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compare: SCDS:c9ffd4f061e051643c682c311b652a982b801993
Branches Tags
SCDS:branch-swiss-cheese SCDS:branch-rc-chassis-14493-subsystem-actions SCDS:branch-silver-14493-v2 SCDS:branch-rc-chassis-14493-new-subsystem-actions SCDS:branch-silver-14493 SCDS:branch-rc-chassis-14493-subsystem SCDS:branch-rc-chassis-14493 SCDS:branch-bobito-14493 SCDS:branch-black-14493 SCDS:branch-pedro-led-light SCDS:branch-asher SCDS:branch-pedro-into-the-deep SCDS:branch-alex SCDS:branch-carlos SCDS:branch-into-the-deep SCDS:master

3 Commits
0ab402af0f ... c9ffd4f061

Author SHA1 Message Date
Carlos Rivas
c9ffd4f061 Added driver hub config naming 2024-12-17 21:35:16 -08:00
Carlos Rivas
021dfa7222 Added lift configurations 2024-12-17 21:34:49 -08:00
Carlos Rivas
233b177cf6 Removing more files to keep things light for this branch 2024-12-17 21:32:10 -08:00
6 changed files with 74 additions and 222 deletions
Expand all files Collapse all files

64
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java
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@ -1,64 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine2;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine3;
@Autonomous(name = "BlueNetAuto", group = "Dev")
public class NetAuto extends OpMode {
public Follower follower;
public AutoLine1 myFirstPath = new AutoLine1();
public AutoLine2 mySecondPath = new AutoLine2();
public int pathState = 0;
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(0.65);
myFirstPath.moveToAutoLine1(follower);
}
@Override
public void loop() {
follower.update();
switch(pathState) {
case 0:
if (!follower.isBusy()) {
pathState = 1;
mySecondPath.moveToAutoLine2(follower);
}
case 1:
if (!follower.isBusy()) {
System.out.println("Finished");
}
}
// switch(pathState) {
// case 0:
// if (!follower.isBusy()) {
// mySecondPath.moveToAutoLine2(follower);
// pathState = 1;
// }
// case 1:
// if (!follower.isBusy()) {
// pathState = 2;
// }
// case 2:
// // set path 3
// // as if busy, if not, set path 4 and so on.
// System.out.print("we're at the end");
//
// }
follower.telemetryDebug(telemetry);
}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -49,7 +49,8 @@ public class PedroConstants {
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD; public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
// Arm config // Arm config
public static final String SLIDE_MOTOR = "SlideMotor"; public static final String LIFT_SLIDE_LEFT_MOTOR = "lift-slide-left";
public static final String LIFT_SLIDE_RIGHT_MOTOR = "lift-slide-right";
public static final String Claw_Servo = "ClawServo"; public static final String Claw_Servo = "ClawServo";
public static final String Wrist_Servo = "WristServo"; public static final String Wrist_Servo = "WristServo";
public static final String Arm_Servo = "ArmServo"; public static final String Arm_Servo = "ArmServo";

44
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java
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@ -1,44 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
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.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine1 {
private PathChain pathChain;
private Pose autoLin1StartPose = new Pose(8,65);
public void moveToAutoLine1(Follower robot) {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(8.000, 65.000, Point.CARTESIAN),
new Point(30.000, 72.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0));
pathChain = builder.build();
robot.setStartingPose(autoLin1StartPose);
robot.followPath(pathChain);
}
}

40
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java
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@ -1,40 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
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.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine2 {
private PathChain pathChain;
public void moveToAutoLine2(Follower robot) {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 2
new BezierCurve(
new Point(36.000, 72.000, Point.CARTESIAN),
new Point(24.000, 24.000, Point.CARTESIAN),
new Point(72.000, 36.000, Point.CARTESIAN),
new Point(56.000, 24.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java
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@ -1,73 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
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.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine3 implements Action {
private Follower actionRobot;
private PathChain pathChain;
private Pose startPose = new Pose(56,24);
public AutoLine3(Follower robot) {
this.actionRobot = robot;
this.actionRobot.setStartingPose(startPose);
PathBuilder builder = new PathBuilder();
builder
/* .addPath(
// Line 1
new BezierLine(
new Point(8.000, 65.000, Point.CARTESIAN),
new Point(30.000, 72.000, Point.CARTESIAN)
// This is the origional new Point(36.000, 72.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(36.000, 72.000, Point.CARTESIAN),
new Point(24.000, 24.000, Point.CARTESIAN),
new Point(72.000, 36.000, Point.CARTESIAN),
new Point(56.000, 24.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180)) */
.addPath(
// Line 3
new BezierLine(
new Point(56.000, 24.000, Point.CARTESIAN),
new Point(18.000, 24.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
pathChain = builder.build();
this.actionRobot.followPath(this.pathChain);
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
this.actionRobot.update();
return this.actionRobot.isBusy();
}
}

72
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftMotorSubsystem.java Normal file
View File

@ -0,0 +1,72 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_RIGHT_MOTOR;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
@Config
@Autonomous(name = "Lift Motor Subsystem - PID Test")
public class LiftMotorSubsystem extends LinearOpMode {
private DcMotorEx liftSlideLeft;
private DcMotorEx liftSlideRight;
public static double kp = 0.0015, ki = 0, kd = 0;
private double lastError = 0;
private double integralSum = 0;
public static int targetPosition = 0;
private final FtcDashboard dashboard = FtcDashboard.getInstance();
private ElapsedTime timer = new ElapsedTime();
@Override
public void runOpMode() throws InterruptedException {
TelemetryPacket packet = new TelemetryPacket();
dashboard.setTelemetryTransmissionInterval(25);
liftSlideLeft = hardwareMap.get(DcMotorEx.class, LIFT_SLIDE_LEFT_MOTOR);
liftSlideRight = hardwareMap.get(DcMotorEx.class, LIFT_SLIDE_RIGHT_MOTOR);
liftSlideLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
liftSlideLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
liftSlideLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
liftSlideRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
liftSlideRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
liftSlideRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
waitForStart();
while(opModeIsActive()) {
double power = calculatePower(targetPosition, liftSlideLeft.getCurrentPosition());
packet.put("Power", power);
packet.put("Position", liftSlideLeft.getCurrentPosition());
packet.put("Error", lastError);
packet.put("Seconds", timer.seconds());
liftSlideLeft.setPower(power);
liftSlideRight.setPower(power);
dashboard.sendTelemetryPacket(packet);
}
}
private double calculatePower(int targetPosition, int currentPosition) {
// reference is targetPosition, state is currentPosition
double error = targetPosition - currentPosition;
integralSum += error * timer.seconds();
double derivative = (error - lastError) / timer.seconds();
lastError = error;
timer.reset();
return (error * kp) + (derivative * kd) + (integralSum * ki);
}
}