SCDS/FTCRoadRunnerRobotics
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This commit is contained in:
carlos
2024-10-17 11:05:12 -07:00
parent 7bf8b0c357
commit c1076a832c
5 changed files with 123 additions and 7 deletions
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107
TeamCode/src/main/java/GeneratedPath.java Normal file
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@ -0,0 +1,107 @@
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 GeneratedPath {
public GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(28.573, 76.302, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(28.573, 76.302, Point.CARTESIAN),
new Point(36.203, 76.140, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(36.203, 76.140, Point.CARTESIAN),
new Point(35.067, 35.716, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(35.067, 35.716, Point.CARTESIAN),
new Point(73.705, 34.742, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(73.705, 34.742, Point.CARTESIAN),
new Point(73.705, 24.839, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(73.705, 24.839, Point.CARTESIAN),
new Point(7.630, 26.462, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(7.630, 26.462, Point.CARTESIAN),
new Point(64.126, 22.728, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(64.126, 22.728, Point.CARTESIAN),
new Point(63.964, 13.150, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(63.964, 13.150, Point.CARTESIAN),
new Point(12.338, 15.260, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(12.338, 15.260, Point.CARTESIAN),
new Point(63.802, 13.150, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 11
new BezierLine(
new Point(63.802, 13.150, Point.CARTESIAN),
new Point(63.639, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 12
new BezierLine(
new Point(63.639, 11.689, Point.CARTESIAN),
new Point(12.014, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}

8
TeamCode/src/main/java/nbRedAutoV1/Java.java Normal file
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@ -0,0 +1,8 @@
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 {
}

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -56,19 +56,19 @@ public class PedroConstants {
public static final double ROBOT_WEIGHT_IN_KG = 10.5;
// Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 72.0693;
public static final double ROBOT_SPEED_FORWARD = 79.0257;
// Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 24.1401;
public static final double ROBOT_SPEED_LATERAL = 12.3941;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;
public static final double FORWARD_ZERO_POWER_ACCEL = -50.7945;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409;
public static final double LATERAL_ZERO_POWER_ACCEL = -92.733;
// Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
public static final double ZERO_POWER_ACCEL_MULT = 4;
public static final double ZERO_POWER_ACCEL_MULT = 2.5;
/* Centripetal force correction - increase if robot is correcting into the path
- decrease if robot is correcting away from the path */

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md
View File

@ -71,7 +71,8 @@ measurements will be in centimeters.
of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
what works best for you is most important. Higher numbers will cause a faster brake, but increase
oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference,
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more
* sensitive than the others. For reference,
my P values were in the hundredths and thousandths place values, and my D values were in the hundred
thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
`useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
View File

@ -40,7 +40,7 @@ public class FollowerConstants {
// Translational PIDF coefficients (don't use integral)
public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
0.06,
0.1,
0,
0,
0);