From f7f328c3ca6e818059df133eca604550693444a9 Mon Sep 17 00:00:00 2001 From: BaronClaps <126834072+BaronClaps@users.noreply.github.com> Date: Thu, 28 Aug 2025 23:11:21 -0500 Subject: [PATCH 001/152] 2.0.0 --- FtcRobotController/build.gradle | 2 +- .../ftc/teamcode/pedroPathing/Constants.java | 57 + .../ftc/teamcode/pedroPathing/Tuning.java | 1323 +++++++++++++++++ build.common.gradle | 2 +- build.dependencies.gradle | 8 + 5 files changed, 1390 insertions(+), 2 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java diff --git a/FtcRobotController/build.gradle b/FtcRobotController/build.gradle index 9fa21699dd27..8c796dac2487 100644 --- a/FtcRobotController/build.gradle +++ b/FtcRobotController/build.gradle @@ -17,8 +17,8 @@ android { buildFeatures { buildConfig = true } + compileSdk 34 - compileSdkVersion 30 compileOptions { sourceCompatibility JavaVersion.VERSION_1_8 diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java new file mode 100644 index 000000000000..1b43026ad2ac --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -0,0 +1,57 @@ +package org.firstinspires.ftc.teamcode.pedroPathing; + +import com.pedropathing.control.FilteredPIDFCoefficients; +import com.pedropathing.control.PIDFCoefficients; +import com.pedropathing.follower.Follower; +import com.pedropathing.follower.FollowerConstants; +import com.pedropathing.ftc.FollowerBuilder; +import com.pedropathing.ftc.drivetrains.MecanumConstants; +import com.pedropathing.ftc.localization.constants.PinpointConstants; +import com.pedropathing.paths.PathConstraints; +import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver; +import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.HardwareMap; + +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + +public class Constants { + + public static FollowerConstants followerConstants = new FollowerConstants() + .centripetalScaling(0.005) + .forwardZeroPowerAcceleration(-41.278) + .lateralZeroPowerAcceleration(-59.7819) + .translationalPIDFCoefficients(new PIDFCoefficients(0.1, 0, 0.01, 0)) + .headingPIDFCoefficients(new PIDFCoefficients(2, 0, 0.1, 0)) + .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.1, 0, 0, 0.6, 0)) + .mass(5); + + public static MecanumConstants driveConstants = new MecanumConstants() + .xVelocity(57.8741) + .yVelocity(52.295) + .maxPower(1) + .leftFrontMotorName("lf") + .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE) + .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE) + .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD) + .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD) + .motorCachingThreshold(0.01) + .useBrakeModeInTeleOp(false); + + public static PinpointConstants pinpointConstants = new PinpointConstants() + .forwardPodY(-5) + .strafePodX(0.5) + .distanceUnit(DistanceUnit.INCH) + .hardwareMapName("pinpoint") + .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) + .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED); + + public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1); + + public static Follower createFollower(HardwareMap hardwareMap) { + return new FollowerBuilder(followerConstants, hardwareMap) + .mecanumDrivetrain(driveConstants) + .pinpointLocalizer(pinpointConstants) + .pathConstraints(pathConstraints) + .build(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java new file mode 100644 index 000000000000..edf090ed237d --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java @@ -0,0 +1,1323 @@ +package org.firstinspires.ftc.teamcode.pedroPathing; + +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.changes; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.drawCurrent; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.drawCurrentAndHistory; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.follower; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.stopRobot; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.telemetryM; + +import com.bylazar.configurables.PanelsConfigurables; +import com.bylazar.configurables.annotations.Configurable; +import com.bylazar.configurables.annotations.IgnoreConfigurable; +import com.bylazar.field.FieldManager; +import com.bylazar.field.PanelsField; +import com.bylazar.field.Style; +import com.bylazar.telemetry.PanelsTelemetry; +import com.bylazar.telemetry.TelemetryManager; +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.*; +import com.pedropathing.math.*; +import com.pedropathing.paths.*; +import com.pedropathing.telemetry.SelectableOpMode; +import com.pedropathing.util.*; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import java.util.ArrayList; +import java.util.List; + +/** + * This is the Tuning class. It contains a selection menu for various tuning OpModes. + * + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 6/26/2025 + */ +@Configurable +@TeleOp(name = "Tuning", group = "Pedro Pathing") +public class Tuning extends SelectableOpMode { + public static Follower follower; + + @IgnoreConfigurable + static PoseHistory poseHistory; + + @IgnoreConfigurable + static TelemetryManager telemetryM; + + @IgnoreConfigurable + static ArrayList changes = new ArrayList<>(); + + public Tuning() { + super("Select a Tuning OpMode", s -> { + s.folder("Localization", l -> { + l.add("Localization Test", LocalizationTest::new); + l.add("Forward Tuner", ForwardTuner::new); + l.add("Lateral Tuner", LateralTuner::new); + l.add("Turn Tuner", TurnTuner::new); + }); + s.folder("Automatic", a -> { + a.add("Forward Velocity Tuner", ForwardVelocityTuner::new); + a.add("Lateral Velocity Tuner", LateralVelocityTuner::new); + a.add("Forward