diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java index 62ec1e6..af85af8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java @@ -1,11 +1,9 @@ package org.firstinspires.ftc.teamcode; -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 com.qualcomm.robotcore.eventloop.opmode.OpMode; import org.firstinspires.ftc.robotcore.external.Telemetry; import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; @@ -15,19 +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; -/** - * 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") +@Autonomous(name = "Blue Basket Auto", group = "Competition") public class BlueBasketAuto extends OpMode { private Telemetry telemetryA; @@ -37,10 +23,6 @@ public class BlueBasketAuto extends OpMode { 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); @@ -146,10 +128,6 @@ public class BlueBasketAuto extends OpMode { 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(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java similarity index 73% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java index a87465f..0f95a8a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java @@ -3,10 +3,10 @@ package org.firstinspires.ftc.teamcode; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import org.firstinspires.ftc.teamcode.runmodes.CometBotAutoDevelopment; +import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment; -@TeleOp(name = "Dev Teleop RR Actions", group = "Debug") -public class DevTeleop extends OpMode { +@TeleOp(name = "CometBot Auto", group = "Development") +public class CometBotDevAuto extends OpMode { public CometBotAutoDevelopment runMode; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java index 0f4c7fb..f37036c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java @@ -3,7 +3,7 @@ package org.firstinspires.ftc.teamcode; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import org.firstinspires.ftc.teamcode.runmodes.CometBotTeleopCompetition; +import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition; @TeleOp(name = "ComeBot Drive", group = "Competition") public class CometBotDrive extends OpMode { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoCompetition.java similarity index 98% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoCompetition.java index 73a35f6..44e1dc4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoCompetition.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoCompetition.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.runmodes; +package org.firstinspires.ftc.teamcode.cometbots; public class CometBotAutoCompetition { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java index 08b82ce..fb51f72 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotAutoDevelopment.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.runmodes; +package org.firstinspires.ftc.teamcode.cometbots; import com.acmerobotics.roadrunner.SequentialAction; import com.acmerobotics.roadrunner.SleepAction; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java index 6eb0d6c..0fc4337 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.runmodes; +package org.firstinspires.ftc.teamcode.cometbots; import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopDevelopment.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopDevelopment.java index ccbed58..42e8335 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopDevelopment.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopDevelopment.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.runmodes; +package org.firstinspires.ftc.teamcode.cometbots; public class CometBotTeleopDevelopment { 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 deleted file mode 100644 index 6473172..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java +++ /dev/null @@ -1,172 +0,0 @@ -/* 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(); - } - } -}