23 Commits

Author SHA1 Message Date
aa496b8237 Ollie's work committed 2024-12-08 12:48:30 -08:00
66f3339e26 Working Pre loaded auto! Can score 11 points consistently! 2024-11-14 17:10:46 -08:00
ad0a8d3374 Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493 2024-11-14 16:23:46 -08:00
dc71eb4317 Feature where driver can override centricity (robot vs field). 2024-11-13 15:09:59 -08:00
94144780b8 Tentative fix for robot/runBlocking problem as per issue #2 2024-11-13 09:13:24 -08:00
a362d2e004 Massive upgrade and shift of files 2024-11-12 23:16:23 -08:00
2008c3cd88 Working somehitng i don't know 2024-11-12 16:55:35 -08:00
c5be3cd932 Silver Branch Code 2024-11-03 09:13:37 -08:00
7d83b9c254 Add sample cometbot package 2024-10-31 15:37:09 -07:00
5f50d053c5 Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493
# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
2024-10-21 21:57:45 -07:00
0cfb57c643 Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493 2024-10-17 11:07:25 -07:00
50db1f9175 Add new files (2nd try) 2024-10-17 11:07:10 -07:00
552bb3e25a Add new files 2024-10-17 11:06:13 -07:00
c1076a832c Rebased changes 2024-10-17 11:05:12 -07:00
7bf8b0c357 Add files 2024-10-17 11:04:02 -07:00
adfab3e8af Add sample code 2024-10-15 15:44:49 -07:00
0f7ea50907 Updated constants for silver and it, somehow, works 2024-10-15 15:43:53 -07:00
239f168540 Retuned to success, PIDF (P = .05) and translationalPIDFeedForward is back to 0 2024-10-15 13:59:02 -07:00
f2bcdcc55a Add constants 2024-10-01 17:05:54 -07:00
e08aac773d Static entries for arm servos 2024-10-01 15:45:02 -07:00
3950a83ac1 Added encoder naming and usage 2024-10-01 10:19:40 -07:00
552ff3f339 Updated to 10.1 2024-09-30 22:37:16 -07:00
4eef485dab Re-wired and reconfigured 2024-09-30 20:39:24 -07:00
41 changed files with 2988 additions and 339 deletions

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@ -1,27 +0,0 @@
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
public class ServoPractice extends OpMode {
//servo
Servo test_servo;
public void init(){
//hw map
test_servo = hardwareMap.get(Servo.class, "test_servo");
}
public void loop(){
//make it move
test_servo.setPosition(0);
try {
Thread.sleep(500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
test_servo.setPosition(1);
}
public void stop(){
}
}

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@ -0,0 +1,24 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment;
@TeleOp(name = "CometBot Auto", group = "Development")
public class CometBotDevAuto extends OpMode {
public CometBotAutoDevelopment runMode;
@Override
public void init() {
this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
}
@Override
public void loop() {
this.runMode.update();
telemetry.update();
}
}

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@ -0,0 +1,64 @@
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);
}
}

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@ -10,14 +10,12 @@ public class PedroConstants {
/*
Robot parameters
*/
// Turn localizer - -0.003
// Robot motor configurations
public static final String FRONT_LEFT_MOTOR = "Drive front lt";
public static final String BACK_LEFT_MOTOR = "Drive back lt";
public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
public static final String BACK_RIGHT_MOTOR = "Drive back rt";
public static final String FRONT_LEFT_MOTOR = "front-left";
public static final String BACK_LEFT_MOTOR = "back-left";
public static final String FRONT_RIGHT_MOTOR = "front-right";
public static final String BACK_RIGHT_MOTOR = "back-right";
// Robot motor direction
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
@ -25,44 +23,55 @@ public class PedroConstants {
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
/*
Motor Max Power
*/
public static final double MAX_POWER = .75;
// Robot IMU configuration
public static final String IMU = "imu";
// Robot IMU placement
public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
= RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
= RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
= RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
= RevHubOrientationOnRobot.UsbFacingDirection.UP;
// Robot encoders
public static final String LEFT_ENCODER = "encoder left";
public static final String RIGHT_ENCODER = "encoder right";
public static final String BACK_ENCODER = "encoder back";
// NOTE: Encoders are plugged into the same ports as motors hence the weird names
public static final String RIGHT_ENCODER = "back-right"; //0
public static final String BACK_ENCODER = "front-right"; //1
public static final String LEFT_ENCODER = "front-left"; //2
// Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.REVERSE;
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
// Arm config
public static final String SLIDE_MOTOR = "SlideMotor";
public static final String Claw_Servo = "ClawServo";
public static final String Wrist_Servo = "WristServo";
public static final String Arm_Servo = "ArmServo";
/*
Pedro's parameters
*/
// -0.0708
// The weight of the robot in Kilograms
public static final double ROBOT_WEIGHT_IN_KG = 10.5;
public static final double ROBOT_WEIGHT_IN_KG = 9;
// Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 51.4598;
public static final double ROBOT_SPEED_FORWARD = 51.5;
// Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 28.7119;
public static final double ROBOT_SPEED_LATERAL = 28.7;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -57.805;
public static final double FORWARD_ZERO_POWER_ACCEL = -59.8;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -99.672;
public static final double LATERAL_ZERO_POWER_ACCEL = -99.7;
// 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 = 3.5;

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@ -0,0 +1,122 @@
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 = "Pre Loaded Blue Basket Auto", group = "Competition")
public class PreLoadedBlueBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(7.875, 89.357);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(8.036, 89.196, Point.CARTESIAN),
new Point(10.125, 126.804, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(10.125, 126.804, Point.CARTESIAN),
new Point(37.607, 90.000, Point.CARTESIAN),
new Point(62.357, 119.893, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierCurve(
new Point(62.357, 119.893, Point.CARTESIAN),
new Point(33.750, 112.500, Point.CARTESIAN),
new Point(15.107, 130.661, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierCurve(
new Point(15.107, 130.661, Point.CARTESIAN),
new Point(58.821, 103.018, Point.CARTESIAN),
new Point(59.625, 126.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(15.107, 130.339, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(15.107, 130.339, Point.CARTESIAN),
new Point(59.625, 126.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(57.857, 133.071, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(57.857, 133.071, Point.CARTESIAN),
new Point(18.964, 134.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierCurve(
new Point(18.964, 134.679, Point.CARTESIAN),
new Point(84.536, 131.786, Point.CARTESIAN),
new Point(80.036, 96.429, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

