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

23 Commits
branch-rc- ... branch-sil

Author SHA1 Message Date
carlos
aa496b8237 Ollie's work committed 2024-12-08 12:48:30 -08:00
robotics1
66f3339e26 Working Pre loaded auto! Can score 11 points consistently! 2024-11-14 17:10:46 -08:00
robotics1
ad0a8d3374 Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493 2024-11-14 16:23:46 -08:00
Carlos
dc71eb4317 Feature where driver can override centricity (robot vs field). 2024-11-13 15:09:59 -08:00
Carlos
94144780b8 Tentative fix for robot/runBlocking problem as per issue #2 2024-11-13 09:13:24 -08:00
Carlos
a362d2e004 Massive upgrade and shift of files 2024-11-12 23:16:23 -08:00
robotics1
2008c3cd88 Working somehitng i don't know 2024-11-12 16:55:35 -08:00
robotics1
c5be3cd932 Silver Branch Code 2024-11-03 09:13:37 -08:00
Carlos Rivas
7d83b9c254 Add sample cometbot package 2024-10-31 15:37:09 -07:00
Carlos
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
robotics1
0cfb57c643 Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493 2024-10-17 11:07:25 -07:00
robotics1
50db1f9175 Add new files (2nd try) 2024-10-17 11:07:10 -07:00
robotics1
552bb3e25a Add new files 2024-10-17 11:06:13 -07:00
carlos
c1076a832c Rebased changes 2024-10-17 11:05:12 -07:00
carlos
7bf8b0c357 Add files 2024-10-17 11:04:02 -07:00
Carlos
adfab3e8af Add sample code 2024-10-15 15:44:49 -07:00
Carlos
0f7ea50907 Updated constants for silver and it, somehow, works 2024-10-15 15:43:53 -07:00
Carlos
239f168540 Retuned to success, PIDF (P = .05) and translationalPIDFeedForward is back to 0 2024-10-15 13:59:02 -07:00
robotics2
f2bcdcc55a Add constants 2024-10-01 17:05:54 -07:00
carlos
e08aac773d Static entries for arm servos 2024-10-01 15:45:02 -07:00
Carlos Rivas
3950a83ac1 Added encoder naming and usage 2024-10-01 10:19:40 -07:00
Carlos
552ff3f339 Updated to 10.1 2024-09-30 22:37:16 -07:00
Carlos
4eef485dab Re-wired and reconfigured 2024-09-30 20:39:24 -07:00
68 changed files with 3020 additions and 3067 deletions
Expand all files Collapse all files

115
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
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@ -1,115 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.SleepAction;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition;
import org.firstinspires.ftc.teamcode.configs.RobotConstants;
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;
import org.firstinspires.ftc.teamcode.subsystem.AutoPark;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@Autonomous(name = "Auto Test Competition", group = "Dev")
public class BlueBasketAuto extends OpMode {
private Follower follower;
private int state;
private HighBasketAutoPath1 path1;
private HighBasketAutoPath2 path2;
private AutoPark pathPark;
private SkyHookSubsystem hook;
private CometBotTeleopCompetition comp;
private ElapsedTime runtime;
private LiftActionsSubsystem liftActionsSubsystem;
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
path1 = new HighBasketAutoPath1();
path2 = new HighBasketAutoPath2();
pathPark = new AutoPark();
comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
comp.initCloseClaw();
runtime = new ElapsedTime();
hook = new SkyHookSubsystem(hardwareMap);
state = 0;
}
@Override
public void loop() {
switch(state) {
case 0:
telemetry.addData("case0", "case0");
path1.moveToPath1(follower);
state = 1;
runtime.reset();
case 1:
if (runtime.seconds() > 5) {
telemetry.addData("case1", "case1");
new SleepAction(.5);
comp.highBucketDropAuto();
state = 2;
}
case 2:
if (runtime.seconds() > 15) {
telemetry.addData("case2", "case2");
// new SleepAsction(.5);
//path2.moveToPath1(follower);
//For next time, add encoder control to skyhook and extend here
//comp.moveSkyHook();
//pathPark.moveToPark(follower);
state = 3;
}
case 3:
if (runtime.seconds() > 15) {
telemetry.addData("case3", "case3");
hook.toLevel1Position();
state = 4;
}
case 4:
if (runtime.seconds() > 15) {
telemetry.addData("case3", "case3");
hook.toLevel1Position();
state = 4;
}
//System.out.println("default");
//telemetry.addData("default", "default");
//telemetry.update();
}
telemetry.update();
follower.update();
//follower.telemetryDebug(telemetry);
}
}

56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java
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@ -1,56 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test1", group = "Dev")
public class BlueBasketAutoWithDrop1 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(8, 89);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(8.000, 89.000, Point.CARTESIAN),
new Point(24.000, 96.000, Point.CARTESIAN),
new Point(16.000, 128.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

57
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java
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@ -1,57 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Auto Test2", group = "Dev")
public class BlueBasketAutoWithDrop2 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(16, 128);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(16.000, 128.000, Point.CARTESIAN),
new Point(88.000, 140.000, Point.CARTESIAN),
new Point(83.250, 99.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), 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);
}
}

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CONTROLS.md
View File

@ -1,12 +0,0 @@
# Controller 1
## Motor Controls
- Left Joystick
- Forward & Backwards
- Right Joystick
- Strafe & Turning
## Arm Controls
-

290
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ComeBotDriveDevV2.java
View File

@ -1,290 +0,0 @@
package org.firstinspires.ftc.teamcode;
import static com.qualcomm.hardware.lynx.commands.core.LynxSetMotorPIDFControlLoopCoefficientsCommand.InternalMotorControlAlgorithm.Max;
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.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.subsystem.AutoPark;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath3;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath4;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath5;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath6;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@Autonomous(name = "Auto Test Competition V2", group = "Dev")
public class ComeBotDriveDevV2 extends OpMode {
private Follower follower;
private int state;
private HighBasketAutoPath1 path1;
private HighBasketAutoPath2 path2;
private HighBasketAutoPath3 path3;
private HighBasketAutoPath4 path4;
private HighBasketAutoPath5 path5;
private HighBasketAutoPath6 path6;
private AutoPark pathPark;
private SkyHookSubsystem hook;
private CometBotTeleopCompetition comp;
private static ElapsedTime runtime;
private static boolean initalized = false;
private static boolean followingPath = false;
private LiftActionsSubsystem liftActionsSubsystem;
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.75);
path1 = new HighBasketAutoPath1();
path2 = new HighBasketAutoPath2();
path3 = new HighBasketAutoPath3();
path4 = new HighBasketAutoPath4();
path5 = new HighBasketAutoPath5();
path6 = new HighBasketAutoPath6();
pathPark = new AutoPark();
comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
comp.initCloseClaw();
hook = new SkyHookSubsystem(hardwareMap);
state = 0;
}
public void loop() {
telemetry.addData("state", state);
telemetry.addData("followingPath", followingPath);
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
}
switch (state) {
case 0:
moveToPathOneAndHighBucket();
break;
case 1:
doArmThing();
break;
case 2:
moveToPathTwoAndPickSampleUp();
break;
case 3:
doPickUpThing();
break;
case 4:
moveToBasketPath3();
break;
case 5:
theArmThing();
break;
case 6:
moveToPickupAgainPath4();
break;
case 7:
doPickUpThingAgain();
break;
case 8:
moveToPickupAgainPath5();
break;
case 9:
theArmThingAgain();
break;
case 10:
//moveToParkPath6();
break;
case 11:
}
telemetry.update();
follower.update();
}
private void moveToPathOneAndHighBucket() {
if (!followingPath) {
runtime = new ElapsedTime();
path1.moveToPath1(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 4) {
state = 1;
followingPath = false;
}
}
}
public class SetStateAction implements Action {
private int value;
public SetStateAction(int value) {
this.value = value;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
state = value;
return false;
}
}
private Action setStateValue(int value) {
return new SetStateAction(value);
}
private void doArmThing() {
comp.highBucketDropAuto();
state = 2;
}
private void theArmThing() {
telemetry.addData("busy?", follower.isBusy());
telemetry.addData("end?", follower.atParametricEnd());
if (follower.atParametricEnd()){
follower.breakFollowing();
comp.highBucketDropAuto();
state = 6;
}
// follower.breakFollowing();
}
private void theArmThingAgain() {
follower.breakFollowing();
comp.highBucketDropAuto();
state = 10;
}
private void moveToPathTwoAndPickSampleUp() {
if (!followingPath) {
path2.moveToPath2(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 22.0) {
state = 3;
followingPath = false;
}
}
}
private void moveToPickupAgainPath4() {
if (!followingPath) {
path4.moveToPickupAgainPath4(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 27.0) {
state = 7;
followingPath = false;
}
}
}
private void moveToPickupAgainPath5() {
if (!followingPath) {
path5.moveToPickupAgainPath5(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 36.0) {
state = 9;
followingPath = false;
}
}
}
private void moveToParkPath6() {
if (!followingPath) {
path6.moveToParkPath6(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 48.0) {
state = 11;
followingPath = false;
}
}
}
private void moveToBasketPath3() {
if (!followingPath) {
path3.moveToBasketPath3(follower);
followingPath = true;
}
if (runtime != null) {
telemetry.addData("Runtime (seconds)", runtime.seconds());
if (follower.atParametricEnd() || runtime.seconds() > 10.0) {
state = 5;
followingPath = false;
}
}
}
private void thePickUpAuto() {
Actions.runBlocking(new SequentialAction(
new SleepAction(.1),
comp.claw.openClaw(),
new SleepAction(.2),
comp.wrist.toPickupPosition(),
new SleepAction(.2),
comp.arm.toSubmarinePosition(),
new SleepAction(.5),
comp.claw.closeClaw(),
new SleepAction(.3),
comp.wrist.toFloorPosition(),
new SleepAction(.2),
comp.arm.toParkPosition(),
new SleepAction(.2)
));
}
private void thePickUp() {
Actions.runBlocking(new SequentialAction(
new SleepAction(.5),
comp.wrist.toPickupPosition(),
new SleepAction(.5),
comp.arm.toSubmarinePosition(),
new SleepAction(.7),
comp.claw.closeClaw(),
new SleepAction(.7),
comp.wrist.toFloorPosition(),
new SleepAction(.5),
comp.arm.toParkPosition(),
new SleepAction(.5)
));
}
private void doPickUpThing() {
follower.breakFollowing();
thePickUpAuto();
state = 4;
}
private void doPickUpThingAgain() {
follower.breakFollowing();
thePickUpAuto();
state = 8;
}
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDrive.java
View File

