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Auto Tunes + Front Stage Blue Side

This commit is contained in:
Justin 2024-02-20 17:41:34 -06:00
parent bab6de06bb
commit 1783c2f173
5 changed files with 34 additions and 30 deletions
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4
MeepMeepTesting/src/main/java/com/example/meepmeeptesting/MeepMeepTesting.java
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@ -95,8 +95,8 @@ public class MeepMeepTesting {
.setBackgroundAlpha(0.95f) .setBackgroundAlpha(0.95f)
//.addEntity(myBot) //.addEntity(myBot)
//.addEntity(BlueFrontStage) //.addEntity(BlueFrontStage)
//.addEntity(BlueFrontStage3) .addEntity(BlueFrontStage3)
.addEntity(BlueFrontStage1) //.addEntity(BlueFrontStage1)
.start(); .start();
} }
} }

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/endGame_Mechs.java
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@ -14,7 +14,7 @@ public class endGame_Mechs {
private DcMotor hang; private DcMotor hang;
public static double initPos = 0.42; public static double initPos = 0.42;
public static double launchPos = 0.8; public static double launchPos = 0.8;
public static double finger_out = 0.5; public static double finger_out = 0.48;
public static double finger_in = 0.2; public static double finger_in = 0.2;
public static int initHang = -1000; public static int initHang = -1000;
public static double hold = 0.8; public static double hold = 0.8;
@ -34,8 +34,8 @@ public class endGame_Mechs {
public endGame_Mechs(HardwareMap hardwareMap) { public endGame_Mechs(HardwareMap hardwareMap) {
this.servo = hardwareMap.get(Servo.class, "Drone"); this.servo = hardwareMap.get(Servo.class, "Drone");
this.servo.setPosition(initPos); this.servo.setPosition(initPos);
this.servo = hardwareMap.get(Servo.class, "Finger"); // this.servo = hardwareMap.get(Servo.class, "Finger");
this.servo.setPosition(finger_out); // this.servo.setPosition(finger_out);
this.hang = hardwareMap.get(DcMotor.class, "Hang"); this.hang = hardwareMap.get(DcMotor.class, "Hang");
this.hang.setTargetPosition(0); this.hang.setTargetPosition(0);
this.hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); this.hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@ -58,9 +58,9 @@ public class endGame_Mechs {
} }
public void Finger_in() {this.servo.setPosition(finger_in);} // public void Finger_in() {this.servo.setPosition(finger_in);}
//
public void Finger_out () {this.servo.setPosition(finger_out);} // public void Finger_out () {this.servo.setPosition(finger_out);}
public void hang_init_pos(){ public void hang_init_pos(){