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@ -1,165 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcontroller.external.samples.UtilityOctoQuadConfigMenu;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@TeleOp(name = "ArmControl")
public class SlideArm extends OpMode {
DcMotor Slide;
Servo ClawServo;
Servo ArmServo;
Servo WristServo;
boolean xPressed;
boolean yPressed;
boolean bPressed;
double ticks = 753.2;
public void init(){
Slide = hardwareMap.get(DcMotor.class, "SlideMotor");
ArmServo = hardwareMap.get(Servo.class,"WristServo");
WristServo = hardwareMap.get(Servo.class, "ArmServo");
ClawServo = hardwareMap.get(Servo.class, "ClawServo");
xPressed = false;
yPressed = false;
bPressed = false;
}
double power = 0;
double position = 1;
public void loop() {
Slide.setPower(-gamepad2.left_stick_y);
Slide.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
if (gamepad2.left_bumper) {
ClawServo.setPosition(0);
} else if (gamepad2.right_bumper) {
ClawServo.setPosition(1);
}
/*if(gamepad2.dpad_down){
WristServo.setPosition(0.78);
ArmServo.setPosition(0.55);
}
else if (gamepad2.dpad_up){
WristServo.setPosition(0.4);
ArmServo.setPosition(0.2);
}*/
if (gamepad2.a) {
Slide.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
}
if (gamepad2.dpad_down) {
SlideArm.ServoSteps(WristServo, 0.78, 4, 8);
try {
Thread.sleep(50);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
SlideArm.ServoSteps(ArmServo, 0.55, 10, 5);
} else if (gamepad2.dpad_up) {
WristServo.setPosition(0.4);
ArmServo.setPosition(0.2);
}
telemetry.addData("Slide Ticks", Slide.getCurrentPosition());
telemetry.update();
//limit = 6600;
if (gamepad2.x) {
xPressed = true;
}
while (xPressed && Slide.getCurrentPosition() < 6300) {
Slide.setPower(0.6);
Slide.setTargetPosition(6300);
Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetry.addData("In While Loop:", Slide.getCurrentPosition());
telemetry.update();
}
if (xPressed && Slide.getCurrentPosition() >= 6300)
{
xPressed = false;
}
Slide.setPower(0);
if (gamepad2.y) {
yPressed = false;
}
while (yPressed && Slide.getCurrentPosition() < 3150) {
Slide.setPower(0.6);
Slide.setTargetPosition(3150);
Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetry.addData("In While Loop:", Slide.getCurrentPosition());
telemetry.update();
}
Slide.setPower(0);
if (yPressed && Slide.getCurrentPosition() >= 3150)
{
yPressed = false;
}
if (gamepad2.b) {
bPressed = !bPressed;
}
while (bPressed && Slide.getCurrentPosition() > 0) {
Slide.setPower(0.6);
Slide.setTargetPosition(0);
Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetry.addData("In While Loop:", Slide.getCurrentPosition());
telemetry.update();
}
Slide.setPower(0);
if (xPressed && Slide.getCurrentPosition() >= 0)
{
bPressed = false;
} }
/**
* This function takes 4 parameters and makes your servo move in multiple steps for precision
* @param servo the servo you want to move
* @param targetPosition the position you want to go to
* @param Steps how many steps you want to move before reaching targetPosition
* @param millis how much to sleep between steps
*/
public static void ServoSteps (Servo servo, double targetPosition, int Steps, long millis){
double startingPosition = servo.getPosition();
double howFarToMove = targetPosition-startingPosition;
double Increment = howFarToMove/Steps;
double currentPosition = startingPosition;
for(int i = 0; i < Steps; i ++) {
servo.setPosition(currentPosition + Increment);
currentPosition += Increment;
try {
Thread.sleep(millis);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
public void stop(){
}
}

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@ -0,0 +1,151 @@
package org.firstinspires.ftc.teamcode.cometbots;
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 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;
/**
* 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 = "BlueNonBasketAuto", group = "Autonomous Pathing Tuning")
public class BlueNonBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.929, 55.446, 0);
/**
* 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(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(10.929, 55.446, Point.CARTESIAN),
new Point(42.429, 46.446, Point.CARTESIAN),
new Point(36.321, 38.089, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierLine(
new Point(36.321, 38.089, Point.CARTESIAN),
new Point(59.786, 36.643, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierLine(
new Point(59.786, 36.643, Point.CARTESIAN),
new Point(59.304, 24.750, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierLine(
new Point(59.304, 24.750, Point.CARTESIAN),
new Point(13.982, 23.946, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(13.982, 23.946, Point.CARTESIAN),
new Point(59.464, 24.429, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(59.464, 24.429, Point.CARTESIAN),
new Point(58.982, 15.268, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierLine(
new Point(58.982, 15.268, Point.CARTESIAN),
new Point(13.821, 14.464, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(13.821, 14.464, Point.CARTESIAN),
new Point(58.661, 13.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(58.661, 13.500, Point.CARTESIAN),
new Point(58.339, 8.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierLine(
new Point(58.339, 8.679, Point.CARTESIAN),
new Point(14.625, 8.518, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0)).build();
follower.followPath(path, true);
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, true);
}
follower.telemetryDebug(telemetryA);
}
}