Zero Power Acceleration Tuner", ForwardZeroPowerAccelerationTuner::new); + a.add("Lateral Zero Power Acceleration Tuner", LateralZeroPowerAccelerationTuner::new); + }); + s.folder("Manual", p -> { + p.add("Translational Tuner", TranslationalTuner::new); + p.add("Heading Tuner", HeadingTuner::new); + p.add("Drive Tuner", DriveTuner::new); + p.add("Centripetal Tuner", CentripetalTuner::new); + }); + s.folder("Tests", p -> { + p.add("Line Test", LineTest::new); + p.add("Triangle", Triangle::new); + }); + }); + } + + @Override + public void onSelect() { + if (follower == null) { + follower = Constants.createFollower(hardwareMap); + PanelsConfigurables.INSTANCE.refreshClass(this); + } else { + follower = Constants.createFollower(hardwareMap); + } + + follower.setStartingPose(new Pose()); + + poseHistory = follower.getPoseHistory(); + + telemetryM = PanelsTelemetry.INSTANCE.getTelemetry(); + } + + @Override + public void onLog(List lines) {} + + public static void drawCurrent() { + try { + Drawing.drawRobot(follower.getPose()); + Drawing.sendPacket(); + } catch (Exception e) { + throw new RuntimeException("Drawing failed " + e); + } + } + + public static void drawCurrentAndHistory() { + Drawing.drawPoseHistory(poseHistory); + drawCurrent(); + } + + /** This creates a full stop of the robot by setting the drive motors to run at 0 power. */ + public static void stopRobot() { + follower.startTeleopDrive(true); + follower.setTeleOpDrive(0,0,0,true); + } +} + +/** + * This is the LocalizationTest OpMode. This is basically just a simple mecanum drive attached to a + * PoseUpdater. The OpMode will print out the robot's pose to telemetry as well as draw the robot. + * You should use this to check the robot's localization. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 5/6/2024 + */ +class LocalizationTest extends OpMode { + @Override + public void init() {} + + /** This initializes the PoseUpdater, the mecanum drive motors, and the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("This will print your robot's position to telemetry while " + + "allowing robot control through a basic mecanum drive on gamepad 1."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.startTeleopDrive(); + follower.update(); + } + + /** + * This updates the robot's pose estimate, the simple mecanum drive, and updates the + * Panels telemetry with the robot's position as well as draws the robot's position. + */ + @Override + public void loop() { + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, true); + follower.update(); + + telemetryM.debug("x:" + follower.getPose().getX()); + telemetryM.debug("y:" + follower.getPose().getY()); + telemetryM.debug("heading:" + follower.getPose().getHeading()); + telemetryM.debug("total heading:" + follower.getTotalHeading()); + telemetryM.update(telemetry); + + drawCurrentAndHistory(); + } +} + +/** + * This is the ForwardTuner OpMode. This tracks the forward movement of the robot and displays the + * necessary ticks to inches multiplier. This displayed multiplier is what's necessary to scale the + * robot's current distance in ticks to the specified distance in inches. So, to use this, run the + * tuner, then pull/push the robot to the specified distance using a ruler on the ground. When you're + * at the end of the distance, record the ticks to inches multiplier. Feel free to run multiple trials + * and average the results. Then, input the multiplier into the forward ticks to inches in your + * localizer of choice. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 5/6/2024 + */ +class ForwardTuner extends OpMode { + public static double DISTANCE = 48; + + @Override + public void init() { + follower.update(); + drawCurrent(); + } + + /** This initializes the PoseUpdater as well as the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("Pull your robot forward " + DISTANCE + " inches. Your forward ticks to inches will be shown on the telemetry."); + telemetryM.update(telemetry); + drawCurrent(); + } + + /** + * This updates the robot's pose estimate, and updates the Panels telemetry with the + * calculated multiplier and draws the robot. + */ + @Override + public void loop() { + follower.update(); + + telemetryM.debug("Distance Moved: " + follower.getPose().getX()); + telemetryM.debug("The multiplier will display what your forward ticks to inches should be to scale your current distance to " + DISTANCE + " inches."); + telemetryM.debug("Multiplier: " + (DISTANCE / (follower.getPose().getX() / follower.getPoseTracker().getLocalizer().getForwardMultiplier()))); + telemetryM.update(telemetry); + + drawCurrentAndHistory(); + } +} + +/** + * This is the LateralTuner OpMode. This tracks the strafe movement of the robot and displays the + * necessary ticks to inches multiplier. This displayed multiplier is what's necessary to scale the + * robot's current distance in ticks to the specified distance in inches. So, to use this, run the + * tuner, then pull/push the robot to the specified distance using a ruler on the ground. When you're + * at the end of the distance, record the ticks to inches multiplier. Feel free to run multiple trials + * and average the results. Then, input the multiplier into the strafe ticks to inches in your + * localizer of choice. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 2.0, 6/26/2025 + */ +class LateralTuner extends OpMode { + public static double DISTANCE = 48; + + @Override + public void init() { + follower.update(); + drawCurrent(); + } + + /** This initializes the PoseUpdater as well as the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("Pull your robot to the right " + DISTANCE + " inches. Your strafe ticks to inches will be shown on the telemetry."); + telemetryM.update(telemetry); + drawCurrent(); + } + + /** + * This updates the robot's pose estimate, and updates the Panels telemetry with the + * calculated multiplier and draws the robot. + */ + @Override + public void loop() { + follower.update(); + + telemetryM.debug("Distance Moved: " + follower.getPose().getY()); + telemetryM.debug("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches."); + telemetryM.debug("Multiplier: " + (DISTANCE / (follower.getPose().getY() / follower.getPoseTracker().getLocalizer().getLateralMultiplier()))); + telemetryM.update(telemetry); + + drawCurrentAndHistory(); + } +} + +/** + * This is the TurnTuner OpMode. This tracks the turning movement of the robot and displays the + * necessary ticks to inches multiplier. This displayed multiplier is what's necessary to scale the + * robot's current angle in ticks to the specified angle in radians. So, to use this, run the + * tuner, then pull/push the robot to the specified angle using a protractor or lines on the ground. + * When you're at the end of the angle, record the ticks to inches multiplier. Feel free to run + * multiple trials and average the results. Then, input the multiplier into the turning ticks to + * radians in your localizer of choice. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 5/6/2024 + */ +class TurnTuner extends OpMode { + public static double ANGLE = 2 * Math.PI; + + @Override + public void init() { + follower.update(); + drawCurrent(); + } + + /** This initializes the PoseUpdater as well as the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("Turn your robot " + ANGLE + " radians. Your turn ticks to inches will be shown on the telemetry."); + telemetryM.update(telemetry); + + drawCurrent(); + } + + /** + * This updates the robot's pose estimate, and updates the Panels telemetry with the + * calculated multiplier and draws the robot. + */ + @Override + public void loop() { + follower.update(); + + telemetryM.debug("Total Angle: " + follower.getTotalHeading()); + telemetryM.debug("The multiplier will display what your turn ticks to inches should be to scale your current angle to " + ANGLE + " radians."); + telemetryM.debug("Multiplier: " + (ANGLE / (follower.getTotalHeading() / follower.getPoseTracker().getLocalizer().getTurningMultiplier()))); + telemetryM.update(telemetry); + + drawCurrentAndHistory(); + } +} + +/** + * This is the ForwardVelocityTuner autonomous follower OpMode. This runs the robot forwards at max + * power until it reaches some specified distance. It records the most recent velocities, and on + * reaching the end of the distance, it averages them and prints out the velocity obtained. It is + * recommended to run this multiple times on a full battery to get the best results. What this does + * is, when paired with StrafeVelocityTuner, allows FollowerConstants to create a Vector that + * empirically represents the direction your mecanum wheels actually prefer to go in, allowing for + * more accurate following. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 3/13/2024 + */ +class ForwardVelocityTuner extends OpMode { + private final ArrayList velocities = new ArrayList<>(); + public static double DISTANCE = 48; + public static double RECORD_NUMBER = 10; + + private boolean end; + + @Override + public void init() {} + + /** This initializes the drive motors as well as the cache of velocities and the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward."); + telemetryM.debug("Make sure you have enough room, since the robot has inertia after cutting power."); + telemetryM.debug("After running the distance, the robot will cut power from the drivetrain and display the forward velocity."); + telemetryM.debug("Press B on game pad 1 to stop."); + telemetryM.debug("pose", follower.getPose()); + telemetryM.update(telemetry); + + follower.update(); + drawCurrent(); + } + + /** This starts the OpMode by setting the drive motors to run forward at full power. */ + @Override + public void start() { + for (int i = 0; i < RECORD_NUMBER; i++) { + velocities.add(0.0); + } + follower.startTeleopDrive(true); + follower.update(); + end = false; + } + + /** + * This runs the OpMode. At any point during the running of the OpMode, pressing B on + * game pad 1 will stop the OpMode. This continuously records the RECORD_NUMBER most recent + * velocities, and when the robot has run forward enough, these last velocities recorded are + * averaged and printed. + */ + @Override + public void loop() { + if (gamepad1.bWasPressed()) { + stopRobot(); + requestOpModeStop(); + } + + follower.update(); + drawCurrentAndHistory(); + + + if (!end) { + if (Math.abs(follower.getPose().getX()) > DISTANCE) { + end = true; + stopRobot(); + } else { + follower.setTeleOpDrive(1,0,0,true); + //double currentVelocity = Math.abs(follower.getVelocity().getXComponent()); + double currentVelocity = Math.abs(follower.poseTracker.getLocalizer().getVelocity().getX()); + velocities.add(currentVelocity); + velocities.remove(0); + } + } else { + stopRobot(); + double average = 0; + for (double velocity : velocities) { + average += velocity; + } + average /= velocities.size(); + telemetryM.debug("Forward Velocity: " + average); + telemetryM.debug("\n"); + telemetryM.debug("Press A to set the Forward Velocity temporarily (while robot remains on)."); + + for (int i = 0; i < velocities.size(); i++) { + telemetry.addData(String.valueOf(i), velocities.get(i)); + } + + telemetryM.update(telemetry); + telemetry.update(); + + if (gamepad1.aWasPressed()) { + follower.setXVelocity(average); + String message = "XMovement: " + average; + changes.add(message); + } + } + } +} + +/** + * This is the StrafeVelocityTuner autonomous follower OpMode. This runs the robot right at max + * power until it reaches some specified distance. It records the most recent velocities, and on + * reaching the end of the distance, it averages them and prints out the velocity obtained. It is + * recommended to run this multiple times on a full battery to get the best results. What this does + * is, when paired with ForwardVelocityTuner, allows FollowerConstants to create a Vector that + * empirically represents the direction your mecanum wheels actually prefer to go in, allowing for + * more accurate following. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 3/13/2024 + */ +class LateralVelocityTuner extends OpMode { + private final ArrayList velocities = new ArrayList<>(); + + public static double DISTANCE = 48; + public static double RECORD_NUMBER = 10; + + private boolean end; + + @Override + public void init() {} + + /** + * This initializes the drive motors as well as the cache of velocities and the Panels + * telemetryM. + */ + @Override + public void init_loop() { + telemetryM.debug("The robot will run at 1 power until it reaches " + DISTANCE + " inches to the right."); + telemetryM.debug("Make sure you have enough room, since the robot has inertia after cutting power."); + telemetryM.debug("After running the distance, the robot will cut power from the drivetrain and display the strafe velocity."); + telemetryM.debug("Press B on Gamepad 1 to stop."); + telemetryM.update(telemetry); + + follower.update(); + drawCurrent(); + } + + /** This starts the OpMode by setting the drive motors to run right at full power. */ + @Override + public void start() { + for (int i = 0; i < RECORD_NUMBER; i++) { + velocities.add(0.0); + } + follower.startTeleopDrive(true); + follower.update(); + } + + /** + * This runs the OpMode. At any point during the running of the OpMode, pressing B on + * game pad1 will stop the OpMode. This continuously records the RECORD_NUMBER most recent + * velocities, and when the robot has run sideways enough, these last velocities recorded are + * averaged and printed. + */ + @Override + public void loop() { + if (gamepad1.bWasPressed()) { + stopRobot(); + requestOpModeStop(); + } + + follower.update(); + drawCurrentAndHistory(); + + if (!end) { + if (Math.abs(follower.getPose().getY()) > DISTANCE) { + end = true; + stopRobot(); + } else { + follower.setTeleOpDrive(0,1,0,true); + double currentVelocity = Math.abs(follower.getVelocity().dot(new Vector(1, Math.PI / 2))); + velocities.add(currentVelocity); + velocities.remove(0); + } + } else { + stopRobot(); + double average = 0; + for (double velocity : velocities) { + average += velocity; + } + average /= velocities.size(); + + telemetryM.debug("Strafe Velocity: " + average); + telemetryM.debug("\n"); + telemetryM.debug("Press A to set the Lateral Velocity temporarily (while robot remains on)."); + telemetryM.update(telemetry); + + if (gamepad1.aWasPressed()) { + follower.setYVelocity(average); + String message = "YMovement: " + average; + changes.add(message); + } + } + } +} + +/** + * This is the ForwardZeroPowerAccelerationTuner autonomous follower OpMode. This runs the robot + * forward until a specified velocity is achieved. Then, the robot cuts power to the motors, setting + * them to zero power. The deceleration, or negative acceleration, is then measured until the robot + * stops. The accelerations across the entire time the robot is slowing down is then averaged and + * that number is then printed. This is used to determine how the robot will decelerate in the + * forward direction when power is cut, making the estimations used in the calculations for the + * drive Vector more accurate and giving better braking at the end of Paths. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/13/2024 + */ +class ForwardZeroPowerAccelerationTuner extends OpMode { + private final ArrayList accelerations = new ArrayList<>(); + public static double VELOCITY = 30; + + private double previousVelocity; + private long previousTimeNano; + + private boolean stopping; + private boolean end; + + @Override + public void init() {} + + /** This initializes the drive motors as well as the Panels telemetryM. */ + @Override + public void init_loop() { + telemetryM.debug("The robot will run forward until it reaches " + VELOCITY + " inches per second."); + telemetryM.debug("Then, it will cut power from the drivetrain and roll to a stop."); + telemetryM.debug("Make sure you have enough room."); + telemetryM.debug("After stopping, the forward zero power acceleration (natural deceleration) will be displayed."); + telemetryM.debug("Press B on Gamepad 1 to stop."