@ -1,24 +0,0 @@
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.CometBotTeleopCompetition;
@TeleOp(name = "ComeBot Drive", group = "Competition")
public class CometBotDrive extends OpMode {
public CometBotTeleopCompetition runMode;
@Override
public void init() {
this.runMode = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
}
@Override
public void loop() {
this.runMode.update();
telemetry.update();
}
}

39
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java
View File

@ -1,26 +1,63 @@
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);
}

81
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -8,97 +8,70 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class PedroConstants {
/*
Motor configuration names
Robot parameters
*/
// Robot motor configurations
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";
/*
Motor directions
*/
// Robot motor direction
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
/*
Centricity : true is robot-centric movement; false if field-centric movement
*/
public static final boolean CENTRICITY = true;
/*
Motor Max Power
*/
public static final double MAX_POWER = .8;
*/
public static final double MAX_POWER = .75;
/*
IMU
*/
// 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;
/*
Dead wheels
*/
public static final String RIGHT_ENCODER = "back-right";
public static final String BACK_ENCODER = "front-right";
public static final String LEFT_ENCODER = "front-left";
// Robot encoders
// 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
/*
Dead wheel directions
*/
// Robot encoder direction
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 configuration name
*/
public static final String ARM_NAME = "arm-servo";
/*
Claw configuration name
*/
public static final String CLAW_NAME = "claw-servo";
/*
Lift configuration name
*/
public static final String LIFT_NAME = "lift-motor";
/*
Wrist configuration name
*/
public static final String WRIST_NAME = "wrist-servo";
/*
Skyhook configuration name
*/
public static final String SKYHOOK_NAME = "skyhook";
// 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
*/
// 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 = -59.805;
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;

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
View File

@ -13,7 +13,6 @@ 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;
@ -36,7 +35,7 @@ public class PreLoadedBlueBasketAuto extends OpMode {
.addPath(
// Line 1
new BezierLine(
new Point(8, 89, Point.CARTESIAN),
new Point(8.036, 89.196, Point.CARTESIAN),
new Point(10.125, 126.804, Point.CARTESIAN)
)
)
@ -88,15 +87,15 @@ public class PreLoadedBlueBasketAuto extends OpMode {
// Line 7
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(57.857, 131.071, Point.CARTESIAN)
new Point(57.857, 133.071, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(57.857, 131.071, Point.CARTESIAN),
new Point(18.964, 131.679, Point.CARTESIAN)
new Point(57.857, 133.071, Point.CARTESIAN),
new Point(18.964, 134.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
@ -119,6 +118,5 @@ public class PreLoadedBlueBasketAuto extends OpMode {
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

151
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueNonBasketAuto.java Normal file
View File

@ -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);
}
}

108
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoCompetition.java
View File

@ -1,108 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots;
public class CometBotAutoCompetition {
}
//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.pedroPathing.util.Timer;
//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
//
//public class Auto {
//
// public ClawSubsystem claw;
// public ArmSubsystem arm;
// public WristSubsystem wrist;
//
// public Timer clawTimer = new Timer();
// public Timer armTimer = new Timer();
// public Timer wristTimer = new Timer();
//
// public Follower follower;
// public Telemetry telemetry;
//
// public int caseState = 1;
//
// public Auto(HardwareMap hardwareMap, Telemetry telemetry, Follower follower) {
// claw = new ClawSubsystem(hardwareMap, telemetry);
// arm = new ArmSubsystem(hardwareMap, telemetry);
// wrist = new WristSubsystem(hardwareMap, telemetry);
//
// this.follower = follower;
// this.telemetry = telemetry;
//
// init();
// }
//
// public void init() {
// claw.init();
// arm.init();
// wrist.init();
// }
//
// public void start() {
// clawTimer.resetTimer();
// armTimer.resetTimer();
// wristTimer.resetTimer();
//
// claw.start();
// arm.start();
// wrist.start();
// }
//
// public void update() {
//
// this.telemetry.addData("Current State", caseState);
// this.telemetry.addData("Claw Timer", clawTimer.getElapsedTimeSeconds());
// this.telemetry.addData("Arm Timer", armTimer.getElapsedTimeSeconds());
// this.telemetry.addData("Wrist Timer", wristTimer.getElapsedTimeSeconds());
// this.telemetry.update();
//
// switch (caseState) {
// case 1:
// claw.openClaw();
// caseState = 2;
// break;
// case 2:
// if (clawTimer.getElapsedTimeSeconds() > 2) {
// arm.toFloorPosition();
// caseState = 3;
// }
// break;
// case 3:
// if (armTimer.getElapsedTimeSeconds() > 4) {
// wrist.toFloorPosition();
// caseState = 4;
// }
// break;
// case 4:
// if (clawTimer.getElapsedTimeSeconds() > 6) {
// claw.closeClaw();
// caseState = 5;
// }
// break;
// case 5:
// if (armTimer.getElapsedTimeSeconds() > 8) {
// arm.toBucketPosition();
// wrist.toBucketPosition();
// caseState = 6;
// }
// break;
// case 6:
// if (clawTimer.getElapsedTimeSeconds() > 10) {
// claw.openClaw();
// caseState = 7;
// }
// break;
// case 7:
// this.init();
// break;
// }
// }
//}