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@ -0,0 +1,142 @@
package org.firstinspires.ftc.teamcode.cometbots;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.states.FieldStates;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
public class CometBotAutoDevelopment {
/*
Subsystems
*/
private MotorsSubsystem motors;
/*
Controllers
*/
public Gamepad GP1;
public Gamepad GP2;
public Gamepad currentGP1;
public Gamepad previousGP1;
public Gamepad currentGP2;
public Gamepad previousGP2;
private Telemetry telemetry;
public FieldStates fieldStates;
private boolean centricity = false;
private Follower follower;
private HardwareMap hardwareMap;
public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry);
this.GP1 = gp1;
this.GP2 = gp2;
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.currentGP1 = new Gamepad();
this.currentGP2 = new Gamepad();
this.previousGP1 = new Gamepad();
this.previousGP2 = new Gamepad();
this.fieldStates = new FieldStates();
this.follower = new Follower(hardwareMap);
}
public class ZeroOutPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(0);
System.out.println("Running ZeroOutPower");
return follower.isBusy();
}
}
public class ReturnToMaxPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
System.out.println("Running ReturnToMaxPower");
return follower.isBusy();
}
}
public Action zeroOutPower() {
return new ZeroOutPower();
}
public Action returnToMaxPower() {
return new ReturnToMaxPower();
}
public void init() {
this.motors.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
public void update() {
this.previousGP1.copy(currentGP1);
this.currentGP1.copy(this.GP1);
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
this.toFixMotorBlockingIssueFirstMethod();
this.toFixMotorBlockingIssueSecondMethod();
this.changeCentricity();
follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
follower.update();
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
}
public void changeCentricity() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
this.centricity = !centricity;
this.follower.breakFollowing();
this.follower.startTeleopDrive();
}
}
public void toFixMotorBlockingIssueFirstMethod() {
if (this.currentGP1.cross && !this.previousGP1.cross) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.zeroOutPower(),
new SleepAction(3),
this.returnToMaxPower()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
public void toFixMotorBlockingIssueSecondMethod() {
if (this.currentGP1.circle && !this.previousGP1.circle) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
new SleepAction(3)
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
}

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@ -0,0 +1,135 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 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;
/**
* 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 = "AsherPathV1", group = "Autonomous Pathing Tuning")
public class AsherPathV1 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.0, 40, 90);
/**
* 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(.4);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
/*
* Only update this path
*/
.addPath(
// Line 1
new BezierCurve(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(33.000, 105.000, Point.CARTESIAN),
new Point(80.000, 118.000, Point.CARTESIAN),
new Point(55.000, 120.000, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierCurve(
new Point(55.000, 120.000, Point.CARTESIAN),
new Point(22.000, 106.000, Point.CARTESIAN),
new Point(11.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierCurve(
new Point(11.000, 131.000, Point.CARTESIAN),
new Point(75.000, 95.000, Point.CARTESIAN),
new Point(112.000, 132.000, Point.CARTESIAN),
new Point(61.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(61.000, 131.000, Point.CARTESIAN),
new Point(11.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 5
new BezierCurve(
new Point(11.000, 131.000, Point.CARTESIAN),
new Point(100.000, 118.000, Point.CARTESIAN),
new Point(103.000, 135.000, Point.CARTESIAN),
new Point(61.000, 135.000, Point.CARTESIAN)
)
)
.addPath(
// Line 6
new BezierLine(
new Point(61.000, 135.000, Point.CARTESIAN),
new Point(11.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 7
new BezierCurve(
new Point(11.000, 131.000, Point.CARTESIAN),
new Point(113.000, 95.000, Point.CARTESIAN),
new Point(67.000, 95.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
/*
* End of only update this path
*/
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);
}
}

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@ -0,0 +1,79 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 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.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 = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(0.0, 20.0, 0);
/**
* 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(.6);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(0.000, 20.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.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);
}
}

View File

@ -1,17 +1,10 @@
package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
@ -33,15 +26,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
@Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
public class AutoExampleFour extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(12.0, 11, 90);
private final Pose startPose = new Pose(12,60, 0);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -51,54 +44,45 @@ public class AutoExample extends OpMode {
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.6);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(12.804, 11.223, Point.CARTESIAN),
new Point(12.804, 42.362, Point.CARTESIAN)
new BezierCurve(
new Point(12.000, 60.000, Point.CARTESIAN),
new Point(60.000, 60.000, Point.CARTESIAN),
new Point(60.000, 12.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.addPath(
// Line 2
new BezierCurve(
new Point(12.804, 42.362, Point.CARTESIAN),
new Point(11.381, 57.379, Point.CARTESIAN),
new Point(31.614, 56.588, Point.CARTESIAN)
new BezierLine(
new Point(60.000, 12.000, Point.CARTESIAN),
new Point(40.000, 12.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.addPath(
// Line 3
new BezierLine(
new Point(31.614, 56.588, Point.CARTESIAN),
new Point(51.214, 56.746, Point.CARTESIAN)
new BezierCurve(
new Point(40.000, 12.000, Point.CARTESIAN),
new Point(35.000, 35.000, Point.CARTESIAN),
new Point(12.000, 35.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.addPath(
// Line 4
new BezierCurve(
new Point(51.214, 56.746, Point.CARTESIAN),
new Point(64.334, 58.643, Point.CARTESIAN),
new Point(61.172, 45.524, Point.CARTESIAN)
new BezierLine(
new Point(12.000, 35.000, Point.CARTESIAN),
new Point(12.000, 60.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierCurve(
new Point(61.172, 45.524, Point.CARTESIAN),
new Point(36.198, 26.239, Point.CARTESIAN),
new Point(19.759, 11.065, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(0))
.build();
follower.followPath(path);

View File

@ -0,0 +1,142 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 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.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 = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
public class AutoExampleSeason2025V1 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(15.0, 35, 90);
/**
* 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(15.000, 35.000, Point.CARTESIAN),
new Point(60.000, 35.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 35.000, Point.CARTESIAN),
new Point(60.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 3
new BezierLine(
new Point(60.000, 25.000, Point.CARTESIAN),
new Point(15.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 4
new BezierLine(
new Point(15.000, 25.000, Point.CARTESIAN),
new Point(60.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 5
new BezierLine(
new Point(60.000, 25.000, Point.CARTESIAN),
new Point(60.000, 15.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 6
new BezierLine(
new Point(60.000, 15.000, Point.CARTESIAN),
new Point(15.000, 15.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 7
new BezierLine(
new Point(15.000, 15.000, Point.CARTESIAN),
new Point(60.000, 15.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 8
new BezierLine(
new Point(60.000, 15.000, Point.CARTESIAN),
new Point(60.000, 8.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 9
new BezierLine(
new Point(60.000, 8.000, Point.CARTESIAN),
new Point(15.000, 8.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).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);
}
}