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + /** This starts the OpMode by setting the drive motors to run forward at full power. */ + @Override + public void start() { + follower.startTeleopDrive(false); + follower.update(); + follower.setTeleOpDrive(1,0,0,true); + } + + /** + * This runs the OpMode. At any point during the running of the OpMode, pressing B on + * game pad 1 will stop the OpMode. When the robot hits the specified velocity, the robot will + * record its deceleration / negative acceleration until it stops. Then, it will average all the + * recorded deceleration / negative acceleration and print that value. + */ + @Override + public void loop() { + if (gamepad1.bWasPressed()) { + stopRobot(); + requestOpModeStop(); + } + + follower.update(); + drawCurrentAndHistory(); + + Vector heading = new Vector(1.0, follower.getPose().getHeading()); + if (!end) { + if (!stopping) { + if (follower.getVelocity().dot(heading) > VELOCITY) { + previousVelocity = follower.getVelocity().dot(heading); + previousTimeNano = System.nanoTime(); + stopping = true; + follower.setTeleOpDrive(0,0,0,true); + } + } else { + double currentVelocity = follower.getVelocity().dot(heading); + accelerations.add((currentVelocity - previousVelocity) / ((System.nanoTime() - previousTimeNano) / Math.pow(10.0, 9))); + previousVelocity = currentVelocity; + previousTimeNano = System.nanoTime(); + if (currentVelocity < follower.getConstraints().getVelocityConstraint()) { + end = true; + } + } + } else { + double average = 0; + for (double acceleration : accelerations) { + average += acceleration; + } + average /= accelerations.size(); + + telemetryM.debug("Forward Zero Power Acceleration (Deceleration): " + average); + telemetryM.debug("\n"); + telemetryM.debug("Press A to set the Forward Zero Power Acceleration temporarily (while robot remains on)."); + telemetryM.update(telemetry); + + if (gamepad1.aWasPressed()) { + follower.getConstants().setForwardZeroPowerAcceleration(average); + String message = "Forward Zero Power Acceleration: " + average; + changes.add(message); + } + } + } +} + +/** + * This is the LateralZeroPowerAccelerationTuner autonomous follower OpMode. This runs the robot + * to the right until a specified velocity is achieved. Then, the robot cuts power to the motors, setting + * them to zero power. The deceleration, or negative acceleration, is then measured until the robot + * stops. The accelerations across the entire time the robot is slowing down is then averaged and + * that number is then printed. This is used to determine how the robot will decelerate in the + * forward direction when power is cut, making the estimations used in the calculations for the + * drive Vector more accurate and giving better braking at the end of Paths. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @author Baron Henderson - 20077 The Indubitables + * @version 1.0, 3/13/2024 + */ +class LateralZeroPowerAccelerationTuner extends OpMode { + private final ArrayList accelerations = new ArrayList<>(); + public static double VELOCITY = 30; + private double previousVelocity; + private long previousTimeNano; + private boolean stopping; + private boolean end; + + @Override + public void init() {} + + /** This initializes the drive motors as well as the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("The robot will run to the right until it reaches " + VELOCITY + " inches per second."); + telemetryM.debug("Then, it will cut power from the drivetrain and roll to a stop."); + telemetryM.debug("Make sure you have enough room."); + telemetryM.debug("After stopping, the lateral zero power acceleration (natural deceleration) will be displayed."); + telemetryM.debug("Press B on game pad 1 to stop."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + /** This starts the OpMode by setting the drive motors to run forward at full power. */ + @Override + public void start() { + follower.startTeleopDrive(false); + follower.update(); + follower.setTeleOpDrive(0,1,0,true); + } + + /** + * This runs the OpMode. At any point during the running of the OpMode, pressing B on + * game pad 1 will stop the OpMode. When the robot hits the specified velocity, the robot will + * record its deceleration / negative acceleration until it stops. Then, it will average all the + * recorded deceleration / negative acceleration and print that value. + */ + @Override + public void loop() { + if (gamepad1.bWasPressed()) { + stopRobot(); + requestOpModeStop(); + } + + follower.update(); + drawCurrentAndHistory(); + + Vector heading = new Vector(1.0, follower.getPose().getHeading() - Math.PI / 2); + if (!end) { + if (!stopping) { + if (Math.abs(follower.getVelocity().dot(heading)) > VELOCITY) { + previousVelocity = Math.abs(follower.getVelocity().dot(heading)); + previousTimeNano = System.nanoTime(); + stopping = true; + follower.setTeleOpDrive(0,0,0,true); + } + } else { + double currentVelocity = Math.abs(follower.getVelocity().dot(heading)); + accelerations.add((currentVelocity - previousVelocity) / ((System.nanoTime() - previousTimeNano) / Math.pow(10.0, 9))); + previousVelocity = currentVelocity; + previousTimeNano = System.nanoTime(); + if (currentVelocity < follower.getConstraints().getVelocityConstraint()) { + end = true; + } + } + } else { + double average = 0; + for (double acceleration : accelerations) { + average += acceleration; + } + average /= accelerations.size(); + + telemetryM.debug("Lateral Zero Power Acceleration (Deceleration): " + average); + telemetryM.debug("\n"); + telemetryM.debug("Press A to set the Lateral Zero Power Acceleration temporarily (while robot remains on)."); + telemetryM.update(telemetry); + + if (gamepad1.aWasPressed()) { + follower.getConstants().setLateralZeroPowerAcceleration(average); + String message = "Lateral Zero Power Acceleration: " + average; + changes.add(message); + } + } + } +} + +/** + * This is the Translational PIDF Tuner OpMode. It will keep the robot in place. + * The user should push the robot laterally to test the PIDF and adjust the PIDF values accordingly. + * + * @author Baron Henderson - 20077 The Indubitables + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/12/2024 + */ +class TranslationalTuner extends OpMode { + public static double DISTANCE = 40; + private boolean forward = true; + + private Path forwards; + private Path backwards; + + @Override + public void init() {} + + /** This initializes the Follower and creates the forward and backward Paths. */ + @Override + public void init_loop() { + telemetryM.debug("This will activate the translational PIDF(s)"); + telemetryM.debug("The robot will try to stay in place while you push it laterally."); + telemetryM.debug("You can adjust the PIDF values to tune the robot's translational PIDF(s)."