175
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
View File

@ -1,5 +1,10 @@
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;
@ -10,12 +15,7 @@ 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.ArmActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
public class CometBotAutoDevelopment {
@ -23,10 +23,6 @@ public class CometBotAutoDevelopment {
Subsystems
*/
private MotorsSubsystem motors;
public ClawActionsSubsystem claw;
public ArmActionsSubsystem arm;
public WristActionsSubsystem wrist;
public LiftActionsSubsystem lift;
/*
Controllers
@ -38,23 +34,18 @@ public class CometBotAutoDevelopment {
public Gamepad currentGP2;
public Gamepad previousGP2;
private Telemetry telemetry;
public FieldStates fieldStates;
private boolean centricity = false;
private Follower follower;
/*
Actions - Path
*/
private AutoLine1 myFirstPath;
private HardwareMap hardwareMap;
public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
this.claw = new ClawActionsSubsystem(hardwareMap);
this.arm = new ArmActionsSubsystem(hardwareMap);
this.wrist = new WristActionsSubsystem(hardwareMap);
this.lift = new LiftActionsSubsystem(hardwareMap);
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();
@ -64,14 +55,41 @@ public class CometBotAutoDevelopment {
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.claw.init();
this.arm.init();
this.wrist.init();
this.lift.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
follower.setMaxPower(.75);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
@ -81,113 +99,44 @@ public class CometBotAutoDevelopment {
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
this.toHighBucketScore();
this.toLowBucketScore();
this.toArmParkPosition();
this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
this.clawControl();
this.toFixMotorBlockingIssueFirstMethod();
this.toFixMotorBlockingIssueSecondMethod();
this.changeCentricity();
// this.motors.calculateTrajectory(this.GP1);
follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
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());
this.telemetry.addData("Claw State", this.claw.getState());
this.telemetry.addData("Claw Position", this.claw.getPosition());
this.telemetry.addData("Wrist State", this.wrist.getState());
this.telemetry.addData("Arm State", this.arm.getState());
this.telemetry.addData("Lift State", this.lift.getState());
this.telemetry.addData("Lift Position", this.lift.getPosition());
}
public void changeCentricity() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
this.centricity = !centricity;
this.follower.breakFollowing();
this.follower.startTeleopDrive();
}
}
/*
Controller: 1
Button: A
Action: On button press, Arm hovers the floor with wrist parallel to arm
*/
public void toHighBucketScore() {
if (this.currentGP1.triangle && !this.previousGP1.triangle) {
public void toFixMotorBlockingIssueFirstMethod() {
if (this.currentGP1.cross && !this.previousGP1.cross) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.wrist.toFloorPosition(),
this.arm.toParkPosition(),
this.lift.toHighBucketPosition(),
new SleepAction(.5),
this.arm.toBucketPosition(),
new SleepAction(.5),
this.wrist.toBucketPosition(),
new SleepAction(.5),
this.claw.openClaw(),
new SleepAction(.5),
this.wrist.toFloorPosition(),
new SleepAction(.5),
this.arm.toParkPosition(),
this.lift.toFloorPosition()
this.zeroOutPower(),
new SleepAction(3),
this.returnToMaxPower()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
public void toLowBucketScore() {
public void toFixMotorBlockingIssueSecondMethod() {
if (this.currentGP1.circle && !this.previousGP1.circle) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.wrist.toFloorPosition(),
this.arm.toParkPosition(),
this.lift.toLowBucketPosition(),
new SleepAction(.5),
this.arm.toBucketPosition(),
new SleepAction(.5),
this.wrist.toBucketPosition(),
new SleepAction(.5),
this.claw.openClaw(),
new SleepAction(.5),
this.wrist.toFloorPosition(),
new SleepAction(.5),
this.arm.toParkPosition(),
this.lift.toFloorPosition()
new SleepAction(3)
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
public void clawControl() {
if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
this.claw.switchState();
}
}
public void toArmParkPosition() {
if (this.currentGP1.square && !this.previousGP1.square) {
Actions.runBlocking(this.arm.toParkPosition());
}
}
public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
if (this.currentGP1.cross && !previousGP1.cross) {
if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
Actions.runBlocking(
new SequentialAction(
this.arm.toSubmarinePosition(),
this.wrist.toFloorPosition()
)
);
} else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE) {
Actions.runBlocking(
new SequentialAction(
this.arm.toFloorPosition(),
this.wrist.toFloorPosition()
)
);
} else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
Actions.runBlocking(
new SequentialAction(
this.arm.toSubmarinePosition(),
this.wrist.toFloorPosition()
)
);
}
}
}
}

356
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
View File

@ -1,356 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots;
import static org.firstinspires.ftc.teamcode.PedroConstants.CENTRICITY;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
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.ArmActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
public class CometBotTeleopCompetition {
/*
Subsystems
*/
private MotorsSubsystem motors;
public ClawActionsSubsystem claw;
public ArmActionsSubsystem arm;
public WristActionsSubsystem wrist;
public LiftActionsSubsystem lift;
public SkyHookSubsystem hook;
/*
Controllers
*/
public Gamepad GP1;
public Gamepad GP2;
public Gamepad currentGP1;
public Gamepad previousGP1;
public Gamepad currentGP2;
public Gamepad previousGP2;
/*
Pedro/FTC Components
*/
private Follower follower;
private Telemetry telemetry;
/*
States
*/
public FieldStates fieldStates;
/*
Configurations
*/
public double currentPower = MAX_POWER;
public CometBotTeleopCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
this.claw = new ClawActionsSubsystem(hardwareMap);
this.arm = new ArmActionsSubsystem(hardwareMap);
this.wrist = new WristActionsSubsystem(hardwareMap);
this.lift = new LiftActionsSubsystem(hardwareMap);
this.hook = new SkyHookSubsystem(hardwareMap);
this.GP1 = gp1;
this.GP2 = gp2;
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 void init() {
this.motors.init();
this.hook.init();
this.claw.init();
this.arm.init();
this.wrist.init();
this.lift.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
public void initCloseClaw(){
this.motors.init();
this.hook.init();
this.claw.init();
this.arm.init();
this.wrist.init();
this.lift.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.moveSkyHook();
this.toHighBucketScore();
this.toLowBucketScore();
this.toArmParkPosition();
this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
this.clawControl();
this.decreaseMaxPower();
this.increaseMaxPower();
Actions.runBlocking(this.lift.toFloorPosition());
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());
this.telemetry.addData("Claw State", this.claw.getState());
this.telemetry.addData("Claw Position", this.claw.getPosition());
this.telemetry.addData("Wrist State", this.wrist.getState());
this.telemetry.addData("Arm State", this.arm.getState());
this.telemetry.addData("Lift State", this.lift.getState());
this.telemetry.addData("Lift Position", this.lift.getPosition());
this.telemetry.addData("MaxPower", MAX_POWER);
}
/*
Type: PS4 / Logitech
Controller: 1
Button: Left Bumper
Assumption: Working motor mechanism
Action: Decreases maximum speed by -.05
*/
public void decreaseMaxPower() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
this.currentPower = this.currentPower - .05;
this.follower.setMaxPower(this.currentPower);
}
}
/*
Type: PS4 / Logitech
Controller: 1
Button: Left Bumper
Assumption: Working motor mechanism
Action: Increases maximum speed by +.05
*/
public void increaseMaxPower() {
if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
this.currentPower = this.currentPower + .05;
this.follower.setMaxPower(this.currentPower);
}
}
public void moveSkyHook() {
if (this.currentGP2.dpad_down) {
hook.moveSkyHook(-1.00);
}
else if (this.currentGP2.dpad_up) {
hook.moveSkyHook(1.00);
}
else{
hook.moveSkyHook(0.00);
}
}
/*
Type: PS4 / Logitech
Controller: 2
Button: TRIANGLE / Y
Assumption: Claw is holding specimen, robot is facing buckets ready to score
Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
raises to high bucket. Once at high bucket position, move arm forward, wrist forward
and open claw to drop specimen into bucket. Finally, put arm back up and wrist back up,
retract lift all the way down to floor position and back to TRAVELING state.
*/
public void toHighBucketScore() {
if (this.currentGP2.triangle && !this.previousGP2.triangle) {
if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
highBucketDrop();
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
}
public void highBucketDrop() {
Actions.runBlocking(new SequentialAction(
new SleepAction(.5),
this.lift.toHighBucketPosition(),
new SleepAction(.5),
this.arm.toBucketPosition(),
new SleepAction(.5),
this.wrist.toBucketPosition(),
new SleepAction(.5),
this.claw.openClaw(),
new SleepAction(.5),
this.wrist.toFloorPosition(),
new SleepAction(.5),
this.arm.toParkPosition(),
this.lift.toFloorPosition(),
new SleepAction(.5)
));
}
public void highBucketDropAuto() {
Actions.runBlocking(new SequentialAction(
new SleepAction(.1),
this.lift.toHighBucketPosition(),
new SleepAction(.25),
this.arm.toBucketPosition(),
new SleepAction(.25),
this.wrist.toBucketPosition(),
new SleepAction(.25),
this.claw.openClaw(),
new SleepAction(.25),
this.wrist.toFloorPosition(),
new SleepAction(.25),
this.arm.toParkPosition(),
this.lift.toZeroPosition(),
new SleepAction(.25)
));
}
/*
Type: PS4 / Logitech
Controller: 2
Button: CIRCLE / B
Assumption: Claw is holding specimen, robot is facing buckets ready to score
Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
raises to low bucket. Once at low bucket position, move arm forward, wrist forward
and open claw to drop specimen into bucket. Finally, put arm back up and wrist back up,
retract lift all the way down to floor position and back to TRAVELING state.
*/
public void toLowBucketScore() {
if (this.currentGP2.circle && !this.previousGP2.circle) {
if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
new SleepAction(.5),
this.lift.toLowBucketPosition(),
new SleepAction(.5),
this.arm.toBucketPosition(),
new SleepAction(.5),
this.wrist.toBucketPosition(),
new SleepAction(.5),
this.claw.openClaw(),
new SleepAction(.5),
this.wrist.toFloorPosition(),
new SleepAction(.5),
this.arm.toParkPosition(),
this.lift.toFloorPosition(),
new SleepAction(.5)
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
}
/*
Type: PS4 / Logitech
Controller: 2
Button: RIGHT BUMPER
Assumption: Working claw mechanism
Action: On button press, claw switches state from OPEN to CLOSE
*/
public void clawControl() {
if (this.currentGP2.right_bumper && !this.previousGP2.right_bumper) {
this.claw.switchState();
}
}
/*
Type: PS4 / Logitech
Controller: 2
Button: SQUARE / X
Assumption: Working arm mechanism
Action: On button press, pulls arm up and wrist up, ideal for traveling the field when
holding a specimen in claws
*/
public void toArmParkPosition() {
if (this.currentGP2.square && !this.previousGP2.square) {
Actions.runBlocking(new SequentialAction(
this.wrist.toFloorPosition(),
this.arm.toParkPosition(),
this.lift.toFloorPosition()
));
}
}
/*
Type: PS4
Controller: 2
Button: CROSS / A
Assumption: Working claw, arm and wrist mechanisms
Action: On button press, if arm is in PARK (toArmParkPosition), drop the arm to SUBMARINE
position. SUBMARINE position means the arm and wrist are parallel to the floor, raised
3 INCHES off the ground. This state is ideal for moving the arm into the SUBMARINE
area of the field.
When arm is in SUBMARINE position, pressing the button again puts the arm and wrist into
FLOOR state. This angles the arm and wrist down so that it is able to pick specimens
from within the SUBMARINE floor.
*/
public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
if (this.currentGP2.cross && !previousGP2.cross) {
if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
Actions.runBlocking(
new SequentialAction(
this.arm.toSubmarinePosition(),
this.wrist.toFloorPosition()
)
);
} else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE && this.wrist.getState() == WristActionsSubsystem.WristState.FLOOR) {
Actions.runBlocking(
new SequentialAction(
// this.lift.toFloorPosition(),
this.arm.toSubmarinePosition(),
this.wrist.toPickupPosition()
)
);
} else if (this.wrist.getState() == WristActionsSubsystem.WristState.PICKUP) {
Actions.runBlocking(
new SequentialAction(
// this.arm.toSubmarinePosition(),
this.wrist.toFloorPosition()
)
);
}
}
}
}