View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -26,15 +26,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExampleTwo", group = "Autonomous Pathing Tuning")
public class AutoExampleTwo extends OpMode {
@Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
public class AutoExampleThree extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.0, 40, 90);
private final Pose startPose = new Pose(10,45, 0);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -51,28 +51,22 @@ public class AutoExampleTwo extends OpMode {
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(10.000, 40.000, Point.CARTESIAN),
new Point(60.000, 40.000, Point.CARTESIAN)
new BezierCurve(
new Point(10.000, 45.000, Point.CARTESIAN),
new Point(45.000, 45.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 40.000, Point.CARTESIAN),
new Point(60.000, 25.000, Point.CARTESIAN)
new Point(50.000, 20.000, Point.CARTESIAN),
new Point(10.000, 20.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 3
new BezierLine(
new Point(60.000, 25.000, Point.CARTESIAN),
new Point(10.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.build();
follower.followPath(path);

View File

@ -0,0 +1,80 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 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;
/**
* 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 = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
public class AutoExampleTwo extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.0, 45, 0);
/**
* 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(.4);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(10.000, 45.000, Point.CARTESIAN),
new Point(45.000, 45.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.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);
}
}

View File

@ -0,0 +1,91 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 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.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 = "Test", group = "Autonomous Pathing Tuning")
public class AutoTest extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain test;
@Override
public void init() {
follower = new Follower(hardwareMap);
test = follower.pathBuilder()
.addPath(
new BezierLine(
new Point(8.000, 60.000, Point.CARTESIAN),
new Point(18.000, 60.000, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierCurve(
new Point(18.000, 60.000, Point.CARTESIAN),
new Point(18.000, 23.000, Point.CARTESIAN),
new Point(48.000, 23.000, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierLine(
new Point(48.000, 23.000, Point.CARTESIAN),
new Point(60.000, 36.000, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(60.000, 36.000, Point.CARTESIAN),
new Point(60.000, 49.000, Point.CARTESIAN)
)
).build();
follower.followPath(test);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(test);
}
follower.telemetryDebug(telemetryA);
}
}

View File

@ -27,13 +27,10 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
<<<<<<< HEAD
=======
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
>>>>>>> branch-rc-chassis-14493
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
@ -42,28 +39,19 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
<<<<<<< HEAD
=======
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
>>>>>>> branch-rc-chassis-14493
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
<<<<<<< HEAD
import com.qualcomm.robotcore.util.ElapsedTime;
=======
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
>>>>>>> branch-rc-chassis-14493
/*
* This file contains an example of a Linear "OpMode".
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
@ -96,27 +84,13 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
<<<<<<< HEAD
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftFrontDrive = null;
private DcMotor leftBackDrive = null;
private DcMotor rightFrontDrive = null;
private DcMotor rightBackDrive = null;
=======
private final ElapsedTime runtime = new ElapsedTime();
>>>>>>> branch-rc-chassis-14493
@Override
public void runOpMode() {
// Initialize the hardware variables. Note that the strings used here must correspond
// to the names assigned during the robot configuration step on the DS or RC devices.
<<<<<<< HEAD
leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
=======
DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
@ -133,7 +107,6 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
>>>>>>> branch-rc-chassis-14493
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
@ -152,12 +125,9 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
<<<<<<< HEAD
=======
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
>>>>>>> branch-rc-chassis-14493
telemetry.update();
waitForStart();
@ -219,12 +189,9 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
<<<<<<< HEAD
=======
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
>>>>>>> branch-rc-chassis-14493
telemetry.update();
}
}}

View File

@ -0,0 +1,128 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 BlueAuto {
public void GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(8.442, 129.227, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(8.442, 129.227, Point.CARTESIAN),
new Point(52.762, 101.628, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(52.762, 101.628, Point.CARTESIAN),
new Point(79.224, 116.564, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(79.224, 116.564, Point.CARTESIAN),
new Point(54.548, 130.525, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(54.548, 130.525, Point.CARTESIAN),
new Point(12.338, 133.772, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(12.338, 133.772, Point.CARTESIAN),
new Point(52.437, 101.628, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(52.437, 101.628, Point.CARTESIAN),
new Point(71.594, 120.947, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(71.594, 120.947, Point.CARTESIAN),
new Point(52.275, 120.785, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(52.275, 120.785, Point.CARTESIAN),
new Point(11.039, 131.012, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(11.039, 131.012, Point.CARTESIAN),
new Point(70.782, 120.460, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 11
new BezierLine(
new Point(70.782, 120.460, Point.CARTESIAN),
new Point(50.327, 142.377, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 12
new BezierLine(
new Point(50.327, 142.377, Point.CARTESIAN),
new Point(13.799, 134.422, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 13
new BezierLine(
new Point(13.799, 134.422, Point.CARTESIAN),
new Point(13.799, 134.422, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 14
new BezierLine(
new Point(13.799, 134.422, Point.CARTESIAN),
new Point(71.919, 103.901, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}

View File

@ -0,0 +1,161 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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, 0);
/**
* 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(.45);
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(18.000, 130.179, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierCurve(
new Point(18.000, 130.179, 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(18.000, 130.339, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierCurve(
new Point(18.000, 130.339, Point.CARTESIAN),
new Point(49.018, 121.179, Point.CARTESIAN),
new Point(63.804, 135.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(63.804, 135.321, Point.CARTESIAN),
new Point(53.036, 135.161, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(53.036, 135.161, Point.CARTESIAN),
new Point(18.643, 135.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(72.300, 97.400, Point.CARTESIAN)
)
)
.addPath(
// Line 9
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(83.250, 95.464, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
follower.followPath(path, true);
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, true);
}
follower.telemetryDebug(telemetryA);
}
}