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.deactivateAllPIDFs(); + follower.activateTranslational(); + forwards = new Path(new BezierLine(new Pose(0,0), new Pose(DISTANCE,0))); + forwards.setConstantHeadingInterpolation(0); + backwards = new Path(new BezierLine(new Pose(DISTANCE,0), new Pose(0,0))); + backwards.setConstantHeadingInterpolation(0); + follower.followPath(forwards); + } + + /** This runs the OpMode, updating the Follower as well as printing out the debug statements to the Telemetry */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + + if (!follower.isBusy()) { + if (forward) { + forward = false; + follower.followPath(backwards); + } else { + forward = true; + follower.followPath(forwards); + } + } + + telemetryM.debug("Push the robot laterally to test the Translational PIDF(s)."); + telemetryM.update(telemetry); + } +} + +/** + * This is the Heading PIDF Tuner OpMode. It will keep the robot in place. + * The user should try to turn the robot to test the PIDF and adjust the PIDF values accordingly. + * It will try to keep the robot at a constant heading while the user tries to turn it. + * + * @author Baron Henderson - 20077 The Indubitables + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/12/2024 + */ +class HeadingTuner extends OpMode { + public static double DISTANCE = 40; + private boolean forward = true; + + private Path forwards; + private Path backwards; + + @Override + public void init() {} + + /** + * This initializes the Follower and creates the forward and backward Paths. Additionally, this + * initializes the Panels telemetry. + */ + @Override + public void init_loop() { + telemetryM.debug("This will activate the heading PIDF(s)."); + telemetryM.debug("The robot will try to stay at a constant heading while you try to turn it."); + telemetryM.debug("You can adjust the PIDF values to tune the robot's heading PIDF(s)."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.deactivateAllPIDFs(); + follower.activateHeading(); + forwards = new Path(new BezierLine(new Pose(0,0), new Pose(DISTANCE,0))); + forwards.setConstantHeadingInterpolation(0); + backwards = new Path(new BezierLine(new Pose(DISTANCE,0), new Pose(0,0))); + backwards.setConstantHeadingInterpolation(0); + follower.followPath(forwards); + } + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the Panels. + */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + + if (!follower.isBusy()) { + if (forward) { + forward = false; + follower.followPath(backwards); + } else { + forward = true; + follower.followPath(forwards); + } + } + + telemetryM.debug("Turn the robot manually to test the Heading PIDF(s)."); + telemetryM.update(telemetry); + } +} + +/** + * This is the Drive PIDF Tuner OpMode. It will run the robot in a straight line going forward and back. + * + * @author Baron Henderson - 20077 The Indubitables + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/12/2024 + */ +class DriveTuner extends OpMode { + public static double DISTANCE = 40; + private boolean forward = true; + + private PathChain forwards; + private PathChain backwards; + + @Override + public void init() {} + + /** + * This initializes the Follower and creates the forward and backward Paths. Additionally, this + * initializes the Panels telemetry. + */ + @Override + public void init_loop() { + telemetryM.debug("This will run the robot in a straight line going " + DISTANCE + "inches forward."); + telemetryM.debug("The robot will go forward and backward continuously along the path."); + telemetryM.debug("Make sure you have enough room."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.deactivateAllPIDFs(); + follower.activateDrive(); + + forwards = follower.pathBuilder() + .setGlobalDeceleration() + .addPath(new BezierLine(new Pose(0,0), new Pose(DISTANCE,0))) + .setConstantHeadingInterpolation(0) + .build(); + + backwards = follower.pathBuilder() + .setGlobalDeceleration() + .addPath(new BezierLine(new Pose(DISTANCE,0), new Pose(0,0))) + .setConstantHeadingInterpolation(0) + .build(); + + follower.followPath(forwards); + } + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the Panels. + */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + + if (!follower.isBusy()) { + if (forward) { + forward = false; + follower.followPath(backwards); + } else { + forward = true; + follower.followPath(forwards); + } + } + + telemetryM.debug("Driving forward?: " + forward); + telemetryM.update(telemetry); + } +} + +/** + * This is the Line Test Tuner OpMode. It will drive the robot forward and back + * The user should push the robot laterally and angular to test out the drive, heading, and translational PIDFs. + * + * @author Baron Henderson - 20077 The Indubitables + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/12/2024 + */ +class LineTest extends OpMode { + public static double DISTANCE = 40; + private boolean forward = true; + + private Path forwards; + private Path backwards; + + @Override + public void init() {} + + /** This initializes the Follower and creates the forward and backward Paths. */ + @Override + public void init_loop() { + telemetryM.debug("This will activate all the PIDF(s)"); + telemetryM.debug("The robot will go forward and backward continuously along the path while correcting."); + telemetryM.debug("You can adjust the PIDF values to tune the robot's drive PIDF(s)."