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robotics1
2024-12-11 10:41:04 -08:00
parent 9320f0b286
commit fe39ffda11
7 changed files with 342 additions and 0 deletions
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56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java Normal file
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@ -0,0 +1,56 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop1 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(8.000, 89.000, Point.CARTESIAN),
new Point(24.000, 96.000, Point.CARTESIAN),
new Point(16.000, 128.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

57
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java Normal file
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@ -0,0 +1,57 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop2 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 2
new BezierCurve(
new Point(16.000, 128.000, Point.CARTESIAN),
new Point(16.000, 120.000, Point.CARTESIAN),
new Point(32.000, 123.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

57
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop3.java Normal file
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@ -0,0 +1,57 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop3 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0))
.addPath(
// Line 3
new BezierCurve(
new Point(32.000, 123.000, Point.CARTESIAN),
new Point(16.000, 120.000, Point.CARTESIAN),
new Point(16.000, 128.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

57
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop4.java Normal file
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@ -0,0 +1,57 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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;
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;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop4 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0))
.addPath(
// Line 4
new BezierLine(
new Point(16.000, 128.000, Point.CARTESIAN),
new Point(32.000, 133.500, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

58
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop5.java Normal file
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@ -0,0 +1,58 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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;
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;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop5 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(32.000, 133.500, Point.CARTESIAN),
new Point(16.000, 128.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop6.java Normal file
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@ -0,0 +1,56 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
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;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test", group = "Dev")
public class BlueBasketAutoWithDrop6 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 65);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 6
new BezierCurve(
new Point(16.000, 128.000, Point.CARTESIAN),
new Point(85.000, 132.750, Point.CARTESIAN),
new Point(84.000, 97.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation.build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/pathGeneration/PathBuilder.java
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@ -14,6 +14,7 @@ import java.util.ArrayList;
* @version 1.0, 3/11/2024
*/
public class PathBuilder {
public PathBuilder setTangentHeadingInterpolation;
private ArrayList<Path> paths = new ArrayList<>();
private ArrayList<PathCallback> callbacks = new ArrayList<>();