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justintodo

This commit is contained in:
ImposterVarunoverlord 2024-01-30 17:02:44 -06:00
parent 52b2401460
commit 924e33e76a
6 changed files with 71 additions and 58 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java
View File

@ -30,11 +30,11 @@ public class Intake {
}
//Position
public static double stack1 = 0.02;
public static double stack1 = 0.03;
public static double stack2 = 0.03;
public static double stack3 = 0.06;
public static double stack4 = 0.085;
public static double stack5 = 0.09;
public static double stack3 = 0.065;
public static double stack4 = 0.09;
public static double stack5 = 0.1;
public static double up = 0.30;
public static double motorPower = 0;

49
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/BlueBackStageAuto.java
View File

@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.opmode.autonomous;
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.STACK4;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK5;
import com.acmerobotics.dashboard.config.Config;
@ -17,27 +18,31 @@ import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Config
@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(14, 35, Math.toRadians(-90));
public static final Pose2d DROP_3 = new Pose2d(18, 32, Math.toRadians(-180));
public static final Pose2d DROP_3M = new Pose2d(14.7, 30, Math.toRadians(-180));
public static final Pose2d DROP_2 = new Pose2d(14, 34, Math.toRadians(-90));
public static final Pose2d ALINE = new Pose2d(51,35, Math.toRadians(-180));
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(52, 32.5, Math.toRadians(-180));
public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(54.8, 28.7, Math.toRadians(-180));
public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(52.6, 34.5, 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));
public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(53.6, 30.6, Math.toRadians(-187));
public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(53.5, 30.6, Math.toRadians(-187));
public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(53.7, 32, Math.toRadians(-187));
//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, 11.8, Math.toRadians(-180));//-36
public static final Pose2d POST_SCORING_SPLINE_END = new Pose2d(26, 11.1 , Math.toRadians(-180));//-36
public static final Pose2d STACK_LOCATION = new Pose2d(-54.7, 11.8, Math.toRadians(-180));
public static final Pose2d STACK_LOCATION = new Pose2d(-54.8, 11.1, Math.toRadians(-180));
public static final Pose2d STACK_LOCATION2 = new Pose2d(-55.3, 11.1, Math.toRadians(-180));
@Override
public void createTrajectories() {
@ -62,6 +67,7 @@ public class BlueBackStageAuto extends AutoBase {
break;
case 3:
builder.lineToLinearHeading(DROP_3);
builder.lineToLinearHeading(DROP_3M);
break;
}
this.robot.drive.followTrajectorySequenceAsync(builder.build());