View File

@ -0,0 +1,246 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 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.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 = "BluebAutoV1", group = "Autonomous Pathing Tuning")
public class BluebAutoV1 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(7.5, 72, 90);
/**
* 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(.4);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(7.5, 72, Point.CARTESIAN),
new Point(29.893, 38.250, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 2
new BezierLine(
new Point(29.893, 38.250, Point.CARTESIAN),
new Point(65.250, 32.143, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 3
new BezierLine(
new Point(65.250, 32.143, Point.CARTESIAN),
new Point(61.714, 24.429, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 4
new BezierLine(
new Point(61.714, 24.429, Point.CARTESIAN),
new Point(13.821, 22.821, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 5
new BezierLine(
new Point(13.821, 22.821, Point.CARTESIAN),
new Point(61.714, 24.429, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 6
new BezierLine(
new Point(61.714, 24.429, Point.CARTESIAN),
new Point(60.750, 12.696, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 7
new BezierLine(
new Point(60.750, 12.696, Point.CARTESIAN),
new Point(12.375, 13.179, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 8
new BezierLine(
new Point(12.375, 13.179, Point.CARTESIAN),
new Point(60.750, 12.536, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 9
new BezierLine(
new Point(60.750, 12.536, Point.CARTESIAN),
new Point(60.589, 9.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 10
new BezierLine(
new Point(60.589, 9.321, Point.CARTESIAN),
new Point(12.536, 8.357, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 11
new BezierLine(
new Point(12.536, 8.357, Point.CARTESIAN),
new Point(26.679, 8.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 12
new BezierLine(
new Point(26.679, 8.679, Point.CARTESIAN),
new Point(22.821, 109.446, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 13
new BezierLine(
new Point(22.821, 109.446, Point.CARTESIAN),
new Point(70.714, 109.446, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 14
new BezierLine(
new Point(70.714, 109.446, Point.CARTESIAN),
new Point(71.036, 120.214, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 15
new BezierLine(
new Point(71.036, 120.214, Point.CARTESIAN),
new Point(22.179, 120.214, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 16
new BezierLine(
new Point(22.179, 120.214, Point.CARTESIAN),
new Point(11.089, 130.821, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 17
new BezierLine(
new Point(11.089, 130.821, Point.CARTESIAN),
new Point(70.714, 112.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 18
new BezierLine(
new Point(70.714, 112.018, Point.CARTESIAN),
new Point(70.714, 128.250, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 19
new BezierLine(
new Point(70.714, 128.250, Point.CARTESIAN),
new Point(9.964, 130.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 20
new BezierLine(
new Point(9.964, 130.018, Point.CARTESIAN),
new Point(70.554, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 21
new BezierLine(
new Point(70.554, 130.500, Point.CARTESIAN),
new Point(70.393, 135.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 22
new BezierLine(
new Point(70.393, 135.000, Point.CARTESIAN),
new Point(13.821, 134.839, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).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);
}
}

View File

@ -0,0 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
public class BluenbAutov1 {
}

View File

@ -0,0 +1,109 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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();
}
}

View File

@ -0,0 +1,99 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 RedAuto {
public class GeneratedPath {
public GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(131.499, 58.931, Point.CARTESIAN),
new Point(131.986, 18.183, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(131.986, 18.183, Point.CARTESIAN),
new Point(90.264, 40.911, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(90.264, 40.911, Point.CARTESIAN),
new Point(83.445, 26.300, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(83.445, 26.300, Point.CARTESIAN),
new Point(136.207, 14.286, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(136.207, 14.286, Point.CARTESIAN),
new Point(81.497, 24.352, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(81.497, 24.352, Point.CARTESIAN),
new Point(82.634, 12.988, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(82.634, 12.988, Point.CARTESIAN),
new Point(133.935, 11.364, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(133.935, 11.364, Point.CARTESIAN),
new Point(82.309, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(82.309, 11.689, Point.CARTESIAN),
new Point(83.445, 2.598, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(83.445, 2.598, Point.CARTESIAN),
new Point(132.149, 10.390, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}
}

View File

@ -0,0 +1,185 @@
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
import java.util.Locale;
/*
* This OpMode gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*
* @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
*/
@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
public class SensorBNO055IMU extends LinearOpMode
{
//----------------------------------------------------------------------------------------------
// State
//----------------------------------------------------------------------------------------------
// The IMU sensor object
BNO055IMU imu;
// State used for updating telemetry
Orientation angles;
Acceleration gravity;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() {
// Set up the parameters with which we will use our IMU. Note that integration
// algorithm here just reports accelerations to the logcat log; it doesn't actually
// provide positional information.
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample OpMode
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();
// Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
// on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
// and named "imu".
imu = hardwareMap.get(BNO055IMU.class, "adafruit_imu");
imu.initialize(parameters);
// Set up our telemetry dashboard
composeTelemetry();
// Wait until we're told to go
waitForStart();
// Start the logging of measured acceleration
imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);
// Loop and update the dashboard
while (opModeIsActive()) {
telemetry.update();
}
}
//----------------------------------------------------------------------------------------------
// Telemetry Configuration
//----------------------------------------------------------------------------------------------
void composeTelemetry() {
// At the beginning of each telemetry update, grab a bunch of data
// from the IMU that we will then display in separate lines.
telemetry.addAction(new Runnable() { @Override public void run()
{
// Acquiring the angles is relatively expensive; we don't want
// to do that in each of the three items that need that info, as that's
// three times the necessary expense.
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
gravity = imu.getGravity();
}
});
telemetry.addLine()
.addData("status", new Func<String>() {
@Override public String value() {
return imu.getSystemStatus().toShortString();
}
})
.addData("calib", new Func<String>() {
@Override public String value() {
return imu.getCalibrationStatus().toString();
}
});
telemetry.addLine()
.addData("heading", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.firstAngle);
}
})
.addData("roll", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.secondAngle);
}
})
.addData("pitch", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.thirdAngle);
}
});
telemetry.addLine()
.addData("grvty", new Func<String>() {
@Override public String value() {
return gravity.toString();
}
})
.addData("mag", new Func<String>() {
@Override public String value() {
return String.format(Locale.getDefault(), "%.3f",
Math.sqrt(gravity.xAccel*gravity.xAccel
+ gravity.yAccel*gravity.yAccel
+ gravity.zAccel*gravity.zAccel));
}
});
}
//----------------------------------------------------------------------------------------------
// Formatting
//----------------------------------------------------------------------------------------------
String formatAngle(AngleUnit angleUnit, double angle) {
return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
}
String formatDegrees(double degrees){
return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
}
}