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopDevelopment.java
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package org.firstinspires.ftc.teamcode.cometbots;
public class CometBotTeleopDevelopment {
}
//import com.qualcomm.robotcore.hardware.Gamepad;
//import com.qualcomm.robotcore.hardware.HardwareMap;
//
//import org.firstinspires.ftc.robotcore.external.Telemetry;
//import org.firstinspires.ftc.teamcode.states.FieldStates;
//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
//import org.firstinspires.ftc.teamcode.util.action.Actions;
//import org.firstinspires.ftc.teamcode.util.action.SequentialAction;
//import org.firstinspires.ftc.teamcode.util.action.SleepAction;
//
//public class DevTeleopRunMode {
//
// /*
// Subsystems
// */
// private MotorsSubsystem motors;
// public ClawSubsystem claw;
// public ArmSubsystem arm;
// public WristSubsystem wrist;
// public LiftSubsystem lift;
//
// /*
// 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;
//
// public DevTeleopRunMode(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
// this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
// this.claw = new ClawSubsystem(hardwareMap, telemetry);
// this.arm = new ArmSubsystem(hardwareMap, telemetry);
// this.wrist = new WristSubsystem(hardwareMap, telemetry);
// this.lift = new LiftSubsystem(hardwareMap, telemetry);
// this.GP1 = gp1;
// this.GP2 = gp2;
// this.telemetry = telemetry;
// this.currentGP1 = new Gamepad();
// this.currentGP2 = new Gamepad();
// this.previousGP1 = new Gamepad();
// this.previousGP2 = new Gamepad();
// this.fieldStates = new FieldStates();
// }
//
// public void init() {
// this.motors.init();
// this.claw.init();
// this.arm.init();
// this.wrist.init();
// this.lift.init();
// }
//
// public void update() {
// this.previousGP1.copy(currentGP1);
// this.currentGP1.copy(this.GP1);
// this.previousGP2.copy(currentGP2);
// this.currentGP2.copy(this.GP2);
// this.toTravelfromField();
// this.thePickup();
// this.toFieldFromBucketScore();
// this.toLowBucketScore();
// this.toHighBucketScore();
// this.toHold();
// this.motors.calculateTrajectory(this.GP1);
// this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
// this.telemetry.addData("Claw State", this.claw.getState());
// this.telemetry.addData("Claw Position", this.claw.getPosition());
// this.telemetry.addData("Wrist State", this.wrist.getState());
// this.telemetry.addData("Arm State", this.arm.getState());
// this.telemetry.addData("Lift State", this.lift.getState());
// this.telemetry.addData("Lift Position", this.lift.getPosition());
// }
//
// /*
// Controller: 1
// Button: A
// Action: On button press, Arm hovers the floor with wrist parallel to arm
// */
// public void toTravelfromField() {
// if (this.currentGP1.dpad_down && !this.previousGP1.dpad_down) {
// if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.TRAVELING &&
// this.lift.getPosition() < 40) {
// Actions.runBlocking(new SequentialAction(
// this.wrist.toFloorPosition,
// new SleepAction(.75),
// this.arm.toFloorPosition
// ));
// fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
// }
// }
// }
//
// /*
// Controller: 1
// Button: Right Bumper
// Action: On button press, open and closes claw
// */
// public void thePickup() {
// if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
// this.claw.switchState();
// }
// }
//
// /*
// Controller: 1
// Button: Right Bumper
// Action: On button press, open and closes claw
// */
// public void toHold() {
// if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
// Actions.runBlocking(new SequentialAction(
// arm.toParkPosition,
// wrist.toFloorPosition
// ));
// }
// }
//
// /*
// Controller: 2
// Button: Y
// Action: On button press, lift to low bucket height,
// arm to bucket position, wrist to bucket position
// */
// public void toLowBucketScore() {
// if (this.currentGP1.a && !this.previousGP1.a) {
// fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
// Actions.runBlocking(new SequentialAction(
// lift.toLowBucket,
// arm.toBucketPosition,
// wrist.toBucketPosition
// ));
// }
// }
//
// /*
// Controller: 2
// Button: A
// Action: On button press, lift to low bucket height,
// arm to bucket position, wrist to bucket position
// */
// public void toHighBucketScore() {
// if (this.currentGP1.b && !this.previousGP1.b) {
// fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
// Actions.runBlocking(new SequentialAction(
// lift.toHighBucket,
// arm.toBucketPosition,
// wrist.toBucketPosition
// ));
// }
// }
//
// /*
// Controller: 2
// Button: Direction Pad DOWN
// Action: On directional press, lift to floor height,
// arm to bucket position, wrist to floor position
// */
// public void toFieldFromBucketScore() {
// if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right) {
// if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
// Actions.runBlocking(new SequentialAction(
// lift.toFloor,
// arm.toBucketPosition,
// wrist.toFloorPosition
// ));
//// fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
// }
// }
// }
//
//}

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AsherPathV1.java Normal file
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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);
}
}

79
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExample.java Normal file
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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);
}
}

106
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleFour.java Normal file
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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 = "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(12,60, 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(12.000, 60.000, Point.CARTESIAN),
new Point(60.000, 60.000, Point.CARTESIAN),
new Point(60.000, 12.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 12.000, Point.CARTESIAN),
new Point(40.000, 12.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.addPath(
// Line 3
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)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.addPath(
// Line 4
new BezierLine(
new Point(12.000, 35.000, Point.CARTESIAN),
new Point(12.000, 60.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), 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);
}
}

142
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleSeason2025V1.java Normal file
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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);
}
}