@ -78,8 +84,8 @@ public class BlueBackStageAuto extends AutoBase {
// RUN INTAKE
case 2:
// intake
if (getRuntime() < macroTime + 0.2) {
robot.intake.setDcMotor(-0.22);
if (getRuntime() < macroTime + 0.1) {
robot.intake.setDcMotor(-0.18);
}
// if intake is done move on
else {
@ -123,7 +129,7 @@ public class BlueBackStageAuto extends AutoBase {
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.splineToConstantHeading(POST_SCORING_SPLINE_END.vec(),Math.toRadians(180));
builder.lineToConstantHeading(STACK_LOCATION.vec());
builder.lineToConstantHeading(STACK_LOCATION.vec().plus(new Vector2d(0,0)));
this.robot.drive.followTrajectorySequenceAsync(builder.build());
macroState++;
}
@ -131,7 +137,7 @@ public class BlueBackStageAuto extends AutoBase {
//waits for the robot to fin the trajectory
case 5:
robot.resetMacro(0, getRuntime());
robot.intake.setDcMotor(0.44);
robot.intake.setDcMotor(0.38);
robot.intake.setpos(STACK5);
if (!robot.drive.isBusy()) {
macroState++;
@ -139,15 +145,16 @@ public class BlueBackStageAuto extends AutoBase {
break;
//First 2 pixels off the stack are intaken by this
case 6:
robot.intake.setDcMotor(0.44);
robot.intake.setDcMotor(0.38);
robot.intake.setpos(STACK5);
macroTime = getRuntime();
macroState++;
break;
//goes back to the easel
case 7:
if (getRuntime() > macroTime + 0.3) {
robot.intake.setDcMotor(0);
if (getRuntime() > macroTime + 0.03) {
//robot.intake.setDcMotor(-0.0);
robot.intake.setDcMotor(-0.65);
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToConstantHeading(POST_SCORING_SPLINE_END.vec());
@ -194,7 +201,7 @@ public class BlueBackStageAuto extends AutoBase {
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.splineToConstantHeading(POST_SCORING_SPLINE_END.vec(),Math.toRadians(180));
builder.lineToConstantHeading(STACK_LOCATION.vec());
builder.lineToConstantHeading(STACK_LOCATION2.vec().plus(new Vector2d(0)));
this.robot.drive.followTrajectorySequenceAsync(builder.build());
macroState++;
}
@ -202,23 +209,23 @@ public class BlueBackStageAuto extends AutoBase {
//waits for the robot to fin the trajectory
case 11:
robot.resetMacro(0, getRuntime());
robot.intake.setDcMotor(0.44);
robot.intake.setpos(STACK3);
robot.intake.setDcMotor(0.38);
robot.intake.setpos(STACK4);
if (!robot.drive.isBusy()) {
macroState++;
}
break;
//First 2 pixels off the stack are intaken by this
//Third and 4th pixels off the stack are intaken by this
case 12:
robot.intake.setDcMotor(0.44);
robot.intake.setDcMotor(0.38);
robot.intake.setpos(STACK3);
macroTime = getRuntime();
macroState++;
break;
//goes back to the easel
case 13:
if (getRuntime() > macroTime + 0.3) {
robot.intake.setDcMotor(0);
if (getRuntime() > macroTime + 0.03) {
robot.intake.setDcMotor(0.65);
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToConstantHeading(POST_SCORING_SPLINE_END.vec());