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueBackStageAuto.java
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@ -39,13 +39,13 @@ public class BlueBackStageAuto extends AutoBase {
//public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(24, -8.5);//-36 //public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(24, -8.5);//-36
public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(26, 11.1 , Math.toRadians(-187));//-36 public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(26, 12.1 , Math.toRadians(-187));//-36
public static final Pose2d STACK_LOCATION1 = new Pose2d(-56.2, 11.1, Math.toRadians(-187)); public static final Pose2d STACK_LOCATION1 = new Pose2d(-56.2, 12.1, Math.toRadians(-187));
public static final Pose2d STACK_LOCATION2 = new Pose2d(-54.5, 11.1, Math.toRadians(-187)); public static final Pose2d STACK_LOCATION2 = new Pose2d(-54.5, 12.1, Math.toRadians(-187));
public static final Pose2d STACK_LOCATION3 = new Pose2d(-55.6, 11.1, Math.toRadians(-187)); public static final Pose2d STACK_LOCATION3 = new Pose2d(-55.6, 12.1, Math.toRadians(-187));
@Override @Override
@ -141,7 +141,7 @@ public class BlueBackStageAuto extends AutoBase {
builder.lineToConstantHeading(STACK_LOCATION2.vec().plus(new Vector2d(-2.5))); builder.lineToConstantHeading(STACK_LOCATION2.vec().plus(new Vector2d(-2.5)));
break; break;
case 3: case 3:
builder.lineToConstantHeading(STACK_LOCATION3.vec().plus(new Vector2d(0.5))); builder.lineToConstantHeading(STACK_LOCATION3.vec().plus(new Vector2d(-1.25)));
break; break;
} }
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
@ -151,7 +151,7 @@ public class BlueBackStageAuto extends AutoBase {
//waits for the robot to fin the trajectory //waits for the robot to fin the trajectory
case 5: case 5:
robot.resetMacro(0, getRuntime()); robot.resetMacro(0, getRuntime());
robot.intake.setDcMotor(0.7); robot.intake.setDcMotor(0.5);
robot.intake.setpos(STACK5); robot.intake.setpos(STACK5);
if (!robot.drive.isBusy()) { if (!robot.drive.isBusy()) {
macroState++; macroState++;
@ -159,7 +159,7 @@ public class BlueBackStageAuto extends AutoBase {
break; break;
//First 2 pixels off the stack are intaken by this //First 2 pixels off the stack are intaken by this
case 6: case 6:
robot.intake.setDcMotor(0.68); robot.intake.setDcMotor(0.5);
robot.intake.setpos(STACK4); robot.intake.setpos(STACK4);
macroTime = getRuntime(); macroTime = getRuntime();
macroState++; macroState++;
@ -168,6 +168,7 @@ public class BlueBackStageAuto extends AutoBase {
case 7: case 7:
if (getRuntime() > macroTime + 0.5) { if (getRuntime() > macroTime + 0.5) {
//robot.intake.setDcMotor(-0.0); //robot.intake.setDcMotor(-0.0);
robot.arm.setDoor(Arm.DoorPosition.CLOSE);
robot.intake.setDcMotor(-0.35); robot.intake.setDcMotor(-0.35);
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END); //builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
@ -223,7 +224,7 @@ public class BlueBackStageAuto extends AutoBase {
builder.lineToConstantHeading(STACK_LOCATION2.vec().plus(new Vector2d(-3))); builder.lineToConstantHeading(STACK_LOCATION2.vec().plus(new Vector2d(-3)));
break; break;
case 3: case 3:
builder.lineToConstantHeading(STACK_LOCATION3.vec().plus(new Vector2d(0.5 ))); builder.lineToConstantHeading(STACK_LOCATION3.vec().plus(new Vector2d(-1.25)));
break; break;
} }
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
@ -249,6 +250,7 @@ public class BlueBackStageAuto extends AutoBase {
//goes back to the easel //goes back to the easel
case 13: case 13:
if (getRuntime() > macroTime + 0.5) { if (getRuntime() > macroTime + 0.5) {
robot.arm.setDoor(Arm.DoorPosition.CLOSE);
robot.intake.setDcMotor(-0.35); robot.intake.setDcMotor(-0.35);
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END); //builder.lineToConstantHeading(POST_SCORING_SPLINE_END);

20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueFrontPreload.java
View File