89
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleThree.java Normal file
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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 = "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(10,45, 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))
.addPath(
// Line 2
new BezierLine(
new Point(50.000, 20.000, Point.CARTESIAN),
new Point(10.000, 20.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), 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);
}
}

80
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleTwo.java Normal file
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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);
}
}

91
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoTest.java Normal file
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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);
}
}

197
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BasicOmniOpMode_Linear.java Normal file
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/* Copyright (c) 2021 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 static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
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.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;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
/*
* 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.
* The names of OpModes appear on the menu of the FTC Driver Station.
* When a selection is made from the menu, the corresponding OpMode is executed.
*
* This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
* This code will work with either a Mecanum-Drive or an X-Drive train.
* Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
* Note that a Mecanum drive must display an X roller-pattern when viewed from above.
*
* Also note that it is critical to set the correct rotation direction for each motor. See details below.
*
* Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
* Each motion axis is controlled by one Joystick axis.
*
* 1) Axial: Driving forward and backward Left-joystick Forward/Backward
* 2) Lateral: Strafing right and left Left-joystick Right and Left
* 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left
*
* This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
* When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
* the direction of all 4 motors (see code below).
*
* 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
*/
@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
@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.
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);
DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
// TODO: replace these with your encoder ports
Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
Encoder 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);
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
// ########################################################################################
// Most robots need the motors on one side to be reversed to drive forward.
// The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
// If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
// that your motors are turning in the correct direction. So, start out with the reversals here, BUT
// when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
// Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
// Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
telemetry.update();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
double max;
// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
double lateral = gamepad1.left_stick_x;
double yaw = gamepad1.right_stick_x;
// Combine the joystick requests for each axis-motion to determine each wheel's power.
// Set up a variable for each drive wheel to save the power level for telemetry.
double leftFrontPower = axial + lateral + yaw;
double rightFrontPower = axial - lateral - yaw;
double leftBackPower = axial - lateral + yaw;
double rightBackPower = axial + lateral - yaw;
// Normalize the values so no wheel power exceeds 100%
// This ensures that the robot maintains the desired motion.
max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
max = Math.max(max, Math.abs(leftBackPower));
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
// This is test code:
//
// Uncomment the following code to test your motor directions.
// Each button should make the corresponding motor run FORWARD.
// 1) First get all the motors to take to correct positions on the robot
// by adjusting your Robot Configuration if necessary.
// 2) Then make sure they run in the correct direction by modifying the
// the setDirection() calls above.
// Once the correct motors move in the correct direction re-comment this code.
/*
leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad
leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad
rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad
rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad
*/
// Send calculated power to wheels
leftFrontDrive.setPower(leftFrontPower);
rightFrontDrive.setPower(rightFrontPower);
leftBackDrive.setPower(leftBackPower);
rightBackDrive.setPower(rightBackPower);
// Show the elapsed game time and wheel power.
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);
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
telemetry.update();
}
}}

128
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueAuto.java Normal file
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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();
}
}

130
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueNonBasketAuto.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueBasketAuto.java
View File

@ -1,9 +1,11 @@
package org.firstinspires.ftc.teamcode;
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 com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
@ -13,149 +15,147 @@ 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 = "Blue Non Basket Auto", group = "Competition")
public class BlueNonBasketAuto extends OpMode {
/**
* 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 PathChain path2;
private final Pose startPose = new Pose(8.000, 55.000);
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(.6);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(8.000, 55.000, Point.CARTESIAN),
new Point(27.482, 33.750, Point.CARTESIAN),
new Point(62.357, 33.107, Point.CARTESIAN)
new BezierLine(
new Point(11.250, 95.750, Point.CARTESIAN),
new Point(37.000, 108.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0)).build();
follower.followPath(path);
path2 = follower.pathBuilder()
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierLine(
new Point(62.357, 33.107, Point.CARTESIAN),
new Point(62.000, 27.000, Point.CARTESIAN)
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(62.000, 27.000, Point.CARTESIAN),
new Point(10.000, 27.000, Point.CARTESIAN)
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(10.000, 27.000, Point.CARTESIAN),
new Point(61.875, 27.000, Point.CARTESIAN)
new Point(28.000, 121.500, Point.CARTESIAN),
new Point(18.000, 130.179, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(61.875, 27.000, Point.CARTESIAN),
new Point(61.714, 17.357, Point.CARTESIAN)
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(61.714, 17.357, Point.CARTESIAN),
new Point(14.464, 17.357, Point.CARTESIAN)
new Point(68.700, 130.500, Point.CARTESIAN),
new Point(18.000, 130.339, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierLine(
new Point(14.464, 17.357, Point.CARTESIAN),
new Point(61.714, 17.357, Point.CARTESIAN)
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(61.714, 17.357, Point.CARTESIAN),
new Point(61.554, 8.000, Point.CARTESIAN)
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(61.554, 8.000, Point.CARTESIAN),
new Point(12.536, 8.196, Point.CARTESIAN)
new Point(53.036, 135.161, Point.CARTESIAN),
new Point(18.643, 135.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierCurve(
new Point(12.536, 8.196, Point.CARTESIAN),
new Point(52.071, 19.929, Point.CARTESIAN),
new Point(50.786, 33.750, Point.CARTESIAN)
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(72.300, 97.400, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 11
new BezierCurve(
new Point(50.786, 33.750, Point.CARTESIAN),
new Point(2.571, 39.375, Point.CARTESIAN),
new Point(20.732, 78.911, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 12
new BezierCurve(
new Point(20.732, 78.911, Point.CARTESIAN),
new Point(24.429, 111.054, Point.CARTESIAN),
new Point(46.929, 121.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 13
new BezierCurve(
new Point(46.929, 121.018, Point.CARTESIAN),
new Point(68.143, 116.357, Point.CARTESIAN),
new Point(63.000, 97.714, Point.CARTESIAN)
// 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(path2);
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);
}
}

246
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluebAutoV1.java Normal file
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);
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluenbAutov1.java Normal file
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@ -0,0 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
public class BluenbAutov1 {
}

109
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/GeneratedPath.java Normal file
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();
}
}

99
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/RedAuto.java Normal file
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@ -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();
}
}
}

185
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMU.java Normal file
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@ -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));
}
}

229
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/* 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));
}
}

172
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/* Copyright (c) 2022 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 static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_LOGO_FACING_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_USB_FACING_DIRECTION;
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;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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.DcMotorEx;
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;
/*
* This OpMode shows how to use the new universal IMU interface. This
* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
* on the robot with the name "imu".
*
* The sample will display the current Yaw, Pitch and Roll of the robot.<br>
* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
*
* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
*
* This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
* (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
*
* Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
* the alternative SensorIMUNonOrthogonal sample in this folder.
*
* This "Orthogonal" requirement means that:
*
* 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
* FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
*
* 2) The USB ports can only be pointing in one of the same six directions:<br>
* FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
*
* So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
* logoFacingDirection<br>
* usbFacingDirection
*
* 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.
*
* Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
* to use those parameters.
*/
@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
@Disabled // Comment this out to add to the OpMode list
public class SensorIMUOrthogonal extends LinearOpMode {
// The IMU sensor object
IMU imu;
private Encoder leftEncoder;
private Encoder rightEncoder;
private Encoder strafeEncoder;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override
public void runOpMode() throws InterruptedException {
// Retrieve and initialize the IMU.
// This sample expects the IMU to be in a REV Hub and named "imu".
imu = hardwareMap.get(IMU.class, PedroConstants.IMU);
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
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);
/* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
*
* Two input parameters are required to fully specify the Orientation.
* The first parameter specifies the direction the printed logo on the Hub is pointing.
* The second parameter specifies the direction the USB connector on the Hub is pointing.
* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
*
* If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
* RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
*/
/* The next two lines define Hub orientation.
* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
*
* To Do: EDIT these two lines to match YOUR mounting configuration.
*/
RevHubOrientationOnRobot.LogoFacingDirection logoDirection = IMU_LOGO_FACING_DIRECTION;
RevHubOrientationOnRobot.UsbFacingDirection usbDirection = IMU_USB_FACING_DIRECTION;
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
// Now initialize the IMU with this mounting orientation
// Note: if you choose two conflicting directions, this initialization will cause a code exception.
imu.initialize(new IMU.Parameters(orientationOnRobot));
// Loop and update the dashboard
while (!isStopRequested()) {
telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection);
// Check to see if heading reset is requested
if (gamepad1.y) {
telemetry.addData("Yaw", "Resetting\n");
imu.resetYaw();
} else {
telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
}
// Retrieve Rotational Angles and Velocities
YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
telemetry.update();
}
}
}

