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

Aditya's sample code - validated to work (2 specimen score out of 3)

Browse Source
This commit is contained in:
robotics1
2024-10-29 15:46:50 -07:00
parent 173f934a22
commit c207070b1c
1 changed files with 145 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

145
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java Normal file
View File

@ -0,0 +1,145 @@
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 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 BlueBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
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);
follower.setMaxPower(.375);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(11.250, 95.750, Point.CARTESIAN),
new Point(37.000, 108.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(37.000, 108.000, Point.CARTESIAN),
new Point(73.286, 111.536, Point.CARTESIAN),
new Point(67.821, 120.536, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierLine(
new Point(67.821, 120.536, Point.CARTESIAN),
new Point(28.000, 121.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierLine(
new Point(28.000, 121.500, Point.CARTESIAN),
new Point(15.500, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierCurve(
new Point(15.500, 130.500, Point.CARTESIAN),
new Point(59.000, 102.500, Point.CARTESIAN),
new Point(68.700, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(68.700, 130.500, Point.CARTESIAN),
new Point(15.750, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierCurve(
new Point(15.750, 130.500, Point.CARTESIAN),
new Point(58.661, 90.643, Point.CARTESIAN),
new Point(68.786, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(68.786, 130.500, Point.CARTESIAN),
new Point(53.000, 135.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(53.000, 135.321, Point.CARTESIAN),
new Point(18.300, 135.161, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation().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);
}
}