View File

@ -0,0 +1,229 @@
/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.ReadWriteFile;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import java.io.File;
import java.util.Locale;
/*
* This OpMode calibrates a BNO055 IMU per
* "Section 3.11 Calibration" of the BNO055 specification.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer (which is not used by the
* default "IMU" SensorMode), the BNO055 is internally self-calibrating and thus can be very successfully used without
* manual intervention. That said, performing a one-time calibration, saving the results persistently, then loading them
* again at each run can help reduce the time that automatic calibration requires.
*
* This summary of the calibration process from Intel is informative:
* http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html
*
* "This device requires calibration in order to operate accurately. [...] Calibration data is
* lost on a power cycle. See one of the examples for a description of how to calibrate the device,
* but in essence:
*
* There is a calibration status register available [...] that returns the calibration status
* of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS).
* Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration [ideally]
* involves certain motions to get all 4 values at 3. The motions are as follows (though see the
* datasheet for more information):
*
* 1. GYR: Simply let the sensor sit flat for a few seconds.</ol>
* 2. ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
* degrees, hold for a few seconds, then continue rotating another 45 degrees and
* hold, etc. 6 or more movements of this type may be required. You can move through
* any axis you desire, but make sure that the device is lying at least once
* perpendicular to the x, y, and z axis.</ol>
* 3. MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
* 4. SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
* slowly moving the device though various axes until it does."</ol>
*
* To calibrate the IMU, run this sample OpMode with a gamepad attached to the driver station.
* Once the IMU has reached sufficient calibration as reported on telemetry, press the 'A'
* button on the gamepad to write the calibration to a file. That file can then be indicated
* later when running an OpMode which uses the IMU.
*
* Note: if your intended uses of the IMU do not include use of all its sensors (for example,
* you might not use the magnetometer), then it makes little sense for you to wait for full
* calibration of the sensors you are not using before saving the calibration data. Indeed,
* it appears that in a SensorMode that doesn't use the magnetometer (for example), the
* magnetometer cannot actually be calibrated.
*
* References:
* The AdafruitBNO055IMU Javadoc
* The BNO055IMU.Parameters.calibrationDataFile Javadoc
* The BNO055 product page: https://www.bosch-sensortec.com/bst/products/all_products/bno055
* The BNO055 datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf
*/
@TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
public class SensorBNO055IMUCalibration extends LinearOpMode
{
//----------------------------------------------------------------------------------------------
// State
//----------------------------------------------------------------------------------------------
// Our sensors, motors, and other devices go here, along with other long term state
BNO055IMU imu;
// State used for updating telemetry
Orientation angles;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() {
telemetry.log().setCapacity(12);
telemetry.log().add("");
telemetry.log().add("Please refer to the calibration instructions");
telemetry.log().add("contained in the Adafruit IMU calibration");
telemetry.log().add("sample OpMode.");
telemetry.log().add("");
telemetry.log().add("When sufficient calibration has been reached,");
telemetry.log().add("press the 'A' button to write the current");
telemetry.log().add("calibration data to a file.");
telemetry.log().add("");
// We are expecting the IMU to be attached to an I2C port on a Core Device Interface Module and named "imu".
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
imu = hardwareMap.get(BNO055IMU.class, "adafruit_imu");
imu.initialize(parameters);
composeTelemetry();
telemetry.log().add("Waiting for start...");
// Wait until we're told to go
while (!isStarted()) {
telemetry.update();
idle();
}
telemetry.log().add("...started...");
while (opModeIsActive()) {
if (gamepad1.a) {
// Get the calibration data
BNO055IMU.CalibrationData calibrationData = imu.readCalibrationData();
// Save the calibration data to a file. You can choose whatever file
// name you wish here, but you'll want to indicate the same file name
// when you initialize the IMU in an OpMode in which it is used. If you
// have more than one IMU on your robot, you'll of course want to use
// different configuration file names for each.
String filename = "AdafruitIMUCalibration.json";
File file = AppUtil.getInstance().getSettingsFile(filename);
ReadWriteFile.writeFile(file, calibrationData.serialize());
telemetry.log().add("saved to '%s'", filename);
// Wait for the button to be released
while (gamepad1.a) {
telemetry.update();
idle();
}
}
telemetry.update();
}
}
void composeTelemetry() {
// At the beginning of each telemetry update, grab a bunch of data
// from the IMU that we will then display in separate lines.
telemetry.addAction(new Runnable() { @Override public void run()
{
// Acquiring the angles is relatively expensive; we don't want
// to do that in each of the three items that need that info, as that's
// three times the necessary expense.
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
}
});
telemetry.addLine()
.addData("status", new Func<String>() {
@Override public String value() {
return imu.getSystemStatus().toShortString();
}
})
.addData("calib", new Func<String>() {
@Override public String value() {
return imu.getCalibrationStatus().toString();
}
});
telemetry.addLine()
.addData("heading", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.firstAngle);
}
})
.addData("roll", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.secondAngle);
}
})
.addData("pitch", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.thirdAngle);
}
});
}
//----------------------------------------------------------------------------------------------
// Formatting
//----------------------------------------------------------------------------------------------
String formatAngle(AngleUnit angleUnit, double angle) {
return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
}
String formatDegrees(double degrees){
return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
}
}

View File

@ -27,7 +27,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
package org.firstinspires.ftc.teamcode.cometbots.projects;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
@ -48,6 +48,7 @@ import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import org.firstinspires.ftc.teamcode.PedroConstants;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
/*

