SCDS/FTCRoadRunnerRobotics
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Fine tuning to autonomous prior to switching to new robot

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This commit is contained in:
robotics1
2025-01-20 09:00:55 -08:00
parent 653c81ca7e
commit f9b00bd558
4 changed files with 45 additions and 24 deletions
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47
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ComeBotDriveDevV2.java
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@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode; package org.firstinspires.ftc.teamcode;
import static com.qualcomm.hardware.lynx.commands.core.LynxSetMotorPIDFControlLoopCoefficientsCommand.InternalMotorControlAlgorithm.Max;
import androidx.annotation.NonNull; import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket; import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
@ -103,7 +105,7 @@ public class ComeBotDriveDevV2 extends OpMode {
theArmThingAgain(); theArmThingAgain();
break; break;
case 10: case 10:
//line six //moveToParkPath6();
break; break;
case 11: case 11:
@ -148,7 +150,7 @@ public class ComeBotDriveDevV2 extends OpMode {
} }
private void doArmThing() { private void doArmThing() {
comp.highBucketDrop(); comp.highBucketDropAuto();
state = 2; state = 2;
} }
@ -157,7 +159,7 @@ public class ComeBotDriveDevV2 extends OpMode {
telemetry.addData("end?", follower.atParametricEnd()); telemetry.addData("end?", follower.atParametricEnd());
if (follower.atParametricEnd()){ if (follower.atParametricEnd()){
follower.breakFollowing(); follower.breakFollowing();
comp.highBucketDrop(); comp.highBucketDropAuto();
state = 6; state = 6;
} }
// follower.breakFollowing(); // follower.breakFollowing();
@ -165,7 +167,7 @@ public class ComeBotDriveDevV2 extends OpMode {
private void theArmThingAgain() { private void theArmThingAgain() {
follower.breakFollowing(); follower.breakFollowing();
comp.highBucketDrop(); comp.highBucketDropAuto();
state = 10; state = 10;
} }
@ -231,38 +233,55 @@ public class ComeBotDriveDevV2 extends OpMode {
} }
if (runtime != null) { if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds()); telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 12.0) { if (follower.atParametricEnd() || runtime.seconds() > 10.0) {
state = 5; state = 5;
followingPath = false; followingPath = false;
} }
} }
} }
private void thePickUp() { private void thePickUpAuto() {
Actions.runBlocking(new SequentialAction( Actions.runBlocking(new SequentialAction(
new SleepAction(.25), new SleepAction(.1),
comp.claw.openClaw(),
new SleepAction(.2),
comp.wrist.toPickupPosition(),
new SleepAction(.2),
comp.arm.toSubmarinePosition(), comp.arm.toSubmarinePosition(),
new SleepAction(.5), new SleepAction(.5),
comp.wrist.toPickupPosition(),
new SleepAction(.75),
comp.claw.closeClaw(), comp.claw.closeClaw(),
new SleepAction(.75), new SleepAction(.3),
comp.wrist.toFloorPosition(), comp.wrist.toFloorPosition(),
new SleepAction(0.5), new SleepAction(.2),
comp.arm.toParkPosition(), comp.arm.toParkPosition(),
new SleepAction(.25) new SleepAction(.2)
));
}
private void thePickUp() {
Actions.runBlocking(new SequentialAction(
new SleepAction(.5),
comp.wrist.toPickupPosition(),
new SleepAction(.5),
comp.arm.toSubmarinePosition(),
new SleepAction(.7),
comp.claw.closeClaw(),
new SleepAction(.7),
comp.wrist.toFloorPosition(),
new SleepAction(.5),
comp.arm.toParkPosition(),
new SleepAction(.5)
)); ));
} }
private void doPickUpThing() { private void doPickUpThing() {
follower.breakFollowing(); follower.breakFollowing();
thePickUp(); thePickUpAuto();
state = 4; state = 4;
} }
private void doPickUpThingAgain() { private void doPickUpThingAgain() {
follower.breakFollowing(); follower.breakFollowing();
thePickUp(); thePickUpAuto();
state = 8; state = 8;
} }

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -31,7 +31,7 @@ public class PedroConstants {
/* /*
Motor Max Power Motor Max Power
*/ */
public static final double MAX_POWER = .675; public static final double MAX_POWER = .8;
/* /*
IMU IMU

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
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@ -212,20 +212,20 @@ public class CometBotTeleopCompetition {
} }
public void highBucketDropAuto() { public void highBucketDropAuto() {
Actions.runBlocking(new SequentialAction( Actions.runBlocking(new SequentialAction(
new SleepAction(.5), new SleepAction(.1),
this.lift.toHighBucketPosition(), this.lift.toHighBucketPosition(),
new SleepAction(.5), new SleepAction(.25),
this.arm.toBucketPosition(), this.arm.toBucketPosition(),
new SleepAction(.5), new SleepAction(.25),
this.wrist.toBucketPosition(), this.wrist.toBucketPosition(),
new SleepAction(.5), new SleepAction(.25),
this.claw.openClaw(), this.claw.openClaw(),
new SleepAction(.5), new SleepAction(.25),
this.wrist.toFloorPosition(), this.wrist.toFloorPosition(),
new SleepAction(.5), new SleepAction(.25),
this.arm.toParkPosition(), this.arm.toParkPosition(),
this.lift.toZeroPosition(), this.lift.toZeroPosition(),
new SleepAction(.5) new SleepAction(.25)
)); ));
} }
/* /*

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftWristArmTest.java
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@ -115,11 +115,13 @@ public class LiftWristArmTest extends LinearOpMode {
} }
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) { if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
lift.setPosition(lift.getPosition() + 175); lift.setPosition(lift.getPosition() + 100);
} }
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) { if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
lift.setPosition(lift.getPosition() - 25); if (lift.getPosition() > 1000) {
lift.setPosition(lift.getPosition()-1000);
}
} }