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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);
}
}

174
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bRedAutoV1.java Normal file
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@ -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();
}
}

91
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/ArmTest.java
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@ -1,91 +0,0 @@
/* Copyright (c) 2021 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.tests;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
@TeleOp(name = "Arm Test", group = "Debug")
public class ArmTest extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Arm
*/
ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
arm.init();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
if (currentGamepad1.circle && !previousGamepad1.circle) {
arm.toParkPosition();
}
if (currentGamepad1.square && !previousGamepad1.square) {
arm.toBucketPosition();
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
arm.setPosition(arm.getPosition() - .05);
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
arm.setPosition(arm.getPosition() + .05);
}
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Arm State", arm.getState());
telemetry.addData("Arm Position", arm.getPosition());
telemetry.update();
}
}
}

80
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/ClawTest.java
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@ -1,80 +0,0 @@
/* Copyright (c) 2021 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.tests;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
@TeleOp(name = "Claw Test", group = "Debug")
public class ClawTest extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Claw
*/
ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
waitForStart();
claw.init();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
if (currentGamepad1.cross && !previousGamepad1.cross) {
claw.switchState();
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Claw State", claw.getState());
telemetry.update();
}
}
}

100
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftTest.java
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@ -1,100 +0,0 @@
/* Copyright (c) 2021 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.tests;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
@TeleOp(name = "Lift Test", group = "Debug")
public class LiftTest extends LinearOpMode {
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
lift.init();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
if (currentGamepad1.square && !previousGamepad1.square) {
Actions.runBlocking(lift.toFloorPosition());
}
if (currentGamepad1.triangle && !previousGamepad1.triangle) {
Actions.runBlocking(lift.toHighBucketPosition());
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
Actions.runBlocking(lift.toLowBucketPosition());
}
if (currentGamepad1.cross && !previousGamepad1.cross) {
lift.switchState();
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
lift.setPosition(lift.getPosition() + 25);
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
lift.setPosition(lift.getPosition() - 25);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Lift Drive Position", lift.getPosition());
telemetry.update();
}
}
}

137
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftWristArmTest.java
View File

@ -1,137 +0,0 @@
/* Copyright (c) 2021 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.tests;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
@TeleOp(name = "Lift Wrist Arm Test", group = "Debug")
public class LiftWristArmTest extends LinearOpMode {
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
lift.init();
wrist.init();
arm.init();
claw.init();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
arm.setPosition(arm.getPosition() + .05);
}
if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
arm.setPosition(arm.getPosition() - .05);
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
claw.switchState();
}
if (currentGamepad1.dpad_left && !previousGamepad1.dpad_left) {
Actions.runBlocking(
new SequentialAction(
lift.toHighRung(),
arm.toBucketPosition(),
wrist.toRungPosition(),
new SleepAction(0.5),
lift.toHighRungAttach(),
new SleepAction(0.5),
claw.openClaw())
);
//Delete open claw
}
if (currentGamepad1.triangle && !previousGamepad1.triangle) {
wrist.setPosition(wrist.getPosition() + .05);
}
if (currentGamepad1.cross && !previousGamepad1.cross) {
wrist.setPosition(wrist.getPosition() - .05);
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
lift.setPosition(lift.getPosition() + 100);
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
if (lift.getPosition() > 1000) {
lift.setPosition(lift.getPosition()-1000);
}
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Lift Drive Position", lift.getPosition());
telemetry.addData("Wrist Position", wrist.getPosition());
telemetry.addData("Arm Position", arm.getPosition());
telemetry.update();
}
}
}

88
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/SkyhookTest.java
View File

@ -1,88 +0,0 @@
/* Copyright (c) 2021 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.tests;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@TeleOp(name = "Skyhook Test", group = "Debug")
public class SkyhookTest extends LinearOpMode {
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
SkyHookSubsystem hook = new SkyHookSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad2 = new Gamepad();
Gamepad previousGamepad2 = new Gamepad();
hook.init();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
if (currentGamepad2.dpad_up) {
hook.moveSkyHook(-1.00);;
} else if (currentGamepad2.dpad_down) {
hook.moveSkyHook(1.00);
} else {
hook.moveSkyHook(0.00);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Skyhook Position", hook.getHookPosition());
telemetry.update();
}
}
}

196
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/SpecimenTest.java
View File

@ -1,196 +0,0 @@
/* Copyright (c) 2021 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.tests;
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.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
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.Path;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
@TeleOp(name = "SpecimenTest", group = "Debug")
public class SpecimenTest extends LinearOpMode {
private final ElapsedTime runtime = new ElapsedTime();
private PathChain path;
private Follower robot;
private final Pose startPose = new Pose(36, 72);
public AutoLine1 firstPath = new AutoLine1();
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
Follower robot = new Follower(hardwareMap);
firstPath.moveToPath1(robot);
/*
Robot stuff
*/
robot.setStartingPose(startPose);
path = robot.pathBuilder().addPath(
// Line 1
new BezierLine(
new Point(37.500, 72.000, Point.CARTESIAN),
new Point(36.000, 72.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0)).build();
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
Gamepad currentGamepad2 = new Gamepad();
Gamepad previousGamepad2 = new Gamepad();
lift.init();
wrist.init();
arm.init();
claw.init();
robot.setMaxPower(.40);
robot.followPath(path);
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
robot.setTeleOpMovementVectors(-currentGamepad1.left_stick_y, -currentGamepad1.left_stick_x, -currentGamepad1.right_stick_x);
//robot.update();
if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
arm.setPosition(arm.getPosition() + .05);
}
if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
arm.setPosition(arm.getPosition() - .05);
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
claw.switchState();
}
if (currentGamepad1.dpad_right && !previousGamepad1.dpad_right) {
robot.update();
Actions.runBlocking(
new SequentialAction(
wrist.toFloorPosition(),
lift.toHighRung(),
wrist.toSpeciemenBar(),
lift.dropToHighRung()
// reverseMoveToPath(robot),
// claw.openClaw(),
// wrist.toFloorPosition(),
// lift.toFloorPosition()
)
);
}
if (currentGamepad1.triangle && !previousGamepad1.triangle) {
wrist.setPosition(wrist.getPosition() + .05);
}
if (currentGamepad1.cross && !previousGamepad1.cross) {
wrist.setPosition(wrist.getPosition() - .05);
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
lift.setPosition(lift.getPosition() + 175);
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
lift.setPosition(lift.getPosition() - 25);
}
if (currentGamepad2.x && !previousGamepad2.x) {
while (true) {
robot.update();
if (!robot.isBusy()) {
robot.breakFollowing();
robot.startTeleopDrive();
break;
}
}
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Lift Drive Position", lift.getPosition());
telemetry.addData("Wrist Position", wrist.getPosition());
telemetry.addData("Arm Position", arm.getPosition());
telemetry.update();
}
}
}

97
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/WristTest.java
View File

@ -1,97 +0,0 @@
/* Copyright (c) 2021 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.tests;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
@TeleOp(name = "Wrist Test", group = "Debug")
public class WristTest extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Wrist
*/
WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad1 = new Gamepad();
Gamepad previousGamepad1 = new Gamepad();
wrist.init();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
if (currentGamepad1.square && !previousGamepad1.square) {
Actions.runBlocking(wrist.toBucketPosition());
}
if (currentGamepad1.circle && !previousGamepad1.circle) {
Actions.runBlocking(wrist.toFloorPosition());
}
if (currentGamepad1.cross && !previousGamepad1.cross) {
wrist.switchState();
}
if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
wrist.setPosition(wrist.getPosition() - .05);
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
wrist.setPosition(wrist.getPosition() + .05);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Wrist State", wrist.getState());
telemetry.addData("Wrist Position", wrist.getPosition());
telemetry.update();
}
}
}

33
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
View File

@ -1,33 +0,0 @@
package org.firstinspires.ftc.teamcode.configs;
import com.acmerobotics.dashboard.config.Config;
@Config
public class RobotConstants {
public final static double clawClose = 0.8;
public final static double clawOpen = 0.15;
public final static double armFloor = 0.7;
public final static double armSubmarine = 0.55;
public final static double armPark = 0.0;
public final static double armBucket = 0.2;
public final static double wristFloor = 0.55;
public final static double wristBucket = 0.25;
public final static double wristRung = 0.55;
public final static double wristPickup = 0.1;
public final static double wristSpeciemen = 0.1;
public final static int liftToFloorPos = 500;
public final static int liftToLowBucketPos = 2650;
public final static int liftToHighRung = 2100;
public final static int dropToHighRung = 1675;
public final static int liftToHighRungAttach = 1050;
public final static int liftToHighBucketPos = 4900;
public final static double liftPower = 1;
}