View File

@ -0,0 +1,237 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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.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;
@Autonomous(name = "org.firstinspires.ftc.teamcode.cometbots.projects.bBlueAutoV1", group = "V1")
public class bBlueAutoV1 extends OpMode {
public Telemetry telemetry;
public Follower robot;
public PathChain path;
@Override
public void init() {
robot = new Follower(hardwareMap);
PathBuilder builder = new PathBuilder();
path = builder
.addPath(
// Line 1
new BezierLine(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(28.573, 76.302, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierLine(
new Point(28.573, 76.302, Point.CARTESIAN),
new Point(36.203, 76.140, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierLine(
new Point(36.203, 76.140, Point.CARTESIAN),
new Point(35.067, 35.716, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(35.067, 35.716, Point.CARTESIAN),
new Point(73.705, 34.742, Point.CARTESIAN)
)
)
.addPath(
// Line 5
new BezierLine(
new Point(73.705, 34.742, Point.CARTESIAN),
new Point(73.705, 24.839, Point.CARTESIAN)
)
)
.addPath(
// Line 6
new BezierLine(
new Point(73.705, 24.839, Point.CARTESIAN),
new Point(7.630, 26.462, Point.CARTESIAN)
)
)
.addPath(
// Line 7
new BezierLine(
new Point(7.630, 26.462, Point.CARTESIAN),
new Point(64.126, 22.728, Point.CARTESIAN)
)
)
.addPath(
// Line 8
new BezierLine(
new Point(64.126, 22.728, Point.CARTESIAN),
new Point(63.964, 13.150, Point.CARTESIAN)
)
)
.addPath(
// Line 9
new BezierLine(
new Point(63.964, 13.150, Point.CARTESIAN),
new Point(12.338, 15.260, Point.CARTESIAN)
)
)
.addPath(
// Line 10
new BezierLine(
new Point(12.338, 15.260, Point.CARTESIAN),
new Point(63.802, 13.150, Point.CARTESIAN)
)
)
.addPath(
// Line 11
new BezierLine(
new Point(63.802, 13.150, Point.CARTESIAN),
new Point(63.639, 11.689, Point.CARTESIAN)
)
)
.addPath(
// Line 12
new BezierLine(
new Point(63.639, 11.689, Point.CARTESIAN),
new Point(12.014, 11.689, Point.CARTESIAN)
)
)
.addPath(
// Line 13
new BezierLine(
new Point(12.014, 11.689, Point.CARTESIAN),
new Point(62.665, 30.196, Point.CARTESIAN)
)
)
.addPath(
// Line 14
new BezierLine(
new Point(62.665, 30.196, Point.CARTESIAN),
new Point(13.312, 51.463, Point.CARTESIAN)
)
)
.addPath(
// Line 15
new BezierLine(
new Point(13.312, 51.463, Point.CARTESIAN),
new Point(16.234, 103.738, Point.CARTESIAN)
)
)
.addPath(
// Line 16
new BezierLine(
new Point(16.234, 103.738, Point.CARTESIAN),
new Point(68.023, 108.284, Point.CARTESIAN)
)
)
.addPath(
// Line 17
new BezierLine(
new Point(68.023, 108.284, Point.CARTESIAN),
new Point(68.185, 121.109, Point.CARTESIAN)
)
)
.addPath(
// Line 18
new BezierLine(
new Point(68.185, 121.109, Point.CARTESIAN),
new Point(21.754, 119.811, Point.CARTESIAN)
)
)
.addPath(
// Line 19
new BezierLine(
new Point(21.754, 119.811, Point.CARTESIAN),
new Point(11.526, 129.227, Point.CARTESIAN)
)
)
.addPath(
// Line 20
new BezierLine(
new Point(11.526, 129.227, Point.CARTESIAN),
new Point(72.568, 111.856, Point.CARTESIAN)
)
)
.addPath(
// Line 21
new BezierLine(
new Point(72.568, 111.856, Point.CARTESIAN),
new Point(58.607, 128.902, Point.CARTESIAN)
)
)
.addPath(
// Line 22
new BezierLine(
new Point(58.607, 128.902, Point.CARTESIAN),
new Point(11.364, 130.850, Point.CARTESIAN)
)
)
.addPath(
// Line 23
new BezierLine(
new Point(11.364, 130.850, Point.CARTESIAN),
new Point(58.931, 128.577, Point.CARTESIAN)
)
)
.addPath(
// Line 24
new BezierLine(
new Point(58.931, 128.577, Point.CARTESIAN),
new Point(58.769, 133.123, Point.CARTESIAN)
)
)
.addPath(
// Line 25
new BezierLine(
new Point(58.769, 133.123, Point.CARTESIAN),
new Point(13.475, 133.935, Point.CARTESIAN)
)
).build();
;
}
@Override
public void loop() {
robot.update();
if (robot.atParametricEnd())
robot.followPath(path);
robot.telemetryDebug(telemetry);
}
}

View File

@ -0,0 +1,174 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
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 bRedAutoV1 {
public bRedAutoV1() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(133.935, 83.770, Point.CARTESIAN),
new Point(79.874, 117.213, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(79.874, 117.213, Point.CARTESIAN),
new Point(79.874, 120.785, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(79.874, 120.785, Point.CARTESIAN),
new Point(131.824, 118.349, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(131.824, 118.349, Point.CARTESIAN),
new Point(79.549, 120.460, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(79.549, 120.460, Point.CARTESIAN),
new Point(79.549, 128.740, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(79.549, 128.740, Point.CARTESIAN),
new Point(131.337, 128.090, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(131.337, 128.090, Point.CARTESIAN),
new Point(79.549, 128.740, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(79.549, 128.740, Point.CARTESIAN),
new Point(79.549, 133.610, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(79.549, 133.610, Point.CARTESIAN),
new Point(130.850, 133.285, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(130.850, 133.285, Point.CARTESIAN),
new Point(130.201, 36.528, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 11
new BezierLine(
new Point(130.201, 36.528, Point.CARTESIAN),
new Point(84.095, 36.203, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 12
new BezierLine(
new Point(84.095, 36.203, Point.CARTESIAN),
new Point(84.095, 23.378, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 13
new BezierLine(
new Point(84.095, 23.378, Point.CARTESIAN),
new Point(119.811, 23.378, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 14
new BezierLine(
new Point(119.811, 23.378, Point.CARTESIAN),
new Point(127.603, 13.475, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 15
new BezierLine(
new Point(127.603, 13.475, Point.CARTESIAN),
new Point(88.640, 28.248, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 16
new BezierLine(
new Point(88.640, 28.248, Point.CARTESIAN),
new Point(87.666, 15.910, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 17
new BezierLine(
new Point(87.666, 15.910, Point.CARTESIAN),
new Point(127.603, 12.014, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 18
new BezierLine(
new Point(127.603, 12.014, Point.CARTESIAN),
new Point(86.692, 12.825, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 19
new BezierLine(
new Point(86.692, 12.825, Point.CARTESIAN),
new Point(86.692, 10.390, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 20
new BezierLine(
new Point(86.692, 10.390, Point.CARTESIAN),
new Point(126.467, 9.903, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}

View File

@ -5,7 +5,6 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.DriveEncoderLocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
@ -71,7 +70,6 @@ public class PoseUpdater {
public PoseUpdater(HardwareMap hardwareMap) {
// TODO: replace the second argument with your preferred localizer
this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
// this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
}
/**

View File

@ -38,9 +38,9 @@ public class DriveEncoderLocalizer extends Localizer {
private Encoder leftRear;
private Encoder rightRear;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = -0.6308;
public static double STRAFE_TICKS_TO_INCHES = 46.4839;
public static double TURN_TICKS_TO_RADIANS = -0.002;
public static double FORWARD_TICKS_TO_INCHES = 1;
public static double STRAFE_TICKS_TO_INCHES = 1;
public static double TURN_TICKS_TO_RADIANS = 1;
public static double ROBOT_WIDTH = 1;
public static double ROBOT_LENGTH = 1;