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java
View File

@ -1,5 +1,6 @@
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.STACK3;
import static org.firstinspires.ftc.teamcode.hardware.Intake.Position.STACK4;
@ -19,18 +20,18 @@ import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
@Autonomous(name = "Red Backstage Auto(2+4)", group = "Competition", preselectTeleOp = "Main TeleOp")
public class RedBackStageAuto extends AutoBase {
public static final Pose2d DROP_1 = new Pose2d(12, -32.5, Math.toRadians(180));
public static final Pose2d DROP_2 = new Pose2d(13.7, -33.5, Math.toRadians(90));
public static final Pose2d DROP_2 = new Pose2d(13.3, -33.5, Math.toRadians(90));
public static final Pose2d ALINE = new Pose2d(51,-32.5, Math.toRadians(180));
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(51, -31.5, Math.toRadians(180));
public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(50, -31.5, Math.toRadians(180));
public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(51.3, -42, Math.toRadians(180));
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_2 = new Pose2d(50.5, -30, Math.toRadians(188));//187
public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(50, -30, Math.toRadians(188));//187
public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(50.6, -32, Math.toRadians(188));//817
@ -38,9 +39,9 @@ public class RedBackStageAuto 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, -12.4, Math.toRadians(190));//-36
public static final Pose2d STACK_LOCATION = new Pose2d(-57.9, -12.4, Math.toRadians(190));
public static final Pose2d STACK_LOCATION = new Pose2d(-53, -12.9, Math.toRadians(190));
public static final Pose2d STACK_LOCATION_TWO = new Pose2d(-58.5, -12.4, Math.toRadians(190));
public static final Pose2d STACK_LOCATION_TWO = new Pose2d(-54, -12.9, Math.toRadians(190));
@Override
public void createTrajectories() {
@ -81,8 +82,8 @@ public class RedBackStageAuto extends AutoBase {
// RUN INTAKE
case 2:
// intake
if (getRuntime() < macroTime + 0.28) {
robot.intake.setDcMotor(-0.22);
if (getRuntime() < macroTime + 0.23) {
robot.intake.setDcMotor(-0.18);
}
// if intake is done move on
else {
@ -122,7 +123,7 @@ public class RedBackStageAuto extends AutoBase {
// STACK RUN 1 -------------------------
case 4:
robot.resetMacro(0, getRuntime());
if (getRuntime() > macroTime + 1.4 || robot.macroState >= 4) {
if (getRuntime() > macroTime + 1.5 || robot.macroState >= 4) {
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.splineToConstantHeading(POST_SCORING_SPLINE_END.vec(),Math.toRadians(180));
@ -150,7 +151,7 @@ public class RedBackStageAuto extends AutoBase {
//goes back to the easel
case 7:
if (getRuntime() > macroTime + 0.5) {
robot.intake.setDcMotor(0);
robot.intake.setDcMotor(0.65);
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToConstantHeading(POST_SCORING_SPLINE_END.vec());
@ -193,7 +194,7 @@ public class RedBackStageAuto extends AutoBase {
// STACK RUN 2
case 10:
robot.resetMacro(0, getRuntime());
if (getRuntime() > macroTime + 1.4 || robot.macroState >= 4) {
if (getRuntime() > macroTime + 1.5 || robot.macroState >= 4) {
builder = this.robot.getTrajectorySequenceBuilder();
builder.splineToConstantHeading(POST_SCORING_SPLINE_END.vec(),Math.toRadians(180));
builder.lineToConstantHeading(STACK_LOCATION_TWO.vec());
@ -205,7 +206,7 @@ public class RedBackStageAuto extends AutoBase {
case 11:
robot.resetMacro(0, getRuntime());
robot.intake.setDcMotor(0.54);
robot.intake.setpos(STACK3);
robot.intake.setpos(STACK2);
if (!robot.drive.isBusy()) {
macroState++;
}
@ -213,14 +214,14 @@ public class RedBackStageAuto extends AutoBase {
//3rd and 4th pixels off the stack are intaken by this
case 12:
robot.intake.setDcMotor(0.54);
robot.intake.setpos(STACK2);
robot.intake.setpos(STACK1);
macroTime = getRuntime();
macroState++;
break;
//goes back to the easel
case 13:
if (getRuntime() > macroTime + 0.6) {
robot.intake.setDcMotor(0);
robot.intake.setDcMotor(0.65);
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToConstantHeading(POST_SCORING_SPLINE_END.vec());

25
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedFrontStageAuto.java
View File