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md
View File

@ -71,9 +71,8 @@ measurements will be in centimeters.
of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
what works best for you is most important. Higher numbers will cause a faster brake, but increase
oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`.
* The drive PID is much, much more sensitive than the others. For reference,
`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more
* sensitive than the others. For reference,
my P values were in the hundredths and thousandths place values, and my D values were in the hundred
thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
`useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`

50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
View File

@ -929,31 +929,31 @@ public class Follower {
* method will use to output the debug data.
*/
public void telemetryDebug(MultipleTelemetry telemetry) {
// telemetry.addData("follower busy", isBusy());
// telemetry.addData("heading error", headingError);
// telemetry.addData("heading vector magnitude", headingVector.getMagnitude());
// telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude());
// telemetry.addData("corrective vector heading", correctiveVector.getTheta());
// telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude());
// telemetry.addData("translational error direction", getTranslationalError().getTheta());
// telemetry.addData("translational vector magnitude", translationalVector.getMagnitude());
// telemetry.addData("translational vector heading", translationalVector.getMagnitude());
// telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude());
// telemetry.addData("centripetal vector heading", centripetalVector.getTheta());
// telemetry.addData("drive error", driveError);
// telemetry.addData("drive vector magnitude", driveVector.getMagnitude());
// telemetry.addData("drive vector heading", driveVector.getTheta());
// telemetry.addData("x", getPose().getX());
// telemetry.addData("y", getPose().getY());
// telemetry.addData("heading", getPose().getHeading());
// telemetry.addData("total heading", poseUpdater.getTotalHeading());
// telemetry.addData("velocity magnitude", getVelocity().getMagnitude());
// telemetry.addData("velocity heading", getVelocity().getTheta());
// driveKalmanFilter.debug(telemetry);
// telemetry.update();
// if (drawOnDashboard) {
// Drawing.drawDebug(this);
// }
telemetry.addData("follower busy", isBusy());
telemetry.addData("heading error", headingError);
telemetry.addData("heading vector magnitude", headingVector.getMagnitude());
telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude());
telemetry.addData("corrective vector heading", correctiveVector.getTheta());
telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude());
telemetry.addData("translational error direction", getTranslationalError().getTheta());
telemetry.addData("translational vector magnitude", translationalVector.getMagnitude());
telemetry.addData("translational vector heading", translationalVector.getMagnitude());
telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude());
telemetry.addData("centripetal vector heading", centripetalVector.getTheta());
telemetry.addData("drive error", driveError);
telemetry.addData("drive vector magnitude", driveVector.getMagnitude());
telemetry.addData("drive vector heading", driveVector.getTheta());
telemetry.addData("x", getPose().getX());
telemetry.addData("y", getPose().getY());
telemetry.addData("heading", getPose().getHeading());
telemetry.addData("total heading", poseUpdater.getTotalHeading());
telemetry.addData("velocity magnitude", getVelocity().getMagnitude());
telemetry.addData("velocity heading", getVelocity().getTheta());
driveKalmanFilter.debug(telemetry);
telemetry.update();
if (drawOnDashboard) {
Drawing.drawDebug(this);
}
}
/**

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
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));
}
/**

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
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;

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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));

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
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();

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LateralTuner.java
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");

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/pathGeneration/PathBuilder.java
View File

@ -14,7 +14,6 @@ import java.util.ArrayList;
* @version 1.0, 3/11/2024
*/
public class PathBuilder {
public PathBuilder setTangentHeadingInterpolation;
private ArrayList<Path> paths = new ArrayList<>();
private ArrayList<PathCallback> callbacks = new ArrayList<>();

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
View File

@ -53,14 +53,14 @@ 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,
.025,
0.025,
0);
// Feed forward constant added on to the heading PIDF

26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardVelocityTuner.java
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();
}
}
}

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
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();
}

89
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmActionsSubsystem.java
View File

@ -1,89 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.ARM_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armSubmarine;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.ServoImplEx;
public class ArmActionsSubsystem {
public enum ArmState {
PARK, FLOOR, BUCKET, SUBMARINE
}
private ServoImplEx arm;
private ArmState state;
public ArmActionsSubsystem(HardwareMap hardwareMap) {
this.arm = hardwareMap.get(ServoImplEx.class, ARM_NAME);
}
public class MoveToPosition implements Action {
private double positionValue;
private ArmState positionState;
public MoveToPosition(double positionValue, ArmState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
arm.setPosition(positionValue);
setState(positionState);
telemetryPacket.put("Arm State", positionState);
return false;
}
}
public Action toParkPosition() {
return new MoveToPosition(armPark, ArmState.PARK);
}
public Action toSubmarinePosition() {
return new MoveToPosition(armSubmarine, ArmState.SUBMARINE);
}
public Action toFloorPosition() {
return new MoveToPosition(armFloor, ArmState.FLOOR);
}
public Action toBucketPosition() {
return new MoveToPosition(armBucket, ArmState.BUCKET);
}
public void setState(ArmState armState) {
this.state = armState;
}
public ArmState getState() {
return this.state;
}
public void init() {
this.arm.resetDeviceConfigurationForOpMode();
Actions.runBlocking(this.toParkPosition());
}
public void start() {
Actions.runBlocking(this.toParkPosition());
}
public double getPosition() {
return this.arm.getPosition();
}
public void setPosition(double position) {
this.arm.setPosition(position);
}
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java
View File

@ -1,34 +1,42 @@
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 Pose startPose = new Pose(36, 72);
private PathChain pathChain;
private Pose autoLin1StartPose = new Pose(8,65);
public void moveToPath1(Follower robot) {
PathChain pathChain;
robot.setStartingPose(startPose);
public void moveToAutoLine1(Follower robot) {
PathBuilder builder = new PathBuilder();
builder
.addPath(
new BezierCurve(
new Point(36.000, 72.000, Point.CARTESIAN),
new Point(37.500, 72.000, Point.CARTESIAN)
// 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);
}

26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java
View File

@ -1,9 +1,14 @@
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;
@ -13,26 +18,23 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
AutoLine# - This file does something of a path......
*/
public class HighBasketAutoPath1 {
private final Pose startPose = new Pose(8, 89);
public void moveToPath1(Follower robot) {
PathChain pathChain;
robot.setStartingPose(startPose);
public class AutoLine2 {
private PathChain pathChain;
public void moveToAutoLine2(Follower robot) {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 2
new BezierCurve(
new Point(8.000, 89.000, Point.CARTESIAN),
new Point(24.000, 96.000, Point.CARTESIAN),
new Point(18.000, 126.000, Point.CARTESIAN)
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(135));
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java Normal file
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();
}
}

36
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoPark.java
View File

@ -1,36 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
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.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 AutoPark {
public void moveToPark(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
new BezierCurve(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(85.000, 132.750, Point.CARTESIAN),
new Point(84.000, 97.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(135));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

82
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ClawActionsSubsystem.java
View File

@ -1,82 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.CLAW_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
public class ClawActionsSubsystem {
public enum ClawState {
CLOSED, OPEN
}
private Servo claw;
private ClawState state;
public ClawActionsSubsystem(HardwareMap hardwareMap) {
this.claw = hardwareMap.get(Servo.class, CLAW_NAME);
}
public class MoveToPosition implements Action {
private double positionValue;
private ClawState positionState;
public MoveToPosition(double positionValue, ClawState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
claw.setPosition(positionValue);
telemetryPacket.put("Claw State", positionState);
return false;
}
}
public Action openClaw() {
return new MoveToPosition(clawOpen, ClawState.OPEN);
}
public Action closeClaw() {
return new MoveToPosition(clawClose, ClawState.CLOSED);
}
public void setState(ClawState clawState) {
this.state = clawState;
}
public ClawState getState() {
return this.state;
}
public void switchState() {
if (state == ClawState.CLOSED) {
Actions.runBlocking(openClaw());
} else if (state == ClawState.OPEN) {
Actions.runBlocking(closeClaw());
}
}
public void init() {
Actions.runBlocking(closeClaw());
}
public void start() {
Actions.runBlocking(openClaw());
}
public double getPosition() {
return this.claw.getPosition();
}
}

