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added opmode jsut for drivebase to driver pratice one at a time moved turbo to driver A button and works

This commit is contained in:
UntitledRice 2023-11-16 16:56:51 -06:00
parent 252ba82597
commit 5ba6de512f
16 changed files with 874 additions and 434 deletions
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19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
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@ -5,6 +5,8 @@ import com.arcrobotics.ftclib.controller.PController;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.hardware.robby.Slides;
@Config
public class Arm {
@ -13,11 +15,16 @@ public class Arm {
private Servo rAServo;
private Servo lAServo;
private Servo wristServo;
private SlidePos.SPosition pos = SlidePos.SPosition.DOWN;
private Slides.Position pos = Slides.Position.DOWN;
private PController armController;
private double armControllerTarget;
private double ARM_KP = 0.001;
public enum APosition {
SDOWN, SCORE, SAFTEYDOWN, SAFTEYUP;
}
public Arm(HardwareMap hardwareMap) {
wristServo = hardwareMap.get(Servo.class, "Wrist Servo");
dServo = hardwareMap.get(Servo.class, "Door Servo");
@ -47,22 +54,22 @@ public class Arm {
}
}
public void setPos(ArmPos.APosition tape) {
if (tape == ArmPos.APosition.SDOWN) {
public void setPos(APosition tape) {
if (tape == APosition.SDOWN) {
this.armControllerTarget = startingArmPos;
lAServo.setPosition(startingArmPos);
rAServo.setPosition(startingArmPos);
wristServo.setPosition(startingWristPos);
} else if (tape == ArmPos.APosition.SCORE) {
} else if (tape == APosition.SCORE) {
this.armControllerTarget = armScorePos;
lAServo.setPosition(armScorePos);
rAServo.setPosition(armScorePos);
wristServo.setPosition(wristScorePos);
} else if (tape == ArmPos.APosition.SAFTEYDOWN) {
} else if (tape == APosition.SAFTEYDOWN) {
lAServo.setPosition(safteyDownPos);
rAServo.setPosition(safteyDownPos);
wristServo.setPosition(wristScorePos);
} else if (tape == ArmPos.APosition.SAFTEYUP) {
} else if (tape == APosition.SAFTEYUP) {
lAServo.setPosition(safteyUpPos);
rAServo.setPosition(safteyUpPos);
wristServo.setPosition(wristScorePos);

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
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@ -82,9 +82,6 @@ public class Camera {
return (targetingCameraInitialized ? targetingPipeline.getBlue() : INVALID_DETECTION);
}
public Detection getBlack() {
return (targetingCameraInitialized ? targetingPipeline.getBlack() : INVALID_DETECTION);
}
//return frame rate
public int getFrameCount() {

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java
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@ -34,7 +34,7 @@ public class Intake {
public static double up = 0.30;
public static double motorPower = 0;
public Intake(HardwareMap hardwareMap) {
public Intake(HardwareMap hardwareMap, Position up) {
lServo = hardwareMap.get(Servo.class, "Left Servo");
lServo.setDirection(Servo.Direction.REVERSE);
rServo = hardwareMap.get(Servo.class, "Right Servo");

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/KhangSlides.java
View File

@ -6,10 +6,10 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
@Config
public class Slides {
public class KhangSlides {
//Create and assign motors
public Slides(HardwareMap hardwareMap) {
public KhangSlides(HardwareMap hardwareMap) {
rSMotor = hardwareMap.get(DcMotor.class, "Right Slide Motor");
// rSMotor.setDirection(DcMotorSimple.Direction.REVERSE);
rSMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
View File

@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.UP;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.HardwareMap;
@ -13,18 +15,23 @@ public class Robot {
public SampleMecanumDrive drive;
public Camera camera;
public Intake intake;
public Slides slides;
public KhangSlides slides;
public Arm arm;
public double macroStartTime = 0;
public int macroState = 0;
public int runningMacro = 0; // 0 = no macro | 1 = low macro | 2 = mid macro | 3 = high macro | 4 = pickup macro
public int lastMacro = 0;
private boolean camEnabled = true;
//Name the objects
public Robot(HardwareMap hardwareMap) {
arm = new Arm(hardwareMap);
drive = new SampleMecanumDrive(hardwareMap);
slides = new Slides(hardwareMap);
slides = new KhangSlides(hardwareMap);
camera = new Camera(hardwareMap);
camera.initTargetingCamera();
intake = new Intake(hardwareMap);
intake = new Intake(hardwareMap, UP);
camEnabled = true;
}
@ -39,6 +46,66 @@ public class Robot {
return String.format("position: %s", slide.getCurrentPosition());
}
// public void resetMacroNoDunk(int pos, double runTime) {
// switch(macroState) {
// case(0):
// macroStartTime = runTime;
// macroState++;
// break;
// case(1):
// if (runTime > macroStartTime) {
// macroState ++;
// }
// break;
// case(2):
// macroStartTime = runTime;
// slides.setTarget(pos);
// macroState = 0;
// runningMacro = 0;
// lastMacro = 0;
// }
// }
//
// public void resetMacro(int pos, double runTime) {
// switch(macroState) {
// case(0):
// macroStartTime = runTime;
// macroState++;
// break;
// case(1):
// if (runTime > macroStartTime) {
// macroState ++;
// }
// break;
// case(2):
// macroStartTime = runTime;
// slides.setTarget(pos);
// macroState = 0;
// runningMacro = 0;
// lastMacro = 0;
// }
// }
//
// public void resetMacroEnd(int pos, double runTime) {
// switch(macroState) {
// case(0):
// macroStartTime = runTime;
// macroState++;
// break;
// case(1):
// if (runTime > macroStartTime) {
// macroState ++;
// }
// break;
// case(2):
// macroStartTime = runTime;
// slides.setTarget(pos);
// macroState = 0;
// runningMacro = 0;
// lastMacro = 0;
// }
// }
public Arm getArm() {
return this.arm;
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/SlidePos.java
View File

