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park autos?

This commit is contained in:
Justin 2023-11-11 10:47:48 -06:00
parent ebd299fafa
commit d7c89b9a23
5 changed files with 115 additions and 2 deletions
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14
TeamCode/build.gradle
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@ -16,7 +16,21 @@ apply from: '../build.common.gradle'
apply from: '../build.dependencies.gradle'
android {
defaultConfig {
externalNativeBuild {
cmake {
cppFlags ''
}
}
}
namespace = 'org.firstinspires.ftc.teamcode'
externalNativeBuild {
cmake {
path file('src/main/cpp/CMakeLists.txt')
version '3.18.1'
}
}
packagingOptions {
jniLibs.useLegacyPackaging true

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java
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@ -13,7 +13,7 @@ import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
import org.firstinspires.ftc.teamcode.util.CameraPosition;
@Autonomous(name = "Blue Left", group = "Left Start", preselectTeleOp = "Khang Main")
public class blueLeftAuto {
public class blueLeftAuto extends AbstractAuto{
public SampleMecanumDrive drive;
public Robot robot;
public Camera camera;
@ -21,6 +21,9 @@ public class blueLeftAuto {
public CameraPosition cameraPosition;
public Trajectory start;
@Override
public void setAlliance() {}
public void Robot(HardwareMap hardwareMap) {
//set to new Drive to revert
drive = new SampleMecanumDrive(hardwareMap);

48
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoBlue.java Normal file
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@ -0,0 +1,48 @@
package org.firstinspires.ftc.teamcode.opmode.autonomous;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.hardware.Camera;
import org.firstinspires.ftc.teamcode.hardware.Drive;
import org.firstinspires.ftc.teamcode.hardware.Robot;
import org.firstinspires.ftc.teamcode.roadrunner.drive.DriveConstants;
import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
import org.firstinspires.ftc.teamcode.util.CameraPosition;
@Autonomous(name = "Blue Left Park", group = "Left Start", preselectTeleOp = "Khang Main")
public class parkAutoBlue extends AbstractAuto{
public SampleMecanumDrive drive;
public Robot robot;
public Camera camera;
private boolean camEnabled = true;
public CameraPosition cameraPosition;
public Trajectory start;
@Override
public void setAlliance() {}
public void Robot(HardwareMap hardwareMap) {
//set to new Drive to revert
drive = new SampleMecanumDrive(hardwareMap);
camera = new Camera(hardwareMap);
camera.initTargetingCamera();
camEnabled = true;
}
@Override
public void makeTrajectories() {
// positions
Pose2d start = new Pose2d(-65.125,6,Math.toRadians(180));
drive.setPoseEstimate(start);
Trajectory park = drive.trajectoryBuilder(start)
.splineTo(new Vector2d(-65.125,60), Math.toRadians(180))
.build();
drive.followTrajectory(park);
}
}

48
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoRed.java Normal file
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@ -0,0 +1,48 @@
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.hardware.Camera;
import org.firstinspires.ftc.teamcode.hardware.Drive;
import org.firstinspires.ftc.teamcode.hardware.Robot;
import org.firstinspires.ftc.teamcode.opmode.autonomous.AbstractAuto;
import org.firstinspires.ftc.teamcode.roadrunner.drive.DriveConstants;
import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
import org.firstinspires.ftc.teamcode.util.CameraPosition;
@Autonomous(name = "Red Right Park", group = "Right Start", preselectTeleOp = "Khang Main")
public class parkAutoRed extends AbstractAuto {
public SampleMecanumDrive drive;
public Robot robot;
public Camera camera;
private boolean camEnabled = true;
public CameraPosition cameraPosition;
public Trajectory start;
@Override
public void setAlliance() {}
public void Robot(HardwareMap hardwareMap) {
//set to new Drive to revert
drive = new SampleMecanumDrive(hardwareMap);
camera = new Camera(hardwareMap);
camera.initTargetingCamera();
camEnabled = true;
}
@Override
public void makeTrajectories() {
// positions
Pose2d start = new Pose2d(65.125,6,Math.toRadians(180));
drive.setPoseEstimate(start);
Trajectory park = drive.trajectoryBuilder(start)
.splineTo(new Vector2d(65.125,60), Math.toRadians(180))
.build();
drive.followTrajectory(park);
}
}

2
build.gradle
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@ -11,7 +11,7 @@ buildscript {
}
dependencies {
// Note for FTC Teams: Do not modify this yourself.
classpath 'com.android.tools.build:gradle:7.2.0'
classpath 'com.android.tools.build:gradle:7.2.2'
}
}