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Claw, Gantry, and Lift

This commit is contained in:
Thomas 2023-11-30 10:57:43 -06:00
parent a4ee7223c3
commit c73434ad26
3 changed files with 5 additions and 6 deletions
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3
TeamCode/src/main/java/opmodes/AutoBase.java
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@ -74,7 +74,6 @@ public abstract class AutoBase extends LinearOpMode {
propRight(); propRight();
break; break;
} }
moveToBackstage(); moveToBackstage();
prepareToScore(); prepareToScore();
scorePreloadedPixel(); scorePreloadedPixel();
@ -129,7 +128,7 @@ public abstract class AutoBase extends LinearOpMode {
delta = APRIL_TAG_RIGHT_DELTA; delta = APRIL_TAG_RIGHT_DELTA;
break; break;
} }
double distance = this.robot.getCamera().getDistanceToAprilTag(2, 25, 5); double distance = this.robot.getCamera().getDistanceToAprilTag(this.alliance == CenterStageCommon.Alliance.Blue ? 2:5, 25, 5);
Vector2d target = new Vector2d(this.robot.getDrive().getPoseEstimate().getX() + (distance - SCORING_DISTANCE_FROM_APRIL_TAG), this.robot.getDrive().getPoseEstimate().getY() + delta); Vector2d target = new Vector2d(this.robot.getDrive().getPoseEstimate().getX() + (distance - SCORING_DISTANCE_FROM_APRIL_TAG), this.robot.getDrive().getPoseEstimate().getY() + delta);
TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder(); TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(target); builder.lineToConstantHeading(target);

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
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@ -18,8 +18,8 @@ import org.opencv.core.Point;
@Config @Config
public class Camera { public class Camera {
public static float PROP_REJECTION_VERTICAL_UPPER = 175; public static float PROP_REJECTION_VERTICAL_UPPER = 250;
public static float PROP_REJECTION_VERTICAL_LOWER = 300; public static float PROP_REJECTION_VERTICAL_LOWER = 370;
private PropDetectionPipeline prop; private PropDetectionPipeline prop;
private AprilTagProcessor aprilTag; private AprilTagProcessor aprilTag;
private VisionPortal visionPortal; private VisionPortal visionPortal;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
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@ -66,8 +66,8 @@ public class RobotConfig {
// Vision // Vision
public static double CAMERA_OFFSET_X = 0f; public static double CAMERA_OFFSET_X = 0f;
public static double DETECTION_AREA_MIN = 0.02f; public static double DETECTION_AREA_MIN = 0.01f;
public static double DETECTION_AREA_MAX = 0.3f; public static double DETECTION_AREA_MAX = 0.2f;
public static double DETECTION_LEFT_X = 0; public static double DETECTION_LEFT_X = 0;
public static double DETECTION_CENTER_X = .5; public static double DETECTION_CENTER_X = .5;
public static double DETECTION_RIGHT_X = 1; public static double DETECTION_RIGHT_X = 1;