File

@ -27,7 +27,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;

5
TeamCode/src/main/java/bBlueAutoV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bBlueAutoV1.java
View File

@ -1,15 +1,16 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "bBlueAutoV1", group = "V1")
@Autonomous(name = "org.firstinspires.ftc.teamcode.cometbots.projects.bBlueAutoV1", group = "V1")
public class bBlueAutoV1 extends OpMode {
public Telemetry telemetry;

2
TeamCode/src/main/java/nbRedAutoV1/bRedAutoV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bRedAutoV1.java
View File

@ -1,4 +1,4 @@
package nbRedAutoV1;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/states/FieldStates.java Normal file
View File

@ -0,0 +1,18 @@
package org.firstinspires.ftc.teamcode.states;
public class FieldStates {
public enum FieldLocation {
BUCKET, SUBMARINE, FLOATING, TRAVELING
}
private FieldLocation fieldLocation;
public FieldLocation getFieldLocation() {
return fieldLocation;
}
public void setFieldLocation(FieldLocation fieldLocation) {
this.fieldLocation = fieldLocation;
}
}

105
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java Normal file
View File

@ -0,0 +1,105 @@
package org.firstinspires.ftc.teamcode.subsystem;
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.MAX_POWER;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
public class MotorsSubsystem {
public HardwareMap hardwareMap;
public Telemetry telemetry;
public DcMotor frontLeftMotor;
public DcMotor backLeftMotor;
public DcMotor frontRightMotor;
public DcMotor backRightMotor;
public enum TravelState {
STOPPED, MOVING
}
public TravelState travelState;
public double power;
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = MAX_POWER;
}
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = power;
}
public void init() {
frontLeftMotor = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
backLeftMotor = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
frontLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.setState(TravelState.STOPPED);
}
public void setFrontLeftMotorPower(double power) {
frontLeftMotor.setPower(power);
}
public void setBackLeftMotorPower(double power) {
backLeftMotor.setPower(power);
}
public void setFrontRightMotorPower(double power) {
frontRightMotor.setPower(power);
}
public void setBackRightMotorPower(double power) {
backRightMotor.setPower(power);
}
public void setState(TravelState travelState) {
this.travelState = travelState;
}
public TravelState getState() {
return this.travelState;
}
public void setPower(DcMotor motor, double power) {
motor.setPower(power);
if (power < 0.05) {
this.setState(TravelState.MOVING);
} else {
this.setState(TravelState.STOPPED);
}
}
}

5
build.dependencies.gradle
View File

@ -16,6 +16,9 @@ dependencies {
implementation 'org.firstinspires.ftc:Vision:10.1.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
implementation "com.acmerobotics.roadrunner:core:1.0.0"
implementation "com.acmerobotics.roadrunner:actions:1.0.0"
implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
}