36
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java
View File

@ -1,36 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
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 HighBasketAutoPath2 {
public void moveToPath2(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(25.500, 120.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

35
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath3.java
View File

@ -1,35 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
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.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 HighBasketAutoPath3 {
public void moveToBasketPath3(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(29.000, 120.000, Point.CARTESIAN),
new Point(18.000, 126.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

34
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath4.java
View File

@ -1,34 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
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;
/*
AutoLine# - This file does something of a path......
*/
public class HighBasketAutoPath4 {
public void moveToPickupAgainPath4(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(25.000, 129.900, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

34
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath5.java
View File

@ -1,34 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
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;
/*
AutoLine# - This file does something of a path......
*/
public class HighBasketAutoPath5 {
public void moveToPickupAgainPath5(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(24.000, 131.000, Point.CARTESIAN),
new Point(18.000, 126.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath6.java
View File

@ -1,50 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
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;
/*
AutoLine# - This file does something of a path......
*/
public class HighBasketAutoPath6 {
public void moveToParkPath6(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(18.000, 126.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(270))
.addPath(
// Line 2
new BezierLine(
new Point(18.000, 126.000, Point.CARTESIAN),
new Point(81.000, 125.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(270), Math.toRadians(270))
.addPath(
// Line 3
new BezierLine(
new Point(81.000, 125.000, Point.CARTESIAN),
new Point(81.000, 100.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(270), Math.toRadians(270));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

126
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
View File

@ -1,126 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.dropToHighRung;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRung;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRungAttach;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
public class LiftActionsSubsystem {
public DcMotor lift;
public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE, HIGH_RUNG, HIGH_RUNG_DROP
}
private LiftState liftState;
public LiftActionsSubsystem(HardwareMap hardwareMap) {
lift = hardwareMap.get(DcMotor.class, LIFT_NAME);
}
public class MoveToPosition implements Action {
private int positionValue;
private LiftState positionState;
public MoveToPosition(int positionValue, LiftState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
lift.setTargetPosition(positionValue);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetryPacket.put("Lift State", positionState);
telemetryPacket.put("Lift Position", lift.getCurrentPosition());
boolean result = lift.getTargetPosition() - 15 < lift.getCurrentPosition() &&
lift.getCurrentPosition() < lift.getTargetPosition() + 15;
return !result;
}
}
public Action toFloorPosition() {
return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
}
public Action toHighRung() {
return new MoveToPosition(liftToHighRung, LiftState.HIGH_RUNG);
}
public Action dropToHighRung() {
return new MoveToPosition(dropToHighRung, LiftState.HIGH_RUNG_DROP);
}
public Action toZeroPosition() {
return new MoveToPosition(0, LiftState.FLOOR);
}
public Action toHighRungAttach() {
return new MoveToPosition(liftToHighRungAttach, LiftState.HIGH_RUNG);
}
public Action toLowBucketPosition() {
return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
}
public Action toHighBucketPosition() {
return new MoveToPosition(liftToHighBucketPos, LiftState.HIGH_BUCKET);
}
public void switchState() {
if (this.liftState == LiftState.FLOOR) {
Actions.runBlocking(toLowBucketPosition());
} else if (this.liftState == LiftState.LOW_BUCKET) {
Actions.runBlocking(toHighBucketPosition());
} else if (this.liftState == LiftState.HIGH_BUCKET) {
Actions.runBlocking(toFloorPosition());
}
}
public void init() {
lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lift.setDirection(DcMotorSimple.Direction.REVERSE);
lift.setPower(liftPower);
}
private void setState(LiftState liftState) {
this.liftState = liftState;
}
public LiftState getState() {
return this.liftState;
}
public int getPosition() {
return lift.getCurrentPosition();
}
public void setPosition(int position) {
lift.setTargetPosition(position);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void start() {
Actions.runBlocking(toFloorPosition());
}
}

47
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java
View File

@ -8,7 +8,12 @@ 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;
@ -36,7 +41,7 @@ public class MotorsSubsystem {
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = 1.0;
this.power = MAX_POWER;
}
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
@ -80,46 +85,6 @@ public class MotorsSubsystem {
backRightMotor.setPower(power);
}
public void calculateTrajectory(Gamepad gamepad1) {
double max;
// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
double lateral = gamepad1.left_stick_x;
double yaw = gamepad1.right_stick_x;
// Combine the joystick requests for each axis-motion to determine each wheel's power.
// Set up a variable for each drive wheel to save the power level for telemetry.
double leftFrontPower = axial + lateral + yaw;
double leftBackPower = axial - lateral + yaw;
double rightFrontPower = axial - lateral - yaw;
double rightBackPower = axial + lateral - yaw;
// Normalize the values so no wheel power exceeds 100%
// This ensures that the robot maintains the desired motion.
max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
max = Math.max(max, Math.abs(leftBackPower));
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
// Send calculated power to wheels
this.setFrontLeftMotorPower(leftFrontPower * this.power);
this.setFrontRightMotorPower(rightFrontPower * this.power);
this.setBackLeftMotorPower(leftBackPower * this.power);
this.setBackRightMotorPower(rightBackPower * this.power);
// Show the elapsed game time and wheel power.
this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
this.telemetry.addData("Current State", this.getState());
}
public void setState(TravelState travelState) {
this.travelState = travelState;

52
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/SkyHookSubsystem.java
View File

@ -1,52 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.SKYHOOK_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import com.acmerobotics.roadrunner.Action;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class SkyHookSubsystem {
public DcMotorEx hook;
public SkyHookSubsystem(HardwareMap hardwareMap) {
hook = hardwareMap.get(DcMotorEx.class, SKYHOOK_NAME);
}
public void moveSkyHook(int position){
hook.setTargetPosition(position);
hook.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void moveSkyHook(double power) {
hook.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
hook.setPower(power);
}
public void init() {
hook.setPower(0);
hook.setMode(DcMotor.RunMode.RUN_TO_POSITION);
hook.setTargetPosition(0);
}
public void toParkPosition() {
moveSkyHook(0);
}
public void toLevel1Position() {
moveSkyHook(1500);
}
public int getHookPosition() {
return hook.getCurrentPosition();
}
}

104
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristActionsSubsystem.java
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@ -1,104 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristPickup;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristRung;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristSpeciemen;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.ServoImplEx;
public class WristActionsSubsystem {
public enum WristState {
FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN
}
public ServoImplEx wrist;
public WristState state;
public WristActionsSubsystem(HardwareMap hardwareMap) {
this.wrist = hardwareMap.get(ServoImplEx.class, WRIST_NAME);
}
public class MoveToPosition implements Action {
private double positionValue;
private WristState positionState;
public MoveToPosition(double positionValue, WristState positionState) {
this.positionValue = positionValue;
this.positionState = positionState;
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
wrist.setPosition(positionValue);
telemetryPacket.put("Wrist State", positionState);
return false;
}
}
public Action toFloorPosition() {
return new MoveToPosition(wristFloor, WristState.FLOOR);
}
public Action toSpeciemenBar() {
return new MoveToPosition(wristSpeciemen, WristState.SPECIMEN);
}
public Action toRungPosition() {
return new MoveToPosition(wristFloor, WristState.FLOOR);
}
public Action toBucketPosition() {
return new MoveToPosition(wristBucket, WristState.BUCKET);
}
public Action toPickupPosition() {
return new MoveToPosition(wristPickup, WristState.PICKUP);
}
public void setState(WristState wristState) {
this.state = wristState;
}
public void switchState() {
if (state == WristState.FLOOR) {
Actions.runBlocking(this.toBucketPosition());
} else if (state == WristState.BUCKET) {
Actions.runBlocking(this.toFloorPosition());
}
}
public WristState getState() {
return this.state;
}
public void init() {
wrist.resetDeviceConfigurationForOpMode();
Actions.runBlocking(this.toFloorPosition());
}
public void start() {
Actions.runBlocking(this.toFloorPosition());
}
public void setPosition(double position) {
wrist.setPosition(position);
}
public double getPosition() {
return wrist.getPosition();
}
}

2
build.dependencies.gradle
View File

@ -20,5 +20,5 @@ dependencies {
implementation "com.acmerobotics.roadrunner:core:1.0.0"
implementation "com.acmerobotics.roadrunner:actions:1.0.0"
implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
}