@ -3,6 +3,6 @@ package org.firstinspires.ftc.teamcode.hardware;
public class SlidePos {
public enum SPosition {
DOWN, TAPE1, TAPE2, TAPE3, MAX;
DOWN, TAPE1, TAPE2, TAPE3, MAX, MANUAL;
}
}

126
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/robby/Slides.java Normal file
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@ -0,0 +1,126 @@
package org.firstinspires.ftc.teamcode.hardware.robby;
import com.acmerobotics.dashboard.config.Config;
import com.arcrobotics.ftclib.controller.PIDController;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
@Config
public class Slides {
private DcMotor slide;
private DcMotor slide2;
public static double p = 0.0014;
public static double i = 0.02;
public static double d = 0;
public static double f = 0.01;
public static double pTolerance = 20;
public static PIDController controller = new PIDController(p, i, d);
public static int[] heights = {0, (int)(190/4.0), 2*(int)(190/4.0), 3*(int)(190/4.0), 4*(int)(180/4)};
public static int heightOffset = 0;
public static int targetMin = -10;
public static int targetMax = 770;
public static int highPos = 720 + heightOffset; // ALSO DEFINED IN UPDATE SLIDES
public static int midPos = 350 + heightOffset; // ALSO DEFINED IN UPDATE SLIDES
public static int lowPos = heightOffset; // ALSO DEFINED IN UPDATE SLIDES
public static int pickupPos = 220 + heightOffset; // ALSO DEFINED IN UPDATE SLIDES
public static int downPos = heightOffset;
private int target = 0;
public static int manualSpeed = 20;
public static int zeroPower = 5;
public enum Position { HIGH, MEDIUM, LOW, PICKUP, DOWN }
public Slides(HardwareMap hardwareMap) {
slide = hardwareMap.get(DcMotor.class, "slide");
slide.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
slide.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// slide.setDirection(DcMotorSimple.Direction.REVERSE);
slide.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
slide2 = hardwareMap.get(DcMotor.class, "slide2");
slide2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
slide2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
slide2.setDirection(DcMotorSimple.Direction.REVERSE);
slide.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
}
public void setTarget(int pos) {
target = Math.min(Math.max(pos, targetMin), targetMax);
}
public void setTarget(Position pos) {
if (pos == Position.HIGH) {
target = Math.min(Math.max(highPos, targetMin), targetMax);
} else if (pos == Position.MEDIUM) {
target = Math.min(Math.max(midPos, targetMin), targetMax);
} else if (pos == Position.LOW) {
target = Math.min(Math.max(lowPos, targetMin), targetMax);
} else if (pos == Position.PICKUP) {
target = Math.min(Math.max(pickupPos, targetMin), targetMax);
} else if (pos == Position.DOWN) {
target = Math.min(Math.max(downPos, targetMin), targetMax);
}
}
public void increaseTarget(double increase) {
target += (int) (increase * manualSpeed);
target = Math.min(targetMax, Math.max(targetMin, target));
}
public int getTarget() {
return target;
}
public boolean atTarget() {
return controller.atSetPoint();
}
public void cancel() {
target = slide.getCurrentPosition();
}
public void targetReset() {
target = targetMin;
}
public void update(double runTime) {
// highPos = 720 + heightOffset;
// midPos = 350 + heightOffset;
// lowPos = heightOffset;
// pickupPos = 20 + heightOffset;
// downPos = heightOffset;// TODO add these back in
// if (target == 0) {
// slide.setPower(0);
// slide2.setPower(0);
// } else {
// if (target < 5) {
// slide.setPower(0);
// slide2.setPower(0);
// } else {
double pid, ff;
controller.setPID(p, i, d);
controller.setTolerance(pTolerance);
pid = controller.calculate(slide.getCurrentPosition(), target);
ff = f;
slide.setPower(pid + ff);
pid = controller.calculate(slide2.getCurrentPosition(), target);
ff = f;
slide2.setPower(pid + ff);
// }
// }
}
public String getTelemetry() {
return String.format("Position: %s %s\nTarget: %s %s\nPower: %s %s\nHeightOffset: %s", slide.getCurrentPosition(), slide2.getCurrentPosition(), target, target, slide.getPower(), slide2.getPower(), heightOffset);
}
}

448
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/AbstractTeleOp.java
View File

