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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-black-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

8 Commits
branch-rc- ... branch-bla

Author SHA1 Message Date
Carlos
a933487ce0 Merge branch 'branch-rc-chassis-14493' into branch-black-14493 2024-10-21 22:12:43 -07:00
Carlos Rivas
2e1dbddba6 Boolean clarification 2024-10-21 21:51:04 -07:00
robotics1
5d94363715 Basic configuration steps 2024-10-17 12:18:56 -07:00
carlos
0c8db615eb Merge remote-tracking branch 'origin/branch-black-14493' into branch-black-14493 2024-10-17 11:12:46 -07:00
carlos
afb39ae3cc Add sample driving file 2024-10-17 11:12:34 -07:00
carlos
46bece8209 YOLO 360 no scope booyah 2024-10-15 16:08:17 -07:00
robotics1
3e3d9bbcff Something something arm stuff 2024-10-15 16:05:03 -07:00
carlos
ff52114f9b work in progress sidearm 2024-10-01 15:46:15 -07:00
16 changed files with 294 additions and 1052 deletions
Expand all files Collapse all files

27
TeamCode/src/main/java/ServoPractice.java Normal file
View File

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

135
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathV1.java
View File

@ -1,135 +0,0 @@
package org.firstinspires.ftc.teamcode;
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);
}
}

45
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExample.java
View File

@ -33,7 +33,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
@Autonomous(name = "AutoExample", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
private Telemetry telemetryA;
@ -41,7 +41,7 @@ public class AutoExample extends OpMode {
private PathChain path;
private final Pose startPose = new Pose(0.0, 20.0, 0);
private final Pose startPose = new Pose(12.0, 11, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -59,11 +59,46 @@ public class AutoExample extends OpMode {
.addPath(
// Line 1
new BezierLine(
new Point(0.000, 20.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
new Point(12.804, 11.223, Point.CARTESIAN),
new Point(12.804, 42.362, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierCurve(
new Point(12.804, 42.362, Point.CARTESIAN),
new Point(11.381, 57.379, Point.CARTESIAN),
new Point(31.614, 56.588, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(31.614, 56.588, Point.CARTESIAN),
new Point(51.214, 56.746, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierCurve(
new Point(51.214, 56.746, Point.CARTESIAN),
new Point(64.334, 58.643, Point.CARTESIAN),
new Point(61.172, 45.524, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierCurve(
new Point(61.172, 45.524, Point.CARTESIAN),
new Point(36.198, 26.239, Point.CARTESIAN),
new Point(19.759, 11.065, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.build();
follower.followPath(path);

106
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleFour.java
View File

@ -1,106 +0,0 @@
package org.firstinspires.ftc.teamcode;
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/AutoExampleSeason2025V1.java
View File

@ -1,142 +0,0 @@
package org.firstinspires.ftc.teamcode;
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/AutoExampleThree.java
View File

@ -1,89 +0,0 @@
package org.firstinspires.ftc.teamcode;
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);
}
}

30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleTwo.java
View File

@ -26,7 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
@Autonomous(name = "AutoExampleTwo", group = "Autonomous Pathing Tuning")
public class AutoExampleTwo extends OpMode {
private Telemetry telemetryA;
@ -34,7 +34,7 @@ public class AutoExampleTwo extends OpMode {
private PathChain path;
private final Pose startPose = new Pose(10.0, 45, 0);
private final Pose startPose = new Pose(10.0, 40, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -51,14 +51,28 @@ public class AutoExampleTwo extends OpMode {
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)
new BezierLine(
new Point(10.000, 40.000, Point.CARTESIAN),
new Point(60.000, 40.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.build();
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 40.000, 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(10.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
follower.followPath(path);

32
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
View File

@ -29,8 +29,11 @@
package org.firstinspires.ftc.teamcode;
<<<<<<< HEAD
=======
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
>>>>>>> branch-rc-chassis-14493
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
@ -39,20 +42,28 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
<<<<<<< HEAD
=======
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
>>>>>>> branch-rc-chassis-14493
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
<<<<<<< HEAD
import com.qualcomm.robotcore.util.ElapsedTime;
=======
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
>>>>>>> branch-rc-chassis-14493
/*
* This file contains an example of a Linear "OpMode".
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
@ -85,13 +96,27 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
<<<<<<< HEAD
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftFrontDrive = null;
private DcMotor leftBackDrive = null;
private DcMotor rightFrontDrive = null;
private DcMotor rightBackDrive = null;
=======
private final ElapsedTime runtime = new ElapsedTime();
>>>>>>> branch-rc-chassis-14493
@Override
public void runOpMode() {
// Initialize the hardware variables. Note that the strings used here must correspond
// to the names assigned during the robot configuration step on the DS or RC devices.
<<<<<<< HEAD
leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
=======
DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
@ -108,6 +133,7 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
>>>>>>> branch-rc-chassis-14493
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
@ -126,9 +152,12 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
<<<<<<< HEAD
=======
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
>>>>>>> branch-rc-chassis-14493
telemetry.update();
waitForStart();
@ -190,9 +219,12 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
<<<<<<< HEAD
=======
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
>>>>>>> branch-rc-chassis-14493
telemetry.update();
}
}}