@ -21,15 +21,17 @@ import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Config @Config
@Autonomous(name = "Blue FrontPreload (2+1)", group = "Competition", preselectTeleOp = "Main TeleOp") @Autonomous(name = "Blue FrontPreload (2+1)", group = "Competition", preselectTeleOp = "Main TeleOp")
public class BlueFrontPreload extends AutoBase { public class BlueFrontPreload extends AutoBase {
public static final Pose2d DROP_1 = new Pose2d(-35, 32.5, Math.toRadians(0)); //THIS ANGLE NEEDS TO BE CHANGED public static final Pose2d DROP_1 = new Pose2d(-36, 33.5, Math.toRadians(0));
public static final Pose2d DROP_1_PART_2 = new Pose2d(-32,33.5,Math.toRadians(0));
public static final Pose2d DROP_2 = new Pose2d(-39.7, 33.5, Math.toRadians(-90)); public static final Pose2d DROP_2 = new Pose2d(-39.7, 33.5, Math.toRadians(-90));
public static final Pose2d DROP_2_PART_2 = new Pose2d(-39.7,36.5, Math.toRadians(-90)); public static final Pose2d DROP_2_PART_2 = new Pose2d(-39.7,36.5, Math.toRadians(-90));
public static final Pose2d DROP_3 = new Pose2d(-49, 33.5, Math.toRadians(-90)); public static final Pose2d DROP_3 = new Pose2d(-46.7, 50.5, Math.toRadians(-90));
public static final Pose2d DROP_1M = new Pose2d(-48.5, 30, Math.toRadians(-90)); public static final Pose2d DROP_1M = new Pose2d(-36, 45, Math.toRadians(-90));
public static final Pose2d DROP_2M = new Pose2d(-48.5, 30, Math.toRadians(-90)); public static final Pose2d DROP_2M = new Pose2d(-48.5, 30, Math.toRadians(-90));
public static final Pose2d DROP_3M = new Pose2d(-48.5, 30, Math.toRadians(-90)); public static final Pose2d DROP_3M = new Pose2d(-46.7, 39.5, Math.toRadians(-90));
public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(53.3, 38.3, Math.toRadians(8));//187 public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(53.3, 38.3, Math.toRadians(8));//187
@ -74,7 +76,8 @@ public class BlueFrontPreload extends AutoBase {
builder.lineToLinearHeading(DROP_2); builder.lineToLinearHeading(DROP_2);
break; break;
case 3: case 3:
builder.lineToLinearHeading(DROP_3); builder.lineToLinearHeading(DROP_3M);
// builder.lineToLinearHeading(DROP_3);
break; break;
} }
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
@ -93,20 +96,20 @@ public class BlueFrontPreload extends AutoBase {
case 2: case 2:
// intake // intake
if (getRuntime() < macroTime + 0.32) { if (getRuntime() < macroTime + 0.32) {
robot.intake.setDcMotor(-0.18); robot.intake.setDcMotor(-0.23);
} }
else{ else{
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
robot.intake.setDcMotor(0); robot.intake.setDcMotor(0);
switch (teamPropLocation) { switch (teamPropLocation) {
case 1: case 1:
builder.lineToLinearHeading(DROP_2_PART_2); builder.lineToLinearHeading(DROP_1_PART_2);
break; break;
case 2: case 2:
builder.lineToLinearHeading(DROP_2_PART_2); builder.lineToLinearHeading(DROP_2_PART_2);
break; break;
case 3: case 3:
builder.lineToLinearHeading(DROP_2_PART_2); builder.lineToLinearHeading(DROP_3);
break; break;
} }
robot.arm.setDoor(OPEN); robot.arm.setDoor(OPEN);
@ -188,7 +191,6 @@ case 5:
if (getRuntime() > macroTime + 3.4 || robot.macroState >= 4) { if (getRuntime() > macroTime + 3.4 || robot.macroState >= 4) {
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToLinearHeading(PARK_1); builder.lineToLinearHeading(PARK_1);
builder.lineToLinearHeading(PARK_2);
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
macroState++; macroState++;
} }

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java
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@ -77,11 +77,11 @@ public class MainTeleOp extends OpMode {
this.robot.endGameMechs.reset(); this.robot.endGameMechs.reset();
} }
if (controller1.getRightBumper().isPressed()) { // if (controller1.getRightBumper().isPressed()) {
this.robot.endGameMechs.Finger_in(); // this.robot.endGameMechs.Finger_in();
}else { // }else {
this.robot.endGameMechs.Finger_out(); // this.robot.endGameMechs.Finger_out();
} // }
//Hang Motor //Hang Motor
// if (controller1.getB().isJustPressed() && !controller1.getStart().isPressed() && !controller2.getStart().isPressed() && !hang_counter){ // if (controller1.getB().isJustPressed() && !controller1.getStart().isPressed() && !controller2.getStart().isPressed() && !hang_counter){