From d7c89b9a23c317dfe46b6fa6eb0860040486191a Mon Sep 17 00:00:00 2001 From: Justin Date: Sat, 11 Nov 2023 10:47:48 -0600 Subject: [PATCH] park autos? --- TeamCode/build.gradle | 14 ++++++ .../opmode/autonomous/blueLeftAuto.java | 5 +- .../opmode/autonomous/parkAutoBlue.java | 48 +++++++++++++++++++ .../opmode/autonomous/parkAutoRed.java | 48 +++++++++++++++++++ build.gradle | 2 +- 5 files changed, 115 insertions(+), 2 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoBlue.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoRed.java diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index c5a0398..dc69ae4 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -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 diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java index 7c791f3..11f2a9e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java @@ -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); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoBlue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoBlue.java new file mode 100644 index 0000000..616b488 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoBlue.java @@ -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); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoRed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoRed.java new file mode 100644 index 0000000..cf30726 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoRed.java @@ -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); + } +} diff --git a/build.gradle b/build.gradle index 8969a41..e2815e5 100644 --- a/build.gradle +++ b/build.gradle @@ -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' } }