147
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
View File

@ -1,147 +0,0 @@
package org.firstinspires.ftc.teamcode;
import static android.os.SystemClock.sleep;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
public class BlueBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(11.25, 95.75);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(11.250, 95.750, Point.CARTESIAN),
new Point(37.000, 108.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(37.000, 108.000, Point.CARTESIAN),
new Point(73.286, 111.536, Point.CARTESIAN),
new Point(67.821, 120.536, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierLine(
new Point(67.821, 120.536, Point.CARTESIAN),
new Point(28.000, 121.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierLine(
new Point(28.000, 121.500, Point.CARTESIAN),
new Point(15.750, 126.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierCurve(
new Point(15.750, 126.321, Point.CARTESIAN),
new Point(59.000, 102.500, Point.CARTESIAN),
new Point(68.700, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(68.700, 130.500, Point.CARTESIAN),
new Point(22.661, 130.821, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierCurve(
new Point(22.661, 130.821, Point.CARTESIAN),
new Point(49.018, 121.179, Point.CARTESIAN),
new Point(63.804, 135.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(63.804, 135.321, Point.CARTESIAN),
new Point(26.679, 135.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(26.679, 135.964, Point.CARTESIAN),
new Point(83.250, 95.464, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).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);
}
}

247
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BluebAutoV1.java
View File

@ -1,247 +0,0 @@
package org.firstinspires.ftc.teamcode;
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 = "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/BluenbAutov1.java
View File

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

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -40,13 +40,14 @@ public class PedroConstants {
public static final String BACK_ENCODER = "encoder back";
// Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double LEFT_ENCODER_DIRECTION = Encoder.REVERSE;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
/*
Pedro's parameters
*/
// -0.0708
// The weight of the robot in Kilograms
public static final double ROBOT_WEIGHT_IN_KG = 10.5;
@ -58,7 +59,7 @@ public class PedroConstants {
public static final double ROBOT_SPEED_LATERAL = 28.7119;
// 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 = -57.805;
// 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;

161
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBasketAuto.java
View File

@ -1,161 +0,0 @@
package org.firstinspires.ftc.teamcode;
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 = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
public class RedBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(
135.6
, 48.05);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(136.286, 48.536, Point.CARTESIAN),
new Point(102.375, 32.946, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 2
new BezierLine(
new Point(102.375, 32.946, Point.CARTESIAN),
new Point(80.679, 31.982, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 3
new BezierLine(
new Point(80.679, 31.982, Point.CARTESIAN),
new Point(80.679, 23.304, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 4
new BezierLine(
new Point(80.679, 23.304, Point.CARTESIAN),
new Point(131.143, 21.536, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 5
new BezierLine(
new Point(131.143, 21.536, Point.CARTESIAN),
new Point(81.000, 23.304, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 6
new BezierLine(
new Point(81.000, 23.304, Point.CARTESIAN),
new Point(81.161, 13.179, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 7
new BezierLine(
new Point(81.161, 13.179, Point.CARTESIAN),
new Point(124.554, 13.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 8
new BezierLine(
new Point(124.554, 13.018, Point.CARTESIAN),
new Point(81.000, 13.018, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 9
new BezierLine(
new Point(81.000, 13.018, Point.CARTESIAN),
new Point(80.839, 8.800, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 10
new BezierLine(
new Point(80.839, 8.800, Point.CARTESIAN),
new Point(120.054, 8.518, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(180))
.addPath(
// Line 11
new BezierCurve(
new Point(120.054, 8.518, Point.CARTESIAN),
new Point(49.821, 27.643, Point.CARTESIAN),
new Point(60.429, 48.214, 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);
}
}

165
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SlideArm.java Normal file
View File

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

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`

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
View File

@ -60,8 +60,8 @@ public class FollowerConstants {
public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
2,
0,
.025,
0);
.075,
-.03125);
// Feed forward constant added on to the heading PIDF
public static double headingPIDFFeedForward = 0.01;
@ -81,7 +81,7 @@ public class FollowerConstants {
// Kalman filter parameters for the drive error Kalman filter
public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
6,
3);
1);
// Mass of robot in kilograms