@ -1,150 +1,304 @@
package org.firstinspires.ftc.teamcode.opmode.teleop;
import static java.lang.Math.PI;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.teamcode.controller.Controller;
import org.firstinspires.ftc.teamcode.hardware.Robot;
@Config
public abstract class AbstractTeleOp extends OpMode {
private Robot robot;
Controller driver1;
Controller driver2;
public static double drivebaseThrottle = 0.6;
public static double drivebaseTurbo = 1.0;
public static int heightIncrement = 20;
Pose2d robot_pos;
double robot_x, robot_y, robot_heading;
// auto align variables
double headingPID;
public static double headingP = 0.01;
public static double headingI = 0.03;
public static double headingD = 0.0005;
double strafePID;
public static double strafeP = 0.05;
public static double strafeI = 0;
public static double strafeD = 0.01;
double robot_y_pos;
boolean fixed90Toggle = false;
boolean fixed0Toggle = false;
// public static double robot_width = 12;
// public static double robot_length = 12;
// public static double robot_radius = 6;
//package org.firstinspires.ftc.teamcode.opmode.teleop;
//
// public static double groundJuncRadius = 6;
// public static double coneRadius = 4;
//import static org.firstinspires.ftc.teamcode.opmode.teleop.Team.BLUE;
//import static org.firstinspires.ftc.teamcode.opmode.teleop.Team.RED;
//import static java.lang.Math.PI;
//
// public static double armWait = 0.2;
// private double timeSinceOpened = 0; // for claw
// private double timeSinceClosed = 0;
// private int delayState = 0; // for arm
// private double delayStart = 0;
// private boolean doArmDelay = false; // for arm
private boolean isAutoClose = true;
@Override
public void init() {
robot = new Robot(hardwareMap);
driver1 = new Controller(gamepad1);
driver2 = new Controller(gamepad2);
}
@Override
public void init_loop() {
// if (robot.camera.getFrameCount() < 1) {
// telemetry.addLine("Initializing Robot...");
// } else {
// telemetry.addLine("Initialized");
//import com.acmerobotics.dashboard.config.Config;
//import com.acmerobotics.roadrunner.geometry.Pose2d;
//import com.arcrobotics.ftclib.controller.PIDController;
//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
//
//import org.firstinspires.ftc.teamcode.controller.Controller;
//import org.firstinspires.ftc.teamcode.hardware.Arm;
//import org.firstinspires.ftc.teamcode.hardware.Robot;
//import org.firstinspires.ftc.teamcode.hardware.robby.Slides;
//
//@Config
//public abstract class AbstractTeleOp extends OpMode {
// private Robot robot;
// public Team team;
// Controller driver1;
// Controller driver2;
//
// public static double normal = 0.5;
// public static double vazrooooming = 1.0;
// public static int heightIncrement = 20;
//
// Pose2d robot_pos;
// double robot_x, robot_y, robot_heading;
//
// // auto align variables
// double headingPID;
// public static double headingP = 0.01;
// public static double headingI = 0.03;
// public static double headingD = 0.0005;
// public static PIDController headingController = new PIDController(headingP, headingI, headingD);
//
// double strafePID;
// public static double strafeP = 0.05;
// public static double strafeI = 0;
// public static double strafeD = 0.01;
// public static PIDController strafeController = new PIDController(strafeP, strafeI, strafeD);
//
// double robot_y_pos;
// boolean fixed90Toggle = false;
// boolean fixed0Toggle = false;
//
//// public static double robot_width = 12;
//// public static double robot_length = 12;
//// public static double robot_radius = 6;
////
//// public static double groundJuncRadius = 6;
//// public static double coneRadius = 4;
////
//// public static double armWait = 0.2;
//
//// private double timeSinceOpened = 0; // for claw
//// private double timeSinceClosed = 0;
//
// // private int delayState = 0; // for arm
//// private double delayStart = 0;
//// private boolean doArmDelay = false; // for arm
// private boolean isAutoClose = true;
//
// @Override
// public void init() {
// robot = new Robot(hardwareMap);
// driver1 = new Controller(gamepad1);
// driver2 = new Controller(gamepad2);
// if (team == RED) {
// driver1.setColor(255, 0, 0);
// driver2.setColor(255, 0, 0);
// } else if (team == BLUE) {
// driver1.setColor(0, 0, 255);
// driver2.setColor(0, 0, 255);
// }
telemetry.addLine("Initialized");
telemetry.addLine(robot.getTelemetry());
telemetry.update();
}
private int getQuadrant(double angle) {
if (0 < angle && angle < PI/2.0) {
return 1;
} else if (PI/2.0 < angle && angle < PI) {
return 2;
} else if (PI < angle && angle < 3*PI/2.0) {
return 3;
} else {
return 4;
}
}
@Override
public void loop() {
// robot position update
//robot_pos = robot.drive.getPoseEstimate();
//robot_x = robot_pos.getX();
//robot_y = robot_pos.getY();
//robot_heading = robot_pos.getHeading(); // in radians
// driver 1 controls
//driver1.update();
//driver2.update();
double x = -driver1.getLeftStick().getY();
double y = driver1.getLeftStick().getX();
double z = -driver1.getRightStick().getX();
// figure out if a toggle is present
if (driver1.getRightBumper().isPressed()) {
if (!fixed90Toggle) {
//robot_y_pos = robot.drive.getPoseEstimate().getX();
}
fixed90Toggle = true;
} else {
fixed90Toggle = false;
}
if (!fixed90Toggle && driver1.getLeftBumper().isPressed()) {
if (!fixed0Toggle) {
//robot_y_pos = robot.drive.getPoseEstimate().getY();
}
fixed0Toggle = true;
} else {
fixed0Toggle = false;
}
telemetry.addLine("Wanted Position: "+robot_y_pos);
telemetry.addLine("Actual Position: "+robot_y);
telemetry.addLine("PID: "+strafePID);
// turbo
if (driver1.getLeftBumper().isPressed() || driver1.getRightBumper().isPressed()) {
x *= drivebaseTurbo;
y *= drivebaseTurbo;
z *= drivebaseTurbo;
} else {
x *= drivebaseThrottle;
y *= drivebaseThrottle;
z *= drivebaseThrottle;
}
// actually set power
if (fixed0Toggle || fixed90Toggle) {
//robot.drive.setWeightedDrivePower(new Pose2d(x, 0, headingPID));
} else {
//robot.drive.setWeightedDrivePower(new Pose2d(x, y, z));
}
// update and telemetry
//robot.update(getRuntime());
telemetry.addLine(robot.getTelemetry());
telemetry.update();
}
}
//
// PoseStorage.AutoJustEnded = false;
// }
//
// @Override
// public void init_loop() {
// ////init when camera is on and responding
//// if (robot.camera.getFrameCount() < 1) {
//// telemetry.addLine("Initializing Robot...");
