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auto blue, and red front have been made not tested but values switched

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This commit is contained in:
robotics2
2023-11-03 16:36:34 -07:00
parent 162922a164
commit 6f5e08e0cd
3 changed files with 199 additions and 18 deletions
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29
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
View File

@ -245,34 +245,34 @@ public class Autonomoustest extends LinearOpMode {
}
public void testGripper()
{
gripper.setPosition(0);
sleep(3000);
gripper.setPosition(1);
sleep(3000);
gripper.setPosition(0.5);
}
public void executeAuto()
{
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
gripper.setPosition(1);
sleep(1000);
driveForward(28);
int blueleft = readColorLeft();
int blueright = readColorRight();
double backboard = 29;
if (blueleft > 100)
if (blueleft > 75)
{
//telemetry.addData("color sensor","left");
if(blueleft > blueright)
telemetry.addData("color sensor","left");
turnLeft(90);
straightLeft(2);
driveForward(8);
raisearm(30);
driveForward(6.5);
raisearm(80);
arm.setPower(0);
driveForward(-23);
straightLeft(32);
turnLeft(10);
driveForward(18);
driveForward(-31);
straightRight(34);
straightRight(31.5);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
@ -284,12 +284,12 @@ public class Autonomoustest extends LinearOpMode {
}
if (blueright > 100)
if (blueright > 175)
{
if(blueleft < blueright)
telemetry.addData("color sensor","right");
straightRight(8);
raisearm(30);
straightRight(11);
raisearm(80);
arm.setPower(0);
driveForward(-13.5);
turnLeft(90);
@ -309,11 +309,11 @@ public class Autonomoustest extends LinearOpMode {
else
telemetry.addData("position","center");
driveForward(4);
raisearm(30);
raisearm(80);
arm.setPower(0);
driveForward(-6);
driveForward(-8);
straightRight(11.5);
driveForward(-17);
driveForward(-15);
turnLeft(90);
straightLeft(15);
driveForward(8);
@ -322,7 +322,6 @@ public class Autonomoustest extends LinearOpMode {
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-5);
gripper.setPosition(.25);
telemetry.update();
sleep(250);

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

@ -289,10 +289,9 @@ public class bluefront extends LinearOpMode {
telemetry.addData("color sensor","right");
turnRight(90);
straightLeft(2);
driveForward(8);
raisearm(30);
arm.setPower(0);
driveForward(-23);
driveForward(-15);
straightRight(32);
turnRight(10);
driveForward(18);
@ -309,7 +308,7 @@ public class bluefront extends LinearOpMode {
}
else
telemetry.addData("position","center");
driveForward(4);
driveForward(11);
raisearm(30);
arm.setPower(0);
driveForward(-6);

183
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/colorsense.java Normal file
View File

@ -0,0 +1,183 @@
/* 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;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on encoder counts.
* The code is structured as a LinearOpMode
*
* The code REQUIRES that you DO have encoders on the wheels,
* otherwise you would use: RobotAutoDriveByTime;
*
* This code ALSO requires that the drive Motors have been configured such that a positive
* power command moves them forward, and causes the encoders to count UP.
*
* The desired path in this example is:
* - Drive forward for 48 inches
* - Spin right for 12 Inches
* - Drive Backward for 24 inches
* - Stop and close the claw.
*
* The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
* that performs the actual movement.
* This method assumes that each movement is relative to the last stopping place.
* There are other ways to perform encoder based moves, but this method is probably the simplest.
* This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
*
* 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
*/
@Autonomous(name="color", group="Robot")
//@Disabled
public class colorsense extends LinearOpMode {
/* Declare OpMode members. */
private ColorSensor colorRight = null;
private ColorSensor colorLeft = null;
private ElapsedTime runtime = new ElapsedTime();
// Calculate the COUNTS_PER_INCH for your specific drive train.
// Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
// For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
// For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
// This is gearing DOWN for less speed and more torque.
// For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
static final double COUNTS_PER_MOTOR_REV = 537.6; // eg: TETRIX Motor Encoder
static final double DRIVE_GEAR_REDUCTION = 1.0; // No External Gearing.
static final double WHEEL_DIAMETER_INCHES = 3.77953; // For figuring circumference
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * Math.PI);
static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
static final double DRIVE_SPEED = 0.2;
static final double TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000;
static final double DEGREE_TOO_DISTANCE = 0.21944444444;
static final double ARM_SPEED = .1;
static final double TICKS_TO_DEGREES = 0.07462686567;
@Override
public void runOpMode()
{
hardwareinit();
// Send telemetry message to indicate successful Encoder reset
/* telemetry.addData("Starting at", "%7d :%7d",
leftDrive.getCurrentPosition(),
rightDrive.getCurrentPosition(),
backleftDrive.getCurrentPosition(),
backrightDrive.getCurrentPosition());*/
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
{
executeAuto();
}
// Step through each leg of the path,
// Note: Reverse movement is obtained by setting a negative distance (not speed)
}
//
public int readColorRight() {
telemetry.addData("Clear", colorRight.alpha());
telemetry.addData("Red ", colorRight.red());
telemetry.addData("Green", colorRight.green());
telemetry.addData("Blue ", colorRight.blue());
//telemetry.update();
int bluenumber = colorRight.red();
return bluenumber;
}
public int readColorLeft() {
telemetry.addData("Clear Left", colorLeft.alpha());
telemetry.addData("Red left ", colorLeft.red());
telemetry.addData("Green left", colorLeft.green());
telemetry.addData("Blue left", colorLeft.blue());
//telemetry.update();
int bluenumber = colorLeft.red();
return bluenumber;
}
public void hardwareinit()
{
colorRight = hardwareMap.get(ColorSensor.class, "color right");
colorLeft = hardwareMap.get(ColorSensor.class, "left color");
}
public void executeAuto()
{
while(opModeIsActive())
{
telemetry.addData("Clear Left", colorLeft.alpha());
telemetry.addData("Red left ", colorLeft.red());
telemetry.addData("Green left", colorLeft.green());
telemetry.addData("Blue left", colorLeft.blue());
telemetry.update();
}
}
/*
* Method to perform a relative move, based on encoder counts.
* Encoders are not reset as the move is based on the current position.
* Move will stop if any of three conditions occur:
* 1) Move gets to the desired position
* 2) Move runs out of time
* 3) Driver stops the opmode running.
*/
}