More standardization

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;
 
-/**
+@Autonomous(name = "Blue Basket Auto", group = "Competition")
- * 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 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();

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")
+@TeleOp(name = "CometBot Auto", group = "Development")
-public class DevTeleop extends OpMode {
+public class CometBotDevAuto extends OpMode {
 
     public CometBotAutoDevelopment runMode;
 

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 {

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 {
 

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;

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;
 

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 {
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/SensorIMUOrthogonal.java

@@ -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.<br>
- * 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) <br>
- *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
- *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
- *
- * 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:<br>
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
- *    logoFacingDirection<br>
- *    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();
-        }
-    }
-}