View File

@ -65,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
private double previousIMUOrientation;
private double deltaRadians;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = 0.004;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = -0.0036;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double TURN_TICKS_TO_RADIANS = 0.0043;//8192 * 1.37795 * 2 * Math.PI * 0.5;
public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double TURN_TICKS_TO_RADIANS = 0.0022;//8192 * 1.37795 * 2 * Math.PI * 0.5;
public static boolean useIMU = true;
@ -96,9 +96,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(IMU_LOGO_FACING_DIRECTION, IMU_USB_FACING_DIRECTION)));
// TODO: replace these with your encoder positions
leftEncoderPose = new Pose(-7.625, 6.19375, 0);
rightEncoderPose = new Pose(-7.625, -6.19375, 0);
strafeEncoderPose = new Pose(7, 1, Math.toRadians(90));
leftEncoderPose = new Pose(0, 6.19375, 0);
rightEncoderPose = new Pose(0, -6.19375, 0);
strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));

View File

@ -57,11 +57,8 @@ public class ThreeWheelLocalizer extends Localizer {
private Pose rightEncoderPose;
private Pose strafeEncoderPose;
private double totalHeading;
// public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
// public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
// public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5;
public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5;
/**
@ -95,9 +92,9 @@ public class ThreeWheelLocalizer extends Localizer {
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
//leftEncoder.setDirection(Encoder.REVERSE);
// rightEncoder.setDirection(Encoder.REVERSE);
//strafeEncoder.setDirection(Encoder.FORWARD);
setStartPose(setStartPose);
timer = new NanoTimer();

View File

@ -63,7 +63,6 @@ public class LateralTuner extends OpMode {
telemetryA.addData("distance moved", poseUpdater.getPose().getY());
telemetryA.addLine("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getY() / poseUpdater.getLocalizer().getLateralMultiplier()));
telemetryA.update();
Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");

View File

@ -53,15 +53,15 @@ public class FollowerConstants {
0);
// Feed forward constant added on to the translational PIDF
public static double translationalPIDFFeedForward = 0.015;
public static double translationalPIDFFeedForward = 0.00;
// Heading error PIDF coefficients
public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
2,
0,
.075,
-.03125);
0.025,
0);
// Feed forward constant added on to the heading PIDF
public static double headingPIDFFeedForward = 0.01;
@ -81,7 +81,7 @@ public class FollowerConstants {
// Kalman filter parameters for the drive error Kalman filter
public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
6,
1);
3);
// Mass of robot in kilograms

View File

@ -93,11 +93,13 @@ public class ForwardVelocityTuner extends OpMode {
}
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
telemetryA.update();
// telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
// telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
// telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
// telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
//
//
// telemetryA.update();
}
@ -138,6 +140,13 @@ public class ForwardVelocityTuner extends OpMode {
velocities.add(currentVelocity);
velocities.remove(0);
}
telemetryA.addData("x", poseUpdater.getPose().getX());
telemetryA.addData("y", poseUpdater.getPose().getY());
telemetryA.addData("heading", poseUpdater.getPose().getHeading());
telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
telemetryA.update();
} else {
double average = 0;
for (Double velocity : velocities) {
@ -146,7 +155,12 @@ public class ForwardVelocityTuner extends OpMode {
average /= (double) velocities.size();
telemetryA.addData("forward velocity:", average);
telemetryA.update();
// telemetryA.addData("x", poseUpdater.getPose().getX());
// telemetryA.addData("y", poseUpdater.getPose().getY());
// telemetryA.addData("heading", poseUpdater.getPose().getHeading());
// telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
// telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
// telemetryA.update();
}
}
}

View File

@ -119,13 +119,6 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
*/
@Override
public void loop() {
telemetry.addData("x",poseUpdater.getPose().getX());
telemetry.addData("y",poseUpdater.getPose().getY());
telemetry.addData("heading",poseUpdater.getPose().getHeading());
telemetry.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
telemetry.addData("velo theta", poseUpdater.getVelocity().getTheta());
if (gamepad1.cross || gamepad1.a) {
requestOpModeStop();
}

View File

@ -0,0 +1,18 @@
package org.firstinspires.ftc.teamcode.states;
public class FieldStates {
public enum FieldLocation {
BUCKET, SUBMARINE, FLOATING, TRAVELING
}
private FieldLocation fieldLocation;
public FieldLocation getFieldLocation() {
return fieldLocation;
}
public void setFieldLocation(FieldLocation fieldLocation) {
this.fieldLocation = fieldLocation;
}
}

View File

@ -0,0 +1,44 @@
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);
}
}

View File

@ -0,0 +1,40 @@
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);
}
}

View File

@ -0,0 +1,73 @@
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();
}
}

View File

@ -0,0 +1,105 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
public class MotorsSubsystem {
public HardwareMap hardwareMap;
public Telemetry telemetry;
public DcMotor frontLeftMotor;
public DcMotor backLeftMotor;
public DcMotor frontRightMotor;
public DcMotor backRightMotor;
public enum TravelState {
STOPPED, MOVING
}
public TravelState travelState;
public double power;
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = MAX_POWER;
}
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = power;
}
public void init() {
frontLeftMotor = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
backLeftMotor = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
frontLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.setState(TravelState.STOPPED);
}
public void setFrontLeftMotorPower(double power) {
frontLeftMotor.setPower(power);
}
public void setBackLeftMotorPower(double power) {
backLeftMotor.setPower(power);
}
public void setFrontRightMotorPower(double power) {
frontRightMotor.setPower(power);
}
public void setBackRightMotorPower(double power) {
backRightMotor.setPower(power);
}
public void setState(TravelState travelState) {
this.travelState = travelState;
}
public TravelState getState() {
return this.travelState;
}
public void setPower(DcMotor motor, double power) {
motor.setPower(power);
if (power < 0.05) {
this.setState(TravelState.MOVING);
} else {
this.setState(TravelState.STOPPED);
}
}
}

View File

@ -16,6 +16,9 @@ dependencies {
implementation 'org.firstinspires.ftc:Vision:10.1.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
implementation "com.acmerobotics.roadrunner:core:1.0.0"
implementation "com.acmerobotics.roadrunner:actions:1.0.0"
implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
}