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.activateAllPIDFs(); + forwards = new Path(new BezierLine(new Pose(0,0), new Pose(DISTANCE,0))); + forwards.setConstantHeadingInterpolation(0); + backwards = new Path(new BezierLine(new Pose(DISTANCE,0), new Pose(0,0))); + backwards.setConstantHeadingInterpolation(0); + follower.followPath(forwards); + } + + /** This runs the OpMode, updating the Follower as well as printing out the debug statements to the Telemetry */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + + if (!follower.isBusy()) { + if (forward) { + forward = false; + follower.followPath(backwards); + } else { + forward = true; + follower.followPath(forwards); + } + } + + telemetryM.debug("Driving Forward?: " + forward); + telemetryM.update(telemetry); + } +} + +/** + * This is the Centripetal Tuner OpMode. It runs the robot in a specified distance + * forward and to the left. On reaching the end of the forward Path, the robot runs the backward + * Path the same distance back to the start. Rinse and repeat! This is good for testing a variety + * of Vectors, like the drive Vector, the translational Vector, the heading Vector, and the + * centripetal Vector. + * + * @author Baron Henderson - 20077 The Indubitables + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/13/2024 + */ +class CentripetalTuner extends OpMode { + public static double DISTANCE = 20; + private boolean forward = true; + + private Path forwards; + private Path backwards; + + @Override + public void init() {} + + /** + * This initializes the Follower and creates the forward and backward Paths. + * Additionally, this initializes the Panels telemetry. + */ + @Override + public void init_loop() { + telemetryM.debug("This will run the robot in a curve going " + DISTANCE + " inches to the left and the same number of inches forward."); + telemetryM.debug("The robot will go continuously along the path."); + telemetryM.debug("Make sure you have enough room."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.activateAllPIDFs(); + forwards = new Path(new BezierCurve(new Pose(), new Pose(Math.abs(DISTANCE),0), new Pose(Math.abs(DISTANCE),DISTANCE))); + backwards = new Path(new BezierCurve(new Pose(Math.abs(DISTANCE),DISTANCE), new Pose(Math.abs(DISTANCE),0), new Pose(0,0))); + + backwards.setTangentHeadingInterpolation(); + backwards.reverseHeadingInterpolation(); + + follower.followPath(forwards); + } + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the Panels. + */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + if (!follower.isBusy()) { + if (forward) { + forward = false; + follower.followPath(backwards); + } else { + forward = true; + follower.followPath(forwards); + } + } + + telemetryM.debug("Driving away from the origin along the curve?: " + forward); + telemetryM.update(telemetry); + } +} + +/** + * This is the Triangle autonomous OpMode. + * It runs the robot in a triangle, with the starting point being the bottom-middle point. + * + * @author Baron Henderson - 20077 The Indubitables + * @author Samarth Mahapatra - 1002 CircuitRunners Robotics Surge + * @version 1.0, 12/30/2024 + */ +class Triangle extends OpMode { + + private final Pose startPose = new Pose(0, 0, Math.toRadians(0)); + private final Pose interPose = new Pose(24, -24, Math.toRadians(90)); + private final Pose endPose = new Pose(24, 24, Math.toRadians(45)); + + private PathChain triangle; + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the Panels. + */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + + if (follower.atParametricEnd()) { + follower.followPath(triangle, true); + } + } + + @Override + public void init() {} + + @Override + public void init_loop() { + telemetryM.debug("This will run in a roughly triangular shape, starting on the bottom-middle point."); + telemetryM.debug("So, make sure you have enough space to the left, front, and right to run the OpMode."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + /** Creates the PathChain for the "triangle".*/ + @Override + public void start() { + follower.setStartingPose(startPose); + + triangle = follower.pathBuilder() + .addPath(new BezierLine(startPose, interPose)) + .setLinearHeadingInterpolation(startPose.getHeading(), interPose.getHeading()) + .addPath(new BezierLine(interPose, endPose)) + .setLinearHeadingInterpolation(interPose.getHeading(), endPose.getHeading()) + .addPath(new BezierLine(endPose, startPose)) + .setLinearHeadingInterpolation(endPose.getHeading(), startPose.getHeading()) + .build(); + + follower.followPath(triangle); + } +} + +/** + * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite + * a circle, but some Bezier curves that have control points set essentially in a square. However, + * it turns enough to tune your centripetal force correction and some of your heading. Some lag in + * heading is to be expected. + * + * @author Anyi Lin - 10158 Scott's Bots + * @author Aaron Yang - 10158 Scott's Bots + * @author Harrison Womack - 10158 Scott's Bots + * @version 1.0, 3/12/2024 + */ +class Circle extends OpMode { + public static double RADIUS = 10; + private PathChain circle; + + public void start() { + circle = follower.pathBuilder() + .addPath(new BezierCurve(new Pose(0, 0), new Pose(RADIUS, 0), new