SCDS/FtcTemplate
7
0
Fork 0
mirror of https://github.com/trc492/FtcTemplate.git synced 2025-07-19 05:36:26 -07:00
Code Issues Packages Projects Releases Wiki Activity

Sync'd latest changes from IntoTheDeep.

Browse Source 
Updated ftclib, trclib.
This commit is contained in:
Titan Robotics Club
2024-12-24 02:37:08 -08:00
parent 94b100eca4
commit 5a3bb9474b
10 changed files with 287 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
TeamCode/src/main/java/teamcode/Robot.java
View File

@ -31,11 +31,13 @@ import ftclib.robotcore.FtcOpMode;
import ftclib.sensor.FtcRobotBattery;
import teamcode.subsystems.LEDIndicator;
import teamcode.subsystems.RobotBase;
import teamcode.subsystems.RumbleIndicator;
import teamcode.subsystems.Vision;
import trclib.motor.TrcMotor;
import trclib.motor.TrcServo;
import trclib.pathdrive.TrcPose2D;
import trclib.robotcore.TrcDbgTrace;
import trclib.robotcore.TrcEvent;
import trclib.robotcore.TrcRobot;
import trclib.sensor.TrcDigitalInput;
import trclib.timer.TrcTimer;
@ -60,6 +62,8 @@ public class Robot
public Vision vision;
// Sensors and indicators.
public LEDIndicator ledIndicator;
public RumbleIndicator driverRumble;
public RumbleIndicator operatorRumble;
public FtcRobotBattery battery;
// Subsystems.
// Autotasks.
@ -201,15 +205,21 @@ public class Robot
if (vision != null)
{
vision.setCameraStreamEnabled(false);
if (vision.rawColorBlobVision != null)
if (vision.isRawColorBlobVisionEnabled())
{
globalTracer.traceInfo(moduleName, "Disabling RawColorBlobVision.");
vision.setRawColorBlobVisionEnabled(false);
}
if (vision.aprilTagVision != null)
if (vision.isLimelightVisionEnabled())
{
globalTracer.traceInfo(moduleName, "Disabling AprilTagVision.");
globalTracer.traceInfo(moduleName, "Disabling LimelightVision.");
vision.setLimelightVisionEnabled(0, false);
}
if (vision.isAprilTagVisionEnabled())
{
globalTracer.traceInfo(moduleName, "Disabling Webcam AprilTagVision.");
vision.setAprilTagVisionEnabled(false);
}
@ -296,8 +306,9 @@ public class Robot
* This method zero calibrates all subsystems.
*
* @param owner specifies the owner ID to check if the caller has ownership of the motor.
* @param event specifies the event to signal when the zero calibration is done.
*/
public void zeroCalibrate(String owner)
public void zeroCalibrate(String owner, TrcEvent event)
{
} //zeroCalibrate
@ -306,7 +317,7 @@ public class Robot
*/
public void zeroCalibrate()
{
zeroCalibrate(null);
zeroCalibrate(null, null);
} //zeroCalibrate
/**
@ -372,7 +383,7 @@ public class Robot
*/
public TrcPose2D adjustPoseByAlliance(double x, double y, double heading, FtcAuto.Alliance alliance)
{
return adjustPoseByAlliance(x, y, heading, alliance, true);
return adjustPoseByAlliance(x, y, heading, alliance, false);
} //adjustPoseByAlliance
/**
@ -391,13 +402,13 @@ public class Robot
/**
* This method adjusts the given pose in the red alliance to be the specified alliance.
*
* @param pose specifies pose in the blue alliance in tile unit.
* @param pose specifies pose in the red alliance in tile unit.
* @param alliance specifies the alliance to be converted to.
* @return pose adjusted to be in the specified alliance in inches.
*/
public TrcPose2D adjustPoseByAlliance(TrcPose2D pose, FtcAuto.Alliance alliance)
{
return adjustPoseByAlliance(pose, alliance, true);
return adjustPoseByAlliance(pose, alliance, false);
} //adjustPoseByAlliance
/**