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all 3 auto spikes work

This commit is contained in:
sihan 2023-11-08 11:31:33 -06:00
parent 54b6548d36
commit e84fe97cb4
17 changed files with 33 additions and 2 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/AutomaticFeedforwardTuner.java
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@ -10,6 +10,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.util.NanoClock;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.RobotLog;
@ -33,6 +34,7 @@ import java.util.List;
* regression.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class AutomaticFeedforwardTuner extends LinearOpMode {
public static double MAX_POWER = 0.7;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/BackAndForth.java
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@ -4,6 +4,7 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
* is recommended that you use the FollowerPIDTuner opmode for further fine tuning.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class BackAndForth extends LinearOpMode {

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/DriveVelocityPIDTuner.java
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@ -15,6 +15,7 @@ import com.acmerobotics.roadrunner.profile.MotionProfileGenerator;
import com.acmerobotics.roadrunner.profile.MotionState;
import com.acmerobotics.roadrunner.util.NanoClock;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.RobotLog;
@ -49,6 +50,7 @@ import java.util.List;
* Pressing B/O (Xbox/PS4) will cede control back to the tuning process.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class DriveVelocityPIDTuner extends LinearOpMode {
public static double DISTANCE = 72; // in

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/FollowerPIDTuner.java
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@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
@ -23,6 +24,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.Tra
* These coefficients can be tuned live in dashboard.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class FollowerPIDTuner extends LinearOpMode {
public static double DISTANCE = 48; // in

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/LocalizationTest.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
@ -14,6 +15,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
* exercise is to ascertain whether the localizer has been configured properly (note: the pure
* encoder localizer heading may be significantly off if the track width has not been tuned).
*/
@Disabled
@TeleOp(group = "drive")
public class LocalizationTest extends LinearOpMode {
@Override

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/ManualFeedforwardTuner.java
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@ -17,6 +17,7 @@ import com.acmerobotics.roadrunner.profile.MotionProfileGenerator;
import com.acmerobotics.roadrunner.profile.MotionState;
import com.acmerobotics.roadrunner.util.NanoClock;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import com.qualcomm.robotcore.util.RobotLog;
@ -42,6 +43,7 @@ import java.util.Objects;
* Pressing B/O (Xbox/PS4) will cede control back to the tuning process.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class ManualFeedforwardTuner extends LinearOpMode {
public static double DISTANCE = 72; // in

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxAngularVeloTuner.java
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@ -5,6 +5,7 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
@ -23,6 +24,7 @@ import java.util.Objects;
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class MaxAngularVeloTuner extends LinearOpMode {
public static double RUNTIME = 4.0;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxVelocityTuner.java
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@ -5,6 +5,7 @@ import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.VoltageSensor;
@ -25,6 +26,7 @@ import java.util.Objects;
* Further fine tuning of kF may be desired.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class MaxVelocityTuner extends LinearOpMode {
public static double RUNTIME = 2.0;

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MotorDirectionDebugger.java
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@ -38,6 +38,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
*
* Uncomment the @Disabled tag below to use this opmode.
*/
@Disabled
@Config
@TeleOp(group = "drive")

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/SplineTest.java
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@ -4,6 +4,7 @@ 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.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
@ -11,6 +12,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
/*
* This is an example of a more complex path to really test the tuning.
*/
@Disabled
@Autonomous(group = "drive")
public class SplineTest extends LinearOpMode {
@Override

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StrafeTest.java
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@ -6,6 +6,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -15,6 +16,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
* This is a simple routine to test translational drive capabilities.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class StrafeTest extends LinearOpMode {
public static double DISTANCE = 60; // in

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StraightTest.java
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@ -6,6 +6,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@ -15,6 +16,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
* This is a simple routine to test translational drive capabilities.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class StraightTest extends LinearOpMode {
public static double DISTANCE = 60; // in

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackWidthTuner.java
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@ -6,6 +6,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.util.Angle;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.MovingStatistics;
@ -24,6 +25,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
* accurate track width estimate is important or else the angular constraints will be thrown off.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class TrackWidthTuner extends LinearOpMode {
public static double ANGLE = 180; // deg

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelForwardOffsetTuner.java
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@ -6,6 +6,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.util.Angle;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.MovingStatistics;
import com.qualcomm.robotcore.util.RobotLog;
@ -35,6 +36,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.StandardTracking
* satisfactory result is produced.
*/
@Config
@Disabled
@Autonomous(group="drive")
public class TrackingWheelForwardOffsetTuner extends LinearOpMode {
public static double ANGLE = 180; // deg

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelLateralDistanceTuner.java
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@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.util.Angle;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.RobotLog;
@ -62,6 +63,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.StandardTracking
* precision. The heading should still line up.
*/
@Config
@Disabled
@TeleOp(group = "drive")
public class TrackingWheelLateralDistanceTuner extends LinearOpMode {
public static int NUM_TURNS = 10;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java
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@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
@ -10,6 +11,7 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
* This is a simple routine to test turning capabilities.
*/
@Config
@Disabled
@Autonomous(group = "drive")
public class TurnTest extends LinearOpMode {
public static double ANGLE = 90; // deg

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Auto.java
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@ -42,12 +42,12 @@ public class Auto extends LinearOpMode {
//Preload Two
this.preloadTwo = this.robot.getDrive().trajectoryBuilder(initialPosition)
.lineToLinearHeading(new Pose2d(40,-25, Math.toRadians(270)))
.lineToLinearHeading(new Pose2d(35,-27, Math.toRadians(270)))
.build();
//Preload Three
this.preloadThree = this.robot.getDrive().trajectoryBuilder(initialPosition)
.lineToLinearHeading(new Pose2d(47.5,-37.5, Math.toRadians(270)))
.lineToLinearHeading(new Pose2d(46,-35, Math.toRadians(270)))
.build();
// Do super fancy chinese shit