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auto boop

This commit is contained in:
ImposterVarunoverlord 2024-01-11 12:01:29 -06:00
parent 9f0e81e703
commit eb96826eb1
2 changed files with 28 additions and 19 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
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@ -22,7 +22,7 @@ public class Arm {
private double armTempPos; private double armTempPos;
private double doorPos; private double doorPos;
private double wristPos; private double wristPos;
public static double ARM_KP = 0.08; public static double ARM_KP = 0.1;
public static double doorOpenPos = 0.3; public static double doorOpenPos = 0.3;
public static double doorClosePos = 0.61; public static double doorClosePos = 0.61;

45
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java
View File

@ -14,17 +14,26 @@ import org.firstinspires.ftc.teamcode.roadrunner.trajectorysequence.TrajectorySe
@Config @Config
@Autonomous(name = "Red Backstage Auto", group = "Competition", preselectTeleOp = "Main TeleOp") @Autonomous(name = "Red Backstage Auto", group = "Competition", preselectTeleOp = "Main TeleOp")
public class RedBackStageAuto extends AutoBase { public class RedBackStageAuto extends AutoBase {
public static final Pose2d DROP_1 = new Pose2d(12, -37.5, Math.toRadians(90)); public static final Pose2d DROP_1 = new Pose2d(12, -33.5, Math.toRadians(90));
public static final Pose2d DROP_2 = new Pose2d(12, -34.5, Math.toRadians(90)); public static final Pose2d DROP_2 = new Pose2d(12, -33.5, Math.toRadians(90));
public static final Pose2d ALINE = new Pose2d(12,-37.5, Math.toRadians(90)); public static final Pose2d ALINE = new Pose2d(12,-37.5, Math.toRadians(90));
public static final Pose2d DROP_3 = new Pose2d(12, -37.5, Math.toRadians(90)); public static final Pose2d DROP_3 = new Pose2d(12, -33.5, Math.toRadians(90));
public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(54, -29, Math.toRadians(180)); public static final Pose2d DEPOSIT_PRELOAD_1 = new Pose2d(54.2, -29, Math.toRadians(180));
public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(54, -32, Math.toRadians(180)); public static final Pose2d DEPOSIT_PRELOAD_2 = new Pose2d(54.2, -34, Math.toRadians(180));
public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(54, -35, Math.toRadians(180)); public static final Pose2d DEPOSIT_PRELOAD_3 = new Pose2d(54.2, -35, Math.toRadians(180));
public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(12, -9.5);//-36
public static final Pose2d STACK_LOCATION = new Pose2d(-56, -12, Math.toRadians(180)); public static final Pose2d DEPOSIT_WHITE_STACKS_1 = new Pose2d(54, -27, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_2 = new Pose2d(54, -27, Math.toRadians(187));
public static final Pose2d DEPOSIT_WHITE_STACKS_3 = new Pose2d(54, -27, Math.toRadians(187));
public static final Vector2d POST_SCORING_SPLINE_END = new Vector2d(12, -9);//-36
public static final Pose2d STACK_LOCATION = new Pose2d(-55.3, -12, Math.toRadians(180));
@Override @Override
public void createTrajectories() { public void createTrajectories() {
@ -64,8 +73,8 @@ public class RedBackStageAuto extends AutoBase {
// RUN INTAKE // RUN INTAKE
case 2: case 2:
// intake // intake
if (getRuntime() < macroTime + 0.5) { if (getRuntime() < macroTime + 0.3) {
robot.intake.setDcMotor(-0.46); robot.intake.setDcMotor(-0.2);
} }
// if intake is done move on // if intake is done move on
else { else {
@ -125,19 +134,19 @@ public class RedBackStageAuto extends AutoBase {
break; break;
//gose back to the esile //gose back to the esile
case 7: case 7:
if (getRuntime() > macroTime + 1.5) { if (getRuntime() > macroTime + 1.2) {
robot.intake.setDcMotor(0); robot.intake.setDcMotor(0);
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(POST_SCORING_SPLINE_END); builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
switch (teamPropLocation) { switch (teamPropLocation) {
case 1: case 1:
builder.lineToConstantHeading(DEPOSIT_PRELOAD_1.vec()); builder.lineToConstantHeading(DEPOSIT_WHITE_STACKS_1.vec());
break; break;
case 2: case 2:
builder.lineToConstantHeading(DEPOSIT_PRELOAD_2.vec()); builder.lineToConstantHeading(DEPOSIT_WHITE_STACKS_2.vec());
break; break;
case 3: case 3:
builder.lineToConstantHeading(DEPOSIT_PRELOAD_3.vec()); builder.lineToConstantHeading(DEPOSIT_WHITE_STACKS_3.vec());
break; break;
} }
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());
@ -186,18 +195,18 @@ public class RedBackStageAuto extends AutoBase {
macroState++; macroState++;
break; break;
case 13: case 13:
if (getRuntime() > macroTime + 1.5) { if (getRuntime() > macroTime + 1.2) {
builder = this.robot.getTrajectorySequenceBuilder(); builder = this.robot.getTrajectorySequenceBuilder();
builder.lineToConstantHeading(POST_SCORING_SPLINE_END); builder.lineToConstantHeading(POST_SCORING_SPLINE_END);
switch (teamPropLocation) { switch (teamPropLocation) {
case 1: case 1:
builder.lineToConstantHeading(DEPOSIT_PRELOAD_1.vec()); builder.lineToConstantHeading(DEPOSIT_WHITE_STACKS_1.vec());
break; break;
case 2: case 2:
builder.lineToConstantHeading(DEPOSIT_PRELOAD_2.vec()); builder.lineToConstantHeading(DEPOSIT_WHITE_STACKS_2.vec());
break; break;
case 3: case 3:
builder.lineToConstantHeading(DEPOSIT_PRELOAD_3.vec()); builder.lineToConstantHeading(DEPOSIT_WHITE_STACKS_3.vec());
break; break;
} }
this.robot.drive.followTrajectorySequenceAsync(builder.build()); this.robot.drive.followTrajectorySequenceAsync(builder.build());