SCDS/FtcRobotController
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branch-cooper #2

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carlos merged 4 commits from branch-cooper into branch-cooper-v9.0.1 2023-11-04 10:04:16 -07:00
Conversation 0 Commits 4 Files Changed 2 +61 -51
2 changed files with 61 additions and 51 deletions
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50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
View File

@ -93,7 +93,7 @@ public class Autonomoustest extends LinearOpMode {
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * Math.PI); (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 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 DRIVE_SPEED = 0.3;
static final double TURN_SPEED = 0.4; static final double TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000; static final double LONG_TIMEOUT = 1000;
@ -105,6 +105,8 @@ public class Autonomoustest extends LinearOpMode {
public void runOpMode() public void runOpMode()
{ {
hardwareinit(); hardwareinit();
gripper.setPosition(1);
sleep(1000);
// Send telemetry message to indicate successful Encoder reset // Send telemetry message to indicate successful Encoder reset
/* telemetry.addData("Starting at", "%7d :%7d", /* telemetry.addData("Starting at", "%7d :%7d",
@ -214,6 +216,8 @@ public class Autonomoustest extends LinearOpMode {
gripper = hardwareMap.get(Servo.class, "gripper"); gripper = hardwareMap.get(Servo.class, "gripper");
arm = hardwareMap.get(DcMotor.class, "arm raise"); arm = hardwareMap.get(DcMotor.class, "arm raise");
wrist = hardwareMap.get(Servo.class, "wrist"); wrist = hardwareMap.get(Servo.class, "wrist");
wrist.setPosition(1);
sleep(1000);
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
@ -251,13 +255,11 @@ public class Autonomoustest extends LinearOpMode {
public void executeAuto() public void executeAuto()
{ {
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
gripper.setPosition(1); driveForward(26);
sleep(1000);
driveForward(28);
int blueleft = readColorLeft(); int blueleft = readColorLeft();
int blueright = readColorRight(); int blueright = readColorRight();
double backboard = 29; double backboard = 29;
if (blueleft > 75) if (blueleft > 50 )
{ {
//telemetry.addData("color sensor","left"); //telemetry.addData("color sensor","left");
if(blueleft > blueright) if(blueleft > blueright)
@ -271,44 +273,45 @@ public class Autonomoustest extends LinearOpMode {
straightLeft(32); straightLeft(32);
turnLeft(10); turnLeft(10);
driveForward(18); driveForward(18);
driveForward(-31); driveForward(-40);
straightRight(31.5); // straightRight(31.5);
raisearm(80); // raisearm(80);
wrist.setPosition(0); // wrist.setPosition(0);
raisearm(100); // raisearm(100);
driveForward(-1); // driveForward(-1);
gripper.setPosition(0.25); // gripper.setPosition(0.25);
terminateOpModeNow(); terminateOpModeNow();
} }
if (blueright > 175) if (blueright > 50)
{ {
if(blueleft < blueright) if(blueleft < blueright)
telemetry.addData("color sensor","right"); telemetry.addData("color sensor","right");
straightRight(11); straightRight(11);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-13.5); driveForward(-15.5);
turnLeft(90); turnLeft(90);
straightLeft(15); straightLeft(15);
driveForward(8); driveForward(8);
driveForward(-26); driveForward(-38);
straightRight(22.5); // straightRight(14.5);
raisearm(80); // raisearm(80);
wrist.setPosition(0); // wrist.setPosition(0);
raisearm(100); // raisearm(100);
driveForward(-5); // gripper.setPosition(.25);
gripper.setPosition(.25); // driveForward(5);
// raisearm(-200);
terminateOpModeNow(); terminateOpModeNow();
} }
else else
telemetry.addData("position","center"); telemetry.addData("position","center");
driveForward(4); driveForward(2.5);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-8); driveForward(-8);
@ -323,6 +326,9 @@ public class Autonomoustest extends LinearOpMode {
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(.25); gripper.setPosition(.25);
sleep(500);
driveForward(5);
raisearm(-270);
telemetry.update(); telemetry.update();
sleep(250); sleep(250);

62
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
View File

@ -93,7 +93,7 @@ public class bluefront extends LinearOpMode {
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * Math.PI); (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 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 DRIVE_SPEED = 0.3;
static final double TURN_SPEED = 0.4; static final double TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000; static final double LONG_TIMEOUT = 1000;
@ -214,6 +214,8 @@ public class bluefront extends LinearOpMode {
gripper = hardwareMap.get(Servo.class, "gripper"); gripper = hardwareMap.get(Servo.class, "gripper");
arm = hardwareMap.get(DcMotor.class, "arm raise"); arm = hardwareMap.get(DcMotor.class, "arm raise");
wrist = hardwareMap.get(Servo.class, "wrist"); wrist = hardwareMap.get(Servo.class, "wrist");
wrist.setPosition(1);
sleep(1000);
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
@ -253,67 +255,68 @@ public class bluefront extends LinearOpMode {
public void executeAuto() public void executeAuto()
{ {
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
driveForward(28); driveForward(26);
int blueleft = readColorLeft(); int blueleft = readColorLeft();
int blueright = readColorRight(); int blueright = readColorRight();
double backboard = 29; double backboard = 29;
if (blueleft > 100) if (blueleft > 75)
{ {
//telemetry.addData("color sensor","left"); //telemetry.addData("color sensor","left");
if(blueleft > blueright) if(blueleft > blueright)
telemetry.addData("color sensor","left"); telemetry.addData("color sensor","left");
straightLeft(8); straightLeft(11);
raisearm(30); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-13.5); driveForward(-15.5);
turnRight(90); turnRight(90);
straightRight(15); straightRight(15);
driveForward(8); driveForward(8);
driveForward(-26); driveForward(-38);
straightLeft(22.5); // straightLeft(22.5);
raisearm(80); // raisearm(80);
wrist.setPosition(0); // wrist.setPosition(0);
raisearm(100); // raisearm(100);
driveForward(-5); // driveForward(-5);
gripper.setPosition(.25); // gripper.setPosition(.25);
terminateOpModeNow(); terminateOpModeNow();
} }
if (blueright > 100) if (blueright > 75)
{ {
if(blueleft < blueright) if(blueleft < blueright)
telemetry.addData("color sensor","right"); telemetry.addData("color sensor","right");
turnRight(90); turnRight(90);
straightLeft(2); straightLeft(2);
raisearm(30); driveForward(6.5);
raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-15); driveForward(-23);
straightRight(32); straightRight(32);
turnRight(10); turnRight(10);
driveForward(18); driveForward(18);
driveForward(-31); driveForward(-40);
straightLeft(34); // straightLeft(34);
raisearm(80); // raisearm(80);
wrist.setPosition(0); // wrist.setPosition(0);
raisearm(100); // raisearm(100);
driveForward(-1); // driveForward(-1);
gripper.setPosition(0.25); // gripper.setPosition(0.25);
terminateOpModeNow(); // terminateOpModeNow();
} }
else else
telemetry.addData("position","center"); telemetry.addData("position","center");
driveForward(11); driveForward(2.5);
raisearm(30); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-6); driveForward(-8);
straightLeft(11.5); straightLeft(11.5);
driveForward(-17); driveForward(-15);
turnRight(90); turnRight(90);
straightRight(15); straightRight(15);
driveForward(8); driveForward(8);
@ -322,8 +325,9 @@ public class bluefront extends LinearOpMode {
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
driveForward(-5);
gripper.setPosition(.25); gripper.setPosition(.25);
sleep(500);
driveForward(5);
telemetry.update(); telemetry.update();
sleep(250); sleep(250);