Pose(RADIUS, RADIUS))) + .setHeadingInterpolation(HeadingInterpolator.facingPoint(0, RADIUS)) + .addPath(new BezierCurve(new Pose(RADIUS, RADIUS), new Pose(RADIUS, 2 * RADIUS), new Pose(0, 2 * RADIUS))) + .setHeadingInterpolation(HeadingInterpolator.facingPoint(0, RADIUS)) + .addPath(new BezierCurve(new Pose(0, 2 * RADIUS), new Pose(-RADIUS, 2 * RADIUS), new Pose(-RADIUS, RADIUS))) + .setHeadingInterpolation(HeadingInterpolator.facingPoint(0, RADIUS)) + .addPath(new BezierCurve(new Pose(-RADIUS, RADIUS), new Pose(-RADIUS, 0), new Pose(0, 0))) + .setHeadingInterpolation(HeadingInterpolator.facingPoint(0, RADIUS)) + .build(); + follower.followPath(circle); + } + + @Override + public void init_loop() { + telemetryM.debug("This will run in a roughly circular shape of radius " + RADIUS + ", starting on the right-most edge. "); + telemetryM.debug("So, make sure you have enough space to the left, front, and back to run the OpMode."); + telemetryM.debug("It will also continuously face the center of the circle to test your heading and centripetal correction."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void init() {} + + /** + * This runs the OpMode, updating the Follower as well as printing out the debug statements to + * the Telemetry, as well as the FTC Dashboard. + */ + @Override + public void loop() { + follower.update(); + drawCurrentAndHistory(); + + if (follower.atParametricEnd()) { + follower.followPath(circle); + } + } +} + +/** + * This is the Drawing class. It handles the drawing of stuff on Panels Dashboard, like the robot. + * + * @author Lazar - 19234 + * @version 1.1, 5/19/2025 + */ +class Drawing { + public static final double ROBOT_RADIUS = 9; // woah + private static final FieldManager panelsField = PanelsField.INSTANCE.getField(); + + private static final Style robotLook = new Style( + "", "#3F51B5", 0.0 + ); + private static final Style historyLook = new Style( + "", "#4CAF50", 0.0 + ); + + /** + * This prepares Panels Field for using Pedro Offsets + */ + public static void init() { + panelsField.setOffsets(PanelsField.INSTANCE.getPresets().getPEDRO_PATHING()); + } + + /** + * This draws everything that will be used in the Follower's telemetryDebug() method. This takes + * a Follower as an input, so an instance of the DashbaordDrawingHandler class is not needed. + * + * @param follower Pedro Follower instance. + */ + public static void drawDebug(Follower follower) { + if (follower.getCurrentPath() != null) { + drawPath(follower.getCurrentPath(), robotLook); + Pose closestPoint = follower.getPointFromPath(follower.getCurrentPath().getClosestPointTValue()); + drawRobot(new Pose(closestPoint.getX(), closestPoint.getY(), follower.getCurrentPath().getHeadingGoal(follower.getCurrentPath().getClosestPointTValue())), robotLook); + } + drawPoseHistory(follower.getPoseHistory(), historyLook); + drawRobot(follower.getPose(), historyLook); + + sendPacket(); + } + + /** + * This draws a robot at a specified Pose with a specified + * look. The heading is represented as a line. + * + * @param pose the Pose to draw the robot at + * @param style the parameters used to draw the robot with + */ + public static void drawRobot(Pose pose, Style style) { + if (pose == null || Double.isNaN(pose.getX()) || Double.isNaN(pose.getY()) || Double.isNaN(pose.getHeading())) { + return; + } + + panelsField.setStyle(style); + panelsField.moveCursor(pose.getX(), pose.getY()); + panelsField.circle(ROBOT_RADIUS); + + Vector v = pose.getHeadingAsUnitVector(); + v.setMagnitude(v.getMagnitude() * ROBOT_RADIUS); + double x1 = pose.getX() + v.getXComponent() / 2, y1 = pose.getY() + v.getYComponent() / 2; + double x2 = pose.getX() + v.getXComponent(), y2 = pose.getY() + v.getYComponent(); + + panelsField.setStyle(style); + panelsField.moveCursor(x1, y1); + panelsField.line(x2, y2); + } + + /** + * This draws a robot at a specified Pose. The heading is represented as a line. + * + * @param pose the Pose to draw the robot at + */ + public static void drawRobot(Pose pose) { + drawRobot(pose, robotLook); + } + + /** + * This draws a Path with a specified look. + * + * @param path the Path to draw + * @param style the parameters used to draw the Path with + */ + public static void drawPath(Path path, Style style) { + double[][] points = path.getPanelsDrawingPoints(); + + for (int i = 0; i < points[0].length; i++) { + for (int j = 0; j < points.length; j++) { + if (Double.isNaN(points[j][i])) { + points[j][i] = 0; + } + } + } + + panelsField.setStyle(style); + panelsField.moveCursor(points[0][0], points[0][1]); + panelsField.line(points[1][0], points[1][1]); + } + + /** + * This draws all the Paths in a PathChain with a + * specified look. + * + * @param pathChain the PathChain to draw + * @param style the parameters used to draw the PathChain with + */ + public static void drawPath(PathChain pathChain, Style style) { + for (int i = 0; i < pathChain.size(); i++) { + drawPath(pathChain.getPath(i), style); + } + } + + /** + * This draws the pose history of the robot. + * + * @param poseTracker the PoseHistory to get the pose history from + * @param style the parameters used to draw the pose history with + */ + public static void drawPoseHistory(PoseHistory poseTracker, Style style) { + panelsField.setStyle(style); + + int size = poseTracker.getXPositionsArray().length; + for (int i = 0; i < size - 1; i++) { + + panelsField.moveCursor(poseTracker.getXPositionsArray()[i], poseTracker.getYPositionsArray()[i]); + panelsField.line(poseTracker.getXPositionsArray()[i + 1], poseTracker.getYPositionsArray()[i + 1]); + } + } + + /** + * This draws the