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2+5 (maybe)

This commit is contained in:
Varun 2024-01-20 01:57:22 -06:00
parent 79332f3266
commit 30daf7d799
1 changed files with 23 additions and 23 deletions
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46
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedFrontStageAuto.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.opmode.autonomous; package org.firstinspires.ftc.teamcode.opmode.autonomous;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK1;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK2; import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK2;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK3; import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK3;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK4; import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK4;
@ -17,9 +18,9 @@ import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Config @Config
@Autonomous(name = "Red FrontStage Auto(2+5)", group = "Competition", preselectTeleOp = "Main TeleOp") @Autonomous(name = "Red FrontStage Auto(2+5)", group = "Competition", preselectTeleOp = "Main TeleOp")
public class RedFrontStageAuto extends AutoBase { public class RedFrontStageAuto extends AutoBase {
public static final Pose2d DROP_1 = new Pose2d(-12, -32.5, Math.toRadians(0)); public static final Pose2d DROP_1 = new Pose2d(-50, -45.5, Math.toRadians(90));
public static final Pose2d DROP_2 = new Pose2d(-13.7, -33.5, Math.toRadians(90)); public static final Pose2d DROP_2 = new Pose2d(-38.7, -33.5, Math.toRadians(90));
public static final Pose2d DROP_3 = new Pose2d(-25, -45.5, Math.toRadians(90)); public static final Pose2d DROP_3 = new Pose2d(-33.5, -40.5, Math.toRadians(0));
public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(50.3, -35.3, Math.toRadians(188));//187 public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(50.3, -35.3, Math.toRadians(188));//187
@ -31,9 +32,9 @@ public class RedFrontStageAuto extends AutoBase {
public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(24, -12.4, Math.toRadians(190));//-36 public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(24, -12.4, Math.toRadians(190));//-36
public static final Pose2d POST_DROP_POS = new Pose2d(-51, -51.5, Math.toRadians(180)); public static final Pose2d POST_DROP_POS = new Pose2d(-32, -51.5, Math.toRadians(180));
public static final Pose2d PRE_DEPOSIT_POS = new Pose2d(-51, -51.5, Math.toRadians(180)); public static final Pose2d PRE_DEPOSIT_POS = new Pose2d(32, -51.5, Math.toRadians(180));
@Override @Override
public void createTrajectories() { public void createTrajectories() {
@ -75,7 +76,7 @@ public class RedFrontStageAuto extends AutoBase {
// RUN INTAKE // RUN INTAKE
case 2: case 2:
// intake // intake
if (getRuntime() > macroTime + 0.28) { if (getRuntime() < macroTime + 0.28) {
robot.intake.setDcMotor(-0.22); robot.intake.setDcMotor(-0.22);
} }
else{ else{
@ -96,15 +97,15 @@ public class RedFrontStageAuto extends AutoBase {
macroTime = getRuntime(); macroTime = getRuntime();
macroState++; macroState++;
} }
break;
case 4: case 4:
if (getRuntime() > macroTime + 0.6) { if (getRuntime() > macroTime + 1.6) {
robot.intake.setDcMotor(0); robot.intake.setDcMotor(0);
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END); //builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.splineToSplineHeading(POST_DROP_POS.vec()); builder.splineToSplineHeading(POST_DROP_POS, Math.toRadians(0));
switch (teamPropLocation) { switch (teamPropLocation) {
case 1: case 1:
@ -127,7 +128,7 @@ public class RedFrontStageAuto extends AutoBase {
break; break;
case 5: case 5:
// if drive is done move on // if drive is done move on