//// } else {
//// telemetry.addLine("Initialized");
//// }
// telemetry.addLine("Initialized");
// telemetry.addLine(robot.getTelemetry());
// telemetry.update();
// }
//
// //find out what quarter you are in
// private int getQuadrant(double angle) {
// if (0 < angle && angle < PI/2.0) {
// return 1;
// } else if (PI/2.0 < angle && angle < PI) {
// return 2;
// } else if (PI < angle && angle < 3*PI/2.0) {
// return 3;
// } else {
// return 4;
// }
// }
//
// @Override
// public void loop() {
// // robot position update
// robot_pos = robot.drive.getPoseEstimate();
// robot_x = robot_pos.getX();
// robot_y = robot_pos.getY();
// robot_heading = robot_pos.getHeading(); // in radians
//
// // driver 1 controls
// driver1.update();
// driver2.update();
//
// //create and set X, Y, and Z for drive inputs
// double x = -gamepad1.left_stick_y;
// double y = -gamepad1.left_stick_x;
// double z = -gamepad1.right_stick_x;
//
//// figure out if a toggle is present
// if (driver1.getRightBumper().isPressed()) {
// if (!fixed90Toggle) {
// robot_y_pos = robot.drive.getPoseEstimate().getX();
// }
// fixed90Toggle = true;
// } else {
// fixed90Toggle = false;
// }
//
// if (!fixed90Toggle && driver1.getLeftBumper().isPressed()) {
// if (!fixed0Toggle) {
// robot_y_pos = robot.drive.getPoseEstimate().getY();
// }
// fixed0Toggle = true;
// } else {
// fixed0Toggle = false;
// }
//
// // heading pid
// headingController.setPID(headingP, headingI, headingD);
// int quadrant = getQuadrant(robot_heading);
// if (fixed0Toggle) {
// switch (quadrant) {
// case 1:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 0);//- right
// break;
// case 2:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 180);//+ left
// break;
// case 3:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 180);//- right
// break;
// case 4:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 360);//+ left
// break;
// }
// } else if (fixed90Toggle) {
// switch (quadrant) {
// case 1:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 90);//- right
// break;
// case 2:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 90);//+ left
// break;
// case 3:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 270);//- right
// break;
// case 4:
// headingPID = headingController.calculate(Math.toDegrees(robot_heading), 270);//+ left
// break;
// }
// } else {
// headingPID = 0;
// }
//
// // strafe pid
// strafeController.setPID(strafeP, strafeI, strafeD);
// if (fixed0Toggle) {
// strafePID = strafeController.calculate(robot_y, robot_y_pos);
// } else if (fixed90Toggle) {
// strafePID = strafeController.calculate(robot_x, robot_y_pos);
// } else {
// strafePID = 0;
// }
//
// telemetry.addLine("Wanted Position: "+robot_y_pos);
// telemetry.addLine("Actual Position: "+robot_y);
// telemetry.addLine("PID: "+strafePID);
//
// // turbo
// if (driver1.getLeftBumper().isPressed() || driver1.getRightBumper().isPressed()) {
// x *= vazrooooming;
// y *= vazrooooming;
// z *= vazrooooming;
// } else {
// x *= normal;
// y *= normal;
// z *= normal;
// }
//
// // actually set power
// if (fixed0Toggle || fixed90Toggle) {
// robot.drive.setWeightedDrivePower(new Pose2d(x, 0, headingPID));
// } else {
// robot.drive.setWeightedDrivePower(new Pose2d(x, y, z));
// }
//
// // driver 2 controls
// // increment heights
// if (driver2.getDUp().isJustPressed()) {
// Slides.heightOffset += heightIncrement;
// robot.slides.setTarget(robot.slides.getTarget() + heightIncrement);
// } else if (driver2.getDDown().isJustPressed()) {
// Slides.heightOffset -= heightIncrement;
// robot.slides.setTarget(robot.slides.getTarget() - heightIncrement);
// }
//
// switch (robot.runningMacro) {
// case(0): // manual mode
//
// //track pad is rad
// // left right dpad is turn wrist
// robot.slides.increaseTarget(driver2.getLeftStick().getY());
//// if (Math.abs(driver2.getRightStick().getY()) > 0.05) { // close claw if anything is moved
//// robot.claw.close();
//// }
//
//// if (driver2.getRightBumper().isJustPressed()) {
//// robot.arm.goToScore();
//// }
//// if (driver2.getLeftBumper().isJustPressed()) {
//// robot.arm.goToIntake();
//// }
//
// // retract all the time
// if (driver2.getLeftStickButton().isJustPressed()) {
// robot.runningMacro = 5;
// }
//
// // to cancel macro and allow manual movement
//// if (driver2.getLeftStick().getY() > 0.05 || driver2.getRightStick().getY() > 0.05) {
//// robot.runningMacro = 0;
//// robot.lastMacro = 0;
//// }
//
// if (driver2.getTouchpad().isJustPressed()) {
// robot.runningMacro = 4;
// } else if (driver2.getX().isJustPressed()) { // high position [closed, bring up, bring out]
// robot.runningMacro = 3;
// } else if (driver2.getY().isJustPressed()) { // middle position [middle goal level]
// robot.runningMacro = 2;
// } else if (driver2.getB().isJustPressed() && !driver2.getStart().isJustPressed()) { // low position [low goal level]
// robot.runningMacro = 1;
// } else if (driver2.getA().isJustPressed()) {
// if (robot.lastMacro == 0 || robot.lastMacro == 4) { // if not running any macros or picking up cones
// } else { // otherwise, I need to undo a macro
// robot.runningMacro = 5;
// }
// } else {
// if (driver2.getRightBumper().isJustPressed()) {
// isAutoClose = false;
// }
// if (driver2.getLeftBumper().isJustPressed()) {
// }
// }
// break;
// case(1):
//// robot.extendMacro(Slides.Position.LOW, Arm.APosition.SCORE, getRuntime());
// break;
// case(2):
//// robot.extendMacro(Slides.Position.MEDIUM, Arm.APosition.SCORE, getRuntime());
// break;
// case(3):
//// robot.extendMacro(Slides.Position.HIGH, Arm.APosition.SCORE, getRuntime());
// break;
// case(4):
//// robot.extendMacro(Slides.Position.PICKUP, Arm.APosition.SDOWN, getRuntime());
// break;
// case (5): // macro reset
// robot.resetMacroNoDunk(0, getRuntime());
// driver1.rumble(100);
// break;
// }
//
// // cancel the macros
// if (driver2.getRightStickButton().isJustPressed()) {
// robot.runningMacro = 0;
// robot.lastMacro = 0;
// robot.macroState = 0;
// robot.slides.cancel();
// }
//
// // update and telemetry
// robot.update(getRuntime());
//
// telemetry.addLine(robot.getTelemetry());
// telemetry.addLine(String.format("Last Macro: %s\nRunning Macro: %s\nMacroState: %s", robot.lastMacro, robot.runningMacro, robot.macroState));
// telemetry.update();
// }
//}

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/BlueTeam.java Normal file
View File

@ -0,0 +1,11 @@
//package org.firstinspires.ftc.teamcode.opmode.teleop;
//import com.qualcomm.robotcore.eventloop.opmode.Disabled;
//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//
//@TeleOp(name = "Opmode For Team Blue", group = "Competition")
//public class BlueTeam extends AbstractTeleOp {
//
// public BlueTeam() {
// team = Team.BLUE;
// }
//}

47
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/Drivebase.java Normal file
View File

@ -0,0 +1,47 @@
package org.firstinspires.ftc.teamcode.opmode.teleop;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.controller.Controller;
import org.firstinspires.ftc.teamcode.hardware.Robot;
@TeleOp(name = "Drivebase Only", group = "OpModes")
public class Drivebase extends OpMode {
//turbo mode
public static double normal = 0.5;
public static double turbo = 1;
//create robot instance
private Robot robot;
//create controller 1 (driver)
private Controller controller1;
@Override
public void init() {
this.robot = new Robot(hardwareMap);
controller1 = new Controller(gamepad1);
telemetry.addLine("Started");
//update to make sure we receive last line of code
telemetry.update();
}
@Override
public void loop() {
//create and set X, Y, and Z for drive inputs
double x = -gamepad1.left_stick_y;
double y = -gamepad1.left_stick_x;
double z = -gamepad1.right_stick_x;
robot.drive.setWeightedDrivePower(new Pose2d(x, y, z));
//turbo activation
if (controller1.getA().isJustPressed()){
x *= turbo;
y *= turbo;
z *= turbo;
} else if (controller1.getA().isJustReleased()){
x *= normal;
y *= normal;
z *= normal;
}
}
}

506
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/ExperimentalKhangMain.java
View File

@ -1,259 +1,257 @@
package org.firstinspires.ftc.teamcode.opmode.teleop;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.controller.Controller;
import org.firstinspires.ftc.teamcode.hardware.ArmPos;
import org.firstinspires.ftc.teamcode.hardware.DoorPos;
import org.firstinspires.ftc.teamcode.hardware.Down;
import org.firstinspires.ftc.teamcode.hardware.Hieght;
import org.firstinspires.ftc.teamcode.hardware.HopperPos;
import org.firstinspires.ftc.teamcode.hardware.Intake;
import org.firstinspires.ftc.teamcode.hardware.Robot;
import org.firstinspires.ftc.teamcode.hardware.SlidePos;
@Config
@TeleOp(name = "experimental opmode", group = "OpModes")
public class ExperimentalKhangMain extends OpMode {
//keep track of runtime for advanced macros
private ElapsedTime runTime = new ElapsedTime();
//create and set start position of intake
private Intake.Position Currentpos = Intake.Position.UP;
//inform if slides are in lowest position or not
private Down.DownArm DownQuestion = Down.DownArm.YES;
//create and set start position of slides
private SlidePos.SPosition CurrentSpos = SlidePos.SPosition.DOWN;
//create and set start position of arm
private ArmPos.APosition CurrentApos = ArmPos.APosition.SDOWN;
//create and set start position of door, default close
private DoorPos.DoorPosition CurrentDpos = DoorPos.DoorPosition.CLOSE;
//create and set start position of hopper
private HopperPos.hopperPos hopperpos = HopperPos.hopperPos.DOWN;
//create manual slide height varable and set it to hold position as start
private Hieght.height CurrentHeight = Hieght.height.HOLD;
//robot position stuff
Pose2d robot_pos;
double robot_x, robot_y, robot_heading;
//create robot instance
private Robot robot;
//create servo for plane
private Servo planeServo;
//create controller 1 (driver)
private Controller controller1;
//create controller 2 (macro user and one with hard life)
private Controller controller2;
//set starting slide height to 0
private double sHeight = 0;
@Override
public void init() {
//reset runtime when opmode is initialized
runTime.reset();
//make each servo, motor, and controller and configure them
planeServo = hardwareMap.get(Servo.class, "Plane Servo");
this.robot = new Robot(hardwareMap);
controller1 = new Controller(gamepad1);
controller2 = new Controller(gamepad2);
//feedback to driver hub to know if init was successful
telemetry.addLine("Started");
//update to amke sure we receive last lien of code
telemetry.update();
}
@Override
public void loop() {
// robot position update
robot_pos = robot.drive.getPoseEstimate();
robot_x = robot_pos.getX();
robot_y = robot_pos.getY();
robot_heading = robot_pos.getHeading(); // in radians
// Calculate the runtime in seconds
double currentTime = runTime.seconds();
//set start of macro runtime
double macroStartTime = 0;
//create and set X, Y, and Z for drive inputs
double x = -gamepad1.left_stick_y;
double y = -gamepad1.left_stick_x;
double z = -gamepad1.right_stick_x;
robot.drive.setWeightedDrivePower(new Pose2d(x, y, z));
//set intake to be pressure reactant to right trigger
robot.intake.setDcMotor(gamepad2.right_trigger);
//manual slide height control
double sHeight = gamepad2.right_stick_y;
//activate intake or not
double intakeON = gamepad2.right_trigger;
//graph input of Y joystick to make macros for slides
double sY = -gamepad2.left_stick_y;
//graph of X
double sX = gamepad2.left_stick_x;
//reset value to set slides to starting value
double reset = gamepad2.left_trigger;
//variable to determine shoot drone or not
double shoot = gamepad1.right_trigger;
//update variables to constantly feed position each component should be in
//intake
robot.intake.setpos(Currentpos);
//slide macro
robot.slides.setSPos(CurrentSpos);
//slide manual
// robot.slides.setHeight(CurrentHeight);
//arm position
robot.arm.setPos(CurrentApos);
//door open or not
robot.arm.openDoor(CurrentDpos);
//update
controller2.update();
//manual slide input reader
// if (sHeight >= 0.2) {
// CurrentHeight = Hieght.height.ASCEND;
// } else if (sHeight <= -0.2) {
// CurrentHeight = Hieght.height.DESCEND;
//package org.firstinspires.ftc.teamcode.opmode.teleop;
//
//import com.acmerobotics.dashboard.config.Config;
//import com.acmerobotics.roadrunner.geometry.Pose2d;
//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//import com.qualcomm.robotcore.hardware.Servo;
//import com.qualcomm.robotcore.util.ElapsedTime;
//
//import org.firstinspires.ftc.teamcode.controller.Controller;
//import org.firstinspires.ftc.teamcode.hardware.DoorPos;
//import org.firstinspires.ftc.teamcode.hardware.Down;
//import org.firstinspires.ftc.teamcode.hardware.Hieght;
//import org.firstinspires.ftc.teamcode.hardware.HopperPos;
//import org.firstinspires.ftc.teamcode.hardware.Intake;
//import org.firstinspires.ftc.teamcode.hardware.Robot;
//
//@Config
//@TeleOp(name = "experimental opmode", group = "OpModes")
//public class ExperimentalKhangMain extends OpMode {
//
// //keep track of runtime for advanced macros
// private ElapsedTime runTime = new ElapsedTime();
//
// //create and set start position of intake
// private Intake.Position Currentpos = Intake.Position.UP;
// //inform if slides are in lowest position or not
// private Down.DownArm DownQuestion = Down.DownArm.YES;
// //create and set start position of slides
// private SlidePos.SPosition CurrentSpos = SlidePos.SPosition.DOWN;
// //create and set start position of arm
// private ArmPos.APosition CurrentApos = ArmPos.APosition.SDOWN;
// //create and set start position of door, default close
// private DoorPos.DoorPosition CurrentDpos = DoorPos.DoorPosition.CLOSE;
// //create and set start position of hopper
// private HopperPos.hopperPos hopperpos = HopperPos.hopperPos.DOWN;
// //create manual slide height varable and set it to hold position as start
// private Hieght.height CurrentHeight = Hieght.height.HOLD;
//
// //robot position stuff
// Pose2d robot_pos;
// double robot_x, robot_y, robot_heading;
//
// //create robot instance
// private Robot robot;
// //create servo for plane
// private Servo planeServo;
// //create controller 1 (driver)
// private Controller controller1;
// //create controller 2 (macro user and one with hard life)
// private Controller controller2;
// //set starting slide height to 0
// private double sHeight = 0;
//
// @Override
// public void init() {
//
// //reset runtime when opmode is initialized
// runTime.reset();
//
// //make each servo, motor, and controller and configure them
// planeServo = hardwareMap.get(Servo.class, "Plane Servo");
// this.robot = new Robot(hardwareMap);
// controller1 = new Controller(gamepad1);
// controller2 = new Controller(gamepad2);
// //feedback to driver hub to know if init was successful
// telemetry.addLine("Started");
// //update to amke sure we receive last lien of code
// telemetry.update();
// }
//
// @Override
// public void loop() {
//
// // robot position update
// robot_pos = robot.drive.getPoseEstimate();
// robot_x = robot_pos.getX();
// robot_y = robot_pos.getY();
// robot_heading = robot_pos.getHeading(); // in radians
//
// // Calculate the runtime in seconds
// double currentTime = runTime.seconds();
//
// //set start of macro runtime
// double macroStartTime = 0;
//
// //create and set X, Y, and Z for drive inputs
// double x = -gamepad1.left_stick_y;
// double y = -gamepad1.left_stick_x;
// double z = -gamepad1.right_stick_x;
// robot.drive.setWeightedDrivePower(new Pose2d(x, y, z));
//
// //set intake to be pressure reactant to right trigger
// robot.intake.setDcMotor(gamepad2.right_trigger);
// //manual slide height control
// double sHeight = gamepad2.right_stick_y;
// //activate intake or not
// double intakeON = gamepad2.right_trigger;
// //graph input of Y joystick to make macros for slides
// double sY = -gamepad2.left_stick_y;
// //graph of X
// double sX = gamepad2.left_stick_x;
//
// //reset value to set slides to starting value
// double reset = gamepad2.left_trigger;
//
// //variable to determine shoot drone or not
// double shoot = gamepad1.right_trigger;
//
// //update variables to constantly feed position each component should be in
// //intake
// robot.intake.setpos(Currentpos);
// //slide macro
// robot.slides.setSPos(CurrentSpos);
// //slide manual
//// robot.slides.setHeight(CurrentHeight);
// //arm position
// robot.arm.setPos(CurrentApos);
// //door open or not
// robot.arm.openDoor(CurrentDpos);
// //update
// controller2.update();
//
// //manual slide input reader
//// if (sHeight >= 0.2) {
//// CurrentHeight = Hieght.height.ASCEND;
//// } else if (sHeight <= -0.2) {
//// CurrentHeight = Hieght.height.DESCEND;
//// } else {
//// CurrentHeight = Hieght.height.HOLD;
//// }
//
// //read values to determine if plane should shoot or not
// if (shoot >= 0.9) {
// planeServo.setPosition(0.2);
// } else {
// CurrentHeight = Hieght.height.HOLD;
// planeServo.setPosition(0);
// }
//read values to determine if plane should shoot or not
if (shoot >= 0.9) {
planeServo.setPosition(0.2);
} else {
planeServo.setPosition(0);
}
//make door rise as intake goes on
if (intakeON >= 0.01) {
CurrentDpos = DoorPos.DoorPosition.OPEN;
} else {
CurrentDpos = DoorPos.DoorPosition.CLOSE;
}
if (intakeON >= 0.35) {
Currentpos = Intake.Position.STACK1;
} else {
Currentpos = Intake.Position.UP;
}
//reset slide position
if (reset >= 0.2) {
CurrentSpos = CurrentSpos.DOWN;
}
// //control position of hopper
// if (controller2.getLeftBumper().isJustPressed()) {
// hopperpos = HopperPos.hopperPos.UP;
// } else if (controller2.getLeftBumper().isJustReleased()) {
// hopperpos = HopperPos.hopperPos.DOWN;
//
// //make door rise as intake goes on
// if (intakeON >= 0.01) {
// CurrentDpos = DoorPos.DoorPosition.OPEN;
// } else {
// CurrentDpos = DoorPos.DoorPosition.CLOSE;
// }
//shift intake up one pixel
if (controller2.getDLeft().isJustPressed()) {
//prevent from going higher than highest legal value
if (Currentpos != Intake.Position.UP) {
Currentpos = Currentpos.nextPosition();
}
}
//shift intake down one pixel
if (controller2.getDRight().isJustPressed()) {
//prevent from going lower than lowest value
if (Currentpos != Intake.Position.STACK1) {
Currentpos = Currentpos.previousPosition();
}
}
//set intake to max position
if (controller2.getDUp().isJustPressed()) {
Currentpos = Currentpos.UP;
}
//set intake to lowest position
if (controller2.getDDown().isJustPressed()) {
Currentpos = Currentpos.STACK1;
}
// //arm safety pause going up
// if (controller2.getA().isJustPressed()){
// CurrentApos = CurrentApos.SAFTEYUP;
//
// if (intakeON >= 0.35) {
// Currentpos = Intake.Position.STACK1;
// } else {
// Currentpos = Intake.Position.UP;
// }
//
// //reset slide position
// if (reset >= 0.2) {
// CurrentSpos = CurrentSpos.DOWN;
// }
//
//// //control position of hopper
//// if (controller2.getLeftBumper().isJustPressed()) {
//// hopperpos = HopperPos.hopperPos.UP;
//// } else if (controller2.getLeftBumper().isJustReleased()) {
//// hopperpos = HopperPos.hopperPos.DOWN;
//// }
//
// //shift intake up one pixel
// if (controller2.getDLeft().isJustPressed()) {
// //prevent from going higher than highest legal value
// if (Currentpos != Intake.Position.UP) {
// Currentpos = Currentpos.nextPosition();
// }
// }
//
// //shift intake down one pixel
// if (controller2.getDRight().isJustPressed()) {
// //prevent from going lower than lowest value
// if (Currentpos != Intake.Position.STACK1) {
// Currentpos = Currentpos.previousPosition();
// }
// }
//
// //set intake to max position
// if (controller2.getDUp().isJustPressed()) {
// Currentpos = Currentpos.UP;
// }
//
// //set intake to lowest position
// if (controller2.getDDown().isJustPressed()) {
// Currentpos = Currentpos.STACK1;
// }
//
//// //arm safety pause going up
//// if (controller2.getA().isJustPressed()){
//// CurrentApos = CurrentApos.SAFTEYUP;
//// DownQuestion = DownQuestion.NO;
//// }
//
// if (controller2.getA().isJustPressed()) {
// macroStartTime = currentTime;
// CurrentSpos = CurrentSpos.TAPE1;
// if (macroStartTime + 1000 <= currentTime) {
// CurrentApos = CurrentApos.SCORE;
// }
// }
//
// //arm safety pause going down
// if (controller2.getX().isJustPressed()) {
// CurrentApos = CurrentApos.SAFTEYDOWN;
// DownQuestion = DownQuestion.NO;
// }
if (controller2.getA().isJustPressed()) {
macroStartTime = currentTime;
CurrentSpos = CurrentSpos.TAPE1;
if (macroStartTime + 1000 <= currentTime) {
CurrentApos = CurrentApos.SCORE;
}
}
//arm safety pause going down
if (controller2.getX().isJustPressed()) {
CurrentApos = CurrentApos.SAFTEYDOWN;
DownQuestion = DownQuestion.NO;
}
//arm all the way up
if (controller2.getB().isJustPressed()) {
CurrentApos = CurrentApos.SCORE;
DownQuestion = DownQuestion.NO;
}
//arm all the way down
if (controller2.getY().isJustPressed()) {
CurrentApos = CurrentApos.SDOWN;
DownQuestion = DownQuestion.YES;
}
//set slides to max when left joystick is up
if (sY >= 0.5) {
CurrentSpos = CurrentSpos.MAX;
}
//set slides to tape 1 level when left joystick is down
if (sY <= -0.5) {
CurrentSpos = CurrentSpos.TAPE1;
}
//set slides to tape 3 when left joystick is right
if (sX >= 0.2) {
CurrentSpos = CurrentSpos.TAPE3;
}
//set slides to tape 2 when left joystick is left
if (sX <= -0.2) {
CurrentSpos = CurrentSpos.TAPE2;
}
//set slides all the way down when left bumper gets pressed
if (controller2.getLeftBumper().isJustPressed()) {
CurrentSpos = CurrentSpos.DOWN;
}
//set intake all teh way up when right bumper is pressed
if (controller2.getRightBumper().isJustPressed()) {
Currentpos = Currentpos.UP;
}
// update the runtime on the telemetry
telemetry.addData("Runtime", currentTime);
telemetry.update();
}
}
//
// //arm all the way up
// if (controller2.getB().isJustPressed()) {
// CurrentApos = CurrentApos.SCORE;
// DownQuestion = DownQuestion.NO;
// }
//
// //arm all the way down
// if (controller2.getY().isJustPressed()) {
// CurrentApos = CurrentApos.SDOWN;
// DownQuestion = DownQuestion.YES;
// }
//
// //set slides to max when left joystick is up
// if (sY >= 0.5) {
// CurrentSpos = CurrentSpos.MAX;
// }
//
// //set slides to tape 1 level when left joystick is down
// if (sY <= -0.5) {
// CurrentSpos = CurrentSpos.TAPE1;
// }
//
// //set slides to tape 3 when left joystick is right
// if (sX >= 0.2) {
// CurrentSpos = CurrentSpos.TAPE3;
// }
//
// //set slides to tape 2 when left joystick is left
// if (sX <= -0.2) {
// CurrentSpos = CurrentSpos.TAPE2;
// }
//
// //set slides all the way down when left bumper gets pressed
// if (controller2.getLeftBumper().isJustPressed()) {
// CurrentSpos = CurrentSpos.DOWN;
// }
//
// //set intake all teh way up when right bumper is pressed
// if (controller2.getRightBumper().isJustPressed()) {
// Currentpos = Currentpos.UP;
// }
//
// // update the runtime on the telemetry
// telemetry.addData("Runtime", currentTime);
// telemetry.update();
// }
//}

38
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/KhangMain.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/Meet1TeleOp.java
View File

@ -6,7 +6,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.controller.Controller;
import org.firstinspires.ftc.teamcode.hardware.ArmPos;
import org.firstinspires.ftc.teamcode.hardware.Arm;
import org.firstinspires.ftc.teamcode.hardware.DoorPos;
import org.firstinspires.ftc.teamcode.hardware.Down;
import org.firstinspires.ftc.teamcode.hardware.Hieght;
@ -18,7 +18,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
@Config
@TeleOp(name = "Meet 1 TeleOp", group = "OpModes")
public class KhangMain extends OpMode {
public class Meet1TeleOp extends OpMode {
//turbo mode
public static double normal = 0.5;
@ -34,7 +34,7 @@ public class KhangMain extends OpMode {
//create and set start position of slides
private SlidePos.SPosition CurrentSpos = SlidePos.SPosition.DOWN;
//create and set start position of arm
private ArmPos.APosition CurrentApos = ArmPos.APosition.SDOWN;
private Arm.APosition CurrentApos = Arm.APosition.SDOWN;
//create and set start position of door, default close
private DoorPos.DoorPosition CurrentDpos = DoorPos.DoorPosition.CLOSE;
//create and set start position of hopper
@ -65,7 +65,7 @@ public class KhangMain extends OpMode {
controller2 = new Controller(gamepad2);
//feedback to driver hub to know if init was successful
telemetry.addLine("Started");
//update to amke sure we receive last lien of code
//update to make sure we receive last line of code
telemetry.update();
}
@ -85,11 +85,11 @@ public class KhangMain extends OpMode {
robot.drive.setWeightedDrivePower(new Pose2d(x, y, z));
//turbo activation
if (controller1.getRightBumper().isJustPressed()){
if (controller1.getA().isJustPressed()){
x *= turbo;
y *= turbo;
z *= turbo;
} else {
} else if (controller1.getA().isJustReleased()){
x *= normal;
y *= normal;
z *= normal;
@ -105,6 +105,7 @@ public class KhangMain extends OpMode {
double sY = -gamepad2.left_stick_y;
//graph of X
double sX = gamepad2.left_stick_x;
double manualSY = gamepad2.right_stick_y;
//reset value to set slides to starting value
double reset = gamepad2.left_trigger;
@ -145,9 +146,14 @@ public class KhangMain extends OpMode {
//make door rise as intake goes on
if (intakeON >= 0.01) {
CurrentDpos = DoorPos.DoorPosition.OPEN;
Currentpos = Intake.Position.STACK1;
} else {
CurrentDpos = DoorPos.DoorPosition.CLOSE;
}
//make intake go to stack 1 when pressed down
if (intakeON >= 0.25) {
Currentpos = Intake.Position.STACK1;
} else {
Currentpos = Intake.Position.UP;
}
@ -233,15 +239,19 @@ public class KhangMain extends OpMode {
CurrentSpos = CurrentSpos.TAPE2;
}
//set slides all the way down when left bumper gets pressed
if (controller2.getLeftBumper().isJustPressed()) {
CurrentSpos = CurrentSpos.DOWN;
if (manualSY >=0.1) {
CurrentSpos = CurrentSpos.MANUAL;
}
//set intake all teh way up when right bumper is pressed
if (controller2.getRightBumper().isJustPressed()) {
Currentpos = Currentpos.UP;
}
// //set slides all the way down when left bumper gets pressed
// if (controller2.getLeftBumper().isJustPressed()) {
// CurrentSpos = CurrentSpos.DOWN;
// }
//
// //set intake all teh way up when right bumper is pressed
// if (controller2.getRightBumper().isJustPressed()) {
// Currentpos = Currentpos.UP;
// }
// update the runtime on the telemetry
telemetry.addData("Runtime", currentTime);

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/PoseStorage.java Normal file
View File

@ -0,0 +1,9 @@
package org.firstinspires.ftc.teamcode.opmode.teleop;
import com.acmerobotics.roadrunner.geometry.Pose2d;
public class PoseStorage {
public static Pose2d currentPose = new Pose2d();
public static boolean AutoJustEnded = false;
}

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/RedTeam.java Normal file
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@ -0,0 +1,11 @@
//package org.firstinspires.ftc.teamcode.opmode.teleop;
//
//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//
//@TeleOp(name = "Opmode For Team Red", group = "Competition")
//public class RedTeam extends AbstractTeleOp {
//
// public RedTeam() {
// team = Team.RED;
// }
//}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/Team.java Normal file
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@ -0,0 +1,6 @@
package org.firstinspires.ftc.teamcode.opmode.teleop;
public enum Team {
RED, BLUE
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TargetingPipeline.java
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@ -148,7 +148,4 @@ public class TargetingPipeline extends OpenCvPipeline {
public Detection getBlue() {
return this.blue;
}
public Detection getBlack() {
return this.black;
}
}