@ -29,13 +29,15 @@ public class RedFrontStageAuto extends AutoBase {
public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(50.6, -32, Math.toRadians(188));//817
public static final Pose2d STACK_LOCATION = new Pose2d(-55, -34.4, Math.toRadians(180));
public static final Pose2d STACK_LOCATION = new Pose2d(-52, -34.4, Math.toRadians(180));
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(-22, -63.5, Math.toRadians(180));
public static final Pose2d POST_DROP_POS = new Pose2d(-45, -57.5, Math.toRadians(180));
public static final Pose2d PRE_DEPOSIT_POS = new Pose2d(34, -65.5, Math.toRadians(180));
public static final Pose2d POST_DROP_POS_PART2 = new Pose2d(-33, -60.5, Math.toRadians(180));
public static final Pose2d PRE_DEPOSIT_POS = new Pose2d(33, -60.5, Math.toRadians(180));
@Override
public void createTrajectories() {
@ -77,13 +79,13 @@ public class RedFrontStageAuto extends AutoBase {
// RUN INTAKE
case 2:
// intake
if (getRuntime() < macroTime + 0.32) {
robot.intake.setDcMotor(-0.18);
if (getRuntime() < macroTime + 0.22) {
robot.intake.setDcMotor(-0.15);
}
else{
builder = this.robot.getTrajectorySequenceBuilder();
robot.intake.setDcMotor(0);
builder.lineToLinearHeading(STACK_LOCATION.plus(new Pose2d(0)));
builder.lineToLinearHeading(STACK_LOCATION.plus(new Pose2d(0,-1.5)));
robot.arm.setDoor(OPEN);
robot.intake.setDcMotor(0.54);
robot.intake.setpos(STACK5);
@ -103,11 +105,12 @@ public class RedFrontStageAuto extends AutoBase {
case 4:
if (getRuntime() > macroTime + 0.3) {
if (getRuntime() > macroTime + 0.2) {
robot.intake.setDcMotor(0);
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.lineToLinearHeading(POST_DROP_POS);
builder.splineToConstantHeading(POST_DROP_POS_PART2.vec(), Math.toRadians(0));
switch (teamPropLocation) {
case 1:
@ -130,7 +133,7 @@ public class RedFrontStageAuto extends AutoBase {
break;
case 5:
// if drive is done move on
if (getRuntime() > macroTime + 2.4 || !robot.drive.isBusy()) {
if (getRuntime() > macroTime + 4.4 || !robot.drive.isBusy()) {
macroTime = getRuntime();
robot.macroState = 0;
robot.extendMacro(Slides.mini_tier1 + 180, getRuntime());
@ -185,6 +188,8 @@ public class RedFrontStageAuto extends AutoBase {
builder = this.robot.getTrajectorySequenceBuilder();
//builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
builder.splineToSplineHeading(POST_DROP_POS, Math.toRadians(0));
builder.splineToConstantHeading(POST_DROP_POS_PART2.vec(), Math.toRadians(0));
switch (teamPropLocation) {
case 1:
@ -207,7 +212,7 @@ public class RedFrontStageAuto extends AutoBase {
break;
case 11:
// if drive is done move on
if (getRuntime() > macroTime + 1.4 || !robot.drive.isBusy()) {
if (getRuntime() > macroTime + 4.4 || !robot.drive.isBusy()) {
macroTime = getRuntime();
robot.macroState = 0;
robot.extendMacro(Slides.mini_tier1 + 180, getRuntime());
@ -285,7 +290,7 @@ public class RedFrontStageAuto extends AutoBase {
break;
case 17:
// if drive is done move on
if (getRuntime() > macroTime + 1.4 || !robot.drive.isBusy()) {
if (getRuntime() > macroTime + 4.4 || !robot.drive.isBusy()) {
macroTime = getRuntime();
robot.macroState = 0;
robot.extendMacro(Slides.mini_tier1 + 180, getRuntime());

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java
View File

@ -20,7 +20,7 @@ public class MainTeleOp extends OpMode {
public static double normal = 0.7;
public static double turbo = 1;
public static double slow_mode = 0.35;
public static double intakeMax = 0.5;
public static double intakeMax = 0.65;
public static double intakeMax2 = -0.65;
private Robot robot;

18
build.dependencies.gradle
View File

@ -5,15 +5,15 @@ repositories {
}
dependencies {
implementation 'org.firstinspires.ftc:Inspection:9.0.0'
implementation 'org.firstinspires.ftc:Blocks:9.0.0'
implementation 'org.firstinspires.ftc:Tfod:9.0.0'
implementation 'org.firstinspires.ftc:RobotCore:9.0.0'
implementation 'org.firstinspires.ftc:RobotServer:9.0.0'
implementation 'org.firstinspires.ftc:OnBotJava:9.0.0'
implementation 'org.firstinspires.ftc:Hardware:9.0.0'
implementation 'org.firstinspires.ftc:FtcCommon:9.0.0'
implementation 'org.firstinspires.ftc:Vision:9.0.0'
implementation 'org.firstinspires.ftc:Inspection:9.0.1'
implementation 'org.firstinspires.ftc:Blocks:9.0.1'
implementation 'org.firstinspires.ftc:Tfod:9.0.1'
implementation 'org.firstinspires.ftc:RobotCore:9.0.1'
implementation 'org.firstinspires.ftc:RobotServer:9.0.1'
implementation 'org.firstinspires.ftc:OnBotJava:9.0.1'
implementation 'org.firstinspires.ftc:Hardware:9.0.1'
implementation 'org.firstinspires.ftc:FtcCommon:9.0.1'
implementation 'org.firstinspires.ftc:Vision:9.0.1'
implementation 'org.firstinspires.ftc:gameAssets-CenterStage:1.0.0'
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'