if (getRuntime() > macroTime + 1.4 || !robot.drive.isBusy()) { if (getRuntime() > macroTime + 2.4 || !robot.drive.isBusy()) {
macroTime = getRuntime(); macroTime = getRuntime();
robot.macroState = 0; robot.macroState = 0;
robot.extendMacro(Slides.mini_tier1 + 180, getRuntime()); robot.extendMacro(Slides.mini_tier1 + 180, getRuntime());
@ -148,16 +149,15 @@ public class RedFrontStageAuto extends AutoBase {
//Stack run 2 //Stack run 2
case 7: case 7:
robot.resetMacro(0, getRuntime()); robot.resetMacro(0, getRuntime());
if (getRuntime() > macroTime + 1.4 || robot.macroState >= 4) { if (getRuntime() > macroTime + 2.4 || robot.macroState >= 4) {
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
builder.splineToConstantHeading(PRE_DEPOSIT_POS.vec(), Math.toRadians(180));
builder.lineToLinearHeading(POST_DROP_POS); builder.lineToLinearHeading(POST_DROP_POS);
builder.lineToLinearHeading(STACK_LOCATION.plus(new Pose2d(-1.5))); builder.splineToConstantHeading(STACK_LOCATION.plus(new Pose2d(-1.5)).vec(), Math.toRadians(180));
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
macroState++; macroState++;
break;
} }
break;
//waits for the robot to fin the trajectory //waits for the robot to fin the trajectory
case 8: case 8:
robot.resetMacro(0, getRuntime()); robot.resetMacro(0, getRuntime());
@ -180,7 +180,7 @@ public class RedFrontStageAuto extends AutoBase {
robot.intake.setDcMotor(0); robot.intake.setDcMotor(0);
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END); //builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToConstantHeading(POST_DROP_POS.vec()); builder.splineToSplineHeading(POST_DROP_POS, Math.toRadians(0));
switch (teamPropLocation) { switch (teamPropLocation) {
case 1: case 1:
@ -224,21 +224,21 @@ public class RedFrontStageAuto extends AutoBase {
//stack run 3 //stack run 3
case 13: case 13:
robot.resetMacro(0, getRuntime()); robot.resetMacro(0, getRuntime());
if (getRuntime() > macroTime + 1.4 || robot.macroState >= 4) { if (getRuntime() > macroTime + 2.4 || robot.macroState >= 4) {
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
builder.splineToConstantHeading(PRE_DEPOSIT_POS.vec(), Math.toRadians(180));
builder.lineToLinearHeading(POST_DROP_POS); builder.lineToLinearHeading(POST_DROP_POS);
builder.lineToLinearHeading(STACK_LOCATION.plus(new Pose2d(-1.5))); builder.splineToConstantHeading(STACK_LOCATION.plus(new Pose2d(-1.5)).vec(), Math.toRadians(180));
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
macroState++; macroState++;
break;
} }
break;
//waits for the robot to fin the trajectory //waits for the robot to fin the trajectory
case 14: case 14:
robot.resetMacro(0, getRuntime()); robot.resetMacro(0, getRuntime());
robot.intake.setDcMotor(0.54); robot.intake.setDcMotor(0.54);
robot.intake.setpos(STACK4); robot.intake.setpos(STACK2);
if (!robot.drive.isBusy()) { if (!robot.drive.isBusy()) {
macroState++; macroState++;
} }
@ -246,7 +246,7 @@ public class RedFrontStageAuto extends AutoBase {
//3rd and 4th pixels off the stack are intaken by this //3rd and 4th pixels off the stack are intaken by this
case 15: case 15:
robot.intake.setDcMotor(0.54); robot.intake.setDcMotor(0.54);
robot.intake.setpos(STACK3); robot.intake.setpos(STACK1);
macroTime = getRuntime(); macroTime = getRuntime();
macroState++; macroState++;
break; break;
@ -256,7 +256,7 @@ public class RedFrontStageAuto extends AutoBase {
robot.intake.setDcMotor(0); robot.intake.setDcMotor(0);
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END); //builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToConstantHeading(POST_DROP_POS.vec()); builder.splineToSplineHeading(POST_DROP_POS, Math.toRadians(0));
switch (teamPropLocation) { switch (teamPropLocation) {
case 1: case 1: