eaglesfe
/
robotcode
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Goog

This commit is contained in:
sihan 2024-03-09 09:06:11 -06:00
parent f6cdb245d6
commit 86370534f5
5 changed files with 83 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
View File

@ -31,7 +31,7 @@ import lombok.Getter;
@Config
public class Robot {
public static boolean clawIsOpen;
public static double WRISTDELAY = .3;
public static double WRISTDELAY = .08;
double delay;
public pickupMacroStates pickupMacroState = pickupMacroStates.IDLE;
public armMacroStates armMacroState = armMacroStates.IDLE;
@ -148,10 +148,10 @@ public class Robot {
public static class Slides {
//Values
public static double SLIDE_POWER_UP = .7;
public static double SLIDE_POWER_DOWN = .5;
public static double SLIDE_POWER_DOWN = .2;
public static int SLIDELAYERONE = 60;
public static int SLIDEAUTOSTACKS = 250;
public static int SLIDEUP = 1150;
public static int SLIDEUP = 630;
public static int SLIDELAYERTWO = 350;
public static int SLIDESTACK = 80;
public static int SLIDEPICKUPSTACKSTWO = 30;
@ -426,11 +426,11 @@ public class Robot {
@Config
public static class Claw {
//Values
public static double OPEN = 0.45;
public static double OPEN = 0.65;
public static double BIGOPEN = 0f;
public static double CLOSE = 0.85;
public static double CLAW_MIN = 0.46;
public static double CLAW_MAX = 0.5;
public static double CLOSE = 0.73;
public static double CLAW_MIN = 0;
public static double CLAW_MAX = 1;
//Servo
private Servo claw;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
View File

@ -329,9 +329,9 @@ public class MecanumDrive extends com.acmerobotics.roadrunner.drive.MecanumDr
this.setWeightedDrivePower(
new Pose2d(
gamepad2.left_stick_y * -1 * speedScale,
gamepad2.left_stick_x * -1 * speedScale,
-gamepad2.right_stick_x * turnScale
gamepad1.left_stick_y * -1 * speedScale,
gamepad1.left_stick_x * -1 * speedScale,
-gamepad1.right_stick_x * turnScale
));
}
}

44
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoTest.java Normal file
View File

@ -0,0 +1,44 @@
package org.firstinspires.ftc.teamcode.opmodes;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.hardware.Robot;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
@Autonomous(name = "Test Stuff")
public class AutoTest extends LinearOpMode {
protected Pose2d initialPosition;
private Robot robot;
//Pose2ds
//Preloads
final static Pose2d FIRSTMOVE = new Pose2d(10, 10, Math.toRadians(0));
protected void sequenceOne() {
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.splineToConstantHeading(new Vector2d(10, 10), Math.toRadians(0));
this.robot.getDrive().followTrajectorySequence(builder.build());
}
@Override
public void runOpMode() throws InterruptedException {
this.telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
this.robot = new Robot().init(hardwareMap);
this.initialPosition = new Pose2d(0, 0, Math.toRadians(0));
this.robot.getDrive().setPoseEstimate(initialPosition);
// Do super fancy chinese shit
while (!this.isStarted()) {
}
sequenceOne();
}
}

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java
View File

@ -25,6 +25,8 @@ public class MainTeleOp extends OpMode {
//GamePad Controls
boolean slideUp = controller2.isDown(GamepadKeys.Button.DPAD_UP);
boolean slideDown = controller2.isDown(GamepadKeys.Button.DPAD_LEFT);
boolean slideStop = controller2.wasJustReleased(GamepadKeys.Button.DPAD_UP) || controller2.wasJustReleased(GamepadKeys.Button.DPAD_LEFT);
boolean slideSlow = gamepad2.left_trigger > .1;
boolean hang = gamepad2.left_bumper;
boolean hangRelease = gamepad2.right_bumper;
boolean hangPlane = gamepad2.y;
@ -39,19 +41,21 @@ public class MainTeleOp extends OpMode {
this.robot.getSlides().slideUp();
} else if (slideDown) {
this.robot.getSlides().slideDown();
} else if (controller2.wasJustReleased(GamepadKeys.Button.DPAD_UP)
|| controller2.wasJustReleased(GamepadKeys.Button.DPAD_LEFT)) {
} else if (slideStop) {
this.robot.getSlides().slideStop();
}
if (gamepad2.left_trigger > .1) {
Robot.Slides.SLIDE_POWER_UP = .3;
//Slide Power
if (slideSlow) {
Robot.Slides.SLIDE_POWER_UP = .25;
Robot.Slides.SLIDE_POWER_DOWN = .2;
} else {
Robot.Slides.SLIDE_POWER_UP = .7;
Robot.Slides.SLIDE_POWER_DOWN = .5;
}
////Macros
//Macros
this.robot.pickupMacro(controller2, getRuntime()); //DPADDOWN
this.robot.armMacro(controller2, getRuntime()); //X
//
//Arm and Wrist
// if (controller2.wasJustPressed(GamepadKeys.Button.DPAD_DOWN)) {
// this.robot.getArm().pickup(true);

19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java
View File

@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.util;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
@Config
public class Configurables {
@ -21,4 +22,22 @@ public class Configurables {
public static double TURN = .75;
public static double SLOWMODE_TURN = 0.3;
}
//Auto Temp
@Config
public static class AuToDeV {
//Things
public static double X1 = 0, Y1 = 0, R1 = 0;
public static double X2 = 0, Y2 = 0, R2 = 0;
public static double X3 = 0, Y3 = 0, R3 = 0;
public static double X4 = 0, Y4 = 0, R4 = 0;
public static double X5 = 0, Y5 = 0, R5 = 0;
//Pose2d
public static Pose2d TEMP1 = new Pose2d(X1, Y1, Math.toRadians(R1));
public static Pose2d TEMP2 = new Pose2d(X2, Y2, Math.toRadians(R2));
public static Pose2d TEMP3 = new Pose2d(X3, Y3, Math.toRadians(R3));
public static Pose2d TEMP4 = new Pose2d(X4, Y4, Math.toRadians(R4));
public static Pose2d TEMP5 = new Pose2d(X5, Y5, Math.toRadians(R5));
}
}