diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java index 37e69fb..014a3c1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java @@ -114,7 +114,7 @@ public class Robot { } public String getTelemetry() { - return String.format("Arm:\n------------\n%s\nSlides:\n------------\n%s", arm.getTelemetry(), slides.getTelemetry()); + return String.format("Arm:\n------------\n%s\nSlides:\n------------\n%s\nIMU:\n------------\n%s" , arm.getTelemetry(), slides.getTelemetry(), drive.getExternalHeadingVelocity()); } public TrajectorySequenceBuilder getTrajectorySequenceBuilder() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java index 97a9057..d75ac97 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java @@ -25,7 +25,7 @@ public class Slides { public static int targetMax = 830; public static int down = 0; - public static int mini_tier1 = 190; + public static int mini_tier1 = 205; public static int tier1 = 350; public static int tier2 = 500; public static int tier3 = 720; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/endGame_Mechs.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/endGame_Mechs.java index e3d1b44..a4fdcfd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/endGame_Mechs.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/endGame_Mechs.java @@ -9,8 +9,8 @@ public class endGame_Mechs { private Servo servo; private Servo hang1; private Servo hang2; - public static double initPos = 0.4; - public static double launchPos = 0.8; + public static double initPos = 0.8; + public static double launchPos = 0.4; public static double hold = 0.8; public static double release = 0.5; public static double hold2 = 0.8; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueBackStageAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueBackStageAuto.java index 4d3f249..f784ccb 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueBackStageAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueBackStageAuto.java @@ -18,14 +18,14 @@ import org.firstinspires.ftc.teamcode.util.CenterStageCommon; @Autonomous(name = "Blue Backstage Auto(2+4)", group = "Competition", preselectTeleOp = "Main TeleOp") public class BlueBackStageAuto extends AutoBase { public static final Pose2d DROP_3 = new Pose2d(16, 32, Math.toRadians(-180)); - public static final Pose2d DROP_2 = new Pose2d(13.7, 35, Math.toRadians(-90)); + public static final Pose2d DROP_2 = new Pose2d(14, 35, Math.toRadians(-90)); public static final Pose2d ALINE = new Pose2d(51,35, Math.toRadians(-180)); - public static final Pose2d DROP_1 = new Pose2d(25, 41.6, Math.toRadians(-90)); + public static final Pose2d DROP_1 = new Pose2d(25, 43, Math.toRadians(-90)); public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(54.8, 27.5, Math.toRadians(-180)); - public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(54, 32.5, Math.toRadians(-180)); - public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(53.3, 39.5, Math.toRadians(-180)); + public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(52, 32.5, Math.toRadians(-180)); + public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(52.2, 39.3, Math.toRadians(-180)); public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(53.4, 35.6, Math.toRadians(-187)); @@ -35,9 +35,9 @@ public class BlueBackStageAuto extends AutoBase { //public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(24, -8.5);//-36 - public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(24, 11.6, Math.toRadians(-180));//-36 + public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(26, 11.8, Math.toRadians(-180));//-36 - public static final Pose2d STACK_LOCATION = new Pose2d(-55.5, 11.6, Math.toRadians(-180)); + public static final Pose2d STACK_LOCATION = new Pose2d(-54.7, 11.8, Math.toRadians(-180)); @Override public void createTrajectories() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java index 95475bd..80fab1b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java @@ -22,22 +22,22 @@ public class RedBackStageAuto extends AutoBase { public static final Pose2d ALINE = new Pose2d(51,-32.5, Math.toRadians(180)); - public static final Pose2d DROP_3 = new Pose2d(25, -41.3, Math.toRadians(90)); + public static final Pose2d DROP_3 = new Pose2d(25, -45.5, Math.toRadians(90)); public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(52, -27.5, Math.toRadians(180)); - public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(52, -32.5, Math.toRadians(180)); + public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(53.5, -32.5, Math.toRadians(180)); public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(51.3, -39.5, Math.toRadians(180)); - public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(50.3, -35.3, Math.toRadians(187)); + public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(50.3, -35.3, Math.toRadians(180));//187 - public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(52, -29, Math.toRadians(187)); + public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(52, -29, Math.toRadians(180));//187 - public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(50.6, -32, Math.toRadians(187)); + public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(50.6, -32, Math.toRadians(180));//817 //public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(24, -8.5);//-36 - public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(24, -10.6, Math.toRadians(180));//-36 + public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(24, -12.5, Math.toRadians(180));//-36 - public static final Pose2d STACK_LOCATION = new Pose2d(-57.4, -10.6, Math.toRadians(180)); + public static final Pose2d STACK_LOCATION = new Pose2d(-56.8, -12.5, Math.toRadians(180)); @Override public void createTrajectories() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java index 74015e3..f35876c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java @@ -17,9 +17,9 @@ import org.firstinspires.ftc.teamcode.hardware.Slides; @TeleOp(name = "Main TeleOp", group = "OpModes") public class MainTeleOp extends OpMode { - public static double normal = 0.5; + public static double normal = 0.7; public static double turbo = 1; - public static double slow_mode = 0.15; + public static double slow_mode = 0.35; public static double intakeMax = 0.5; public static double intakeMax2 = -0.65; @@ -102,14 +102,14 @@ public class MainTeleOp extends OpMode { // macros switch (robot.runningMacro) { case (0): // manual mode - if (controller2.getLeftBumper().isPressed()){ - robot.arm.setDoor(Arm.DoorPosition.OPEN); - } + robot.slides.increaseTarget(controller2.getLeftStick().getY()); if (robot.intake.getPower() >= 0.01) { robot.arm.setDoor(OPEN); } else if (robot.intake.getPower() <= -0.01) { robot.arm.setDoor(OPEN); + } else if (controller2.getLeftBumper().isPressed()) { + robot.arm.setDoor(Arm.DoorPosition.OPEN); } else { robot.arm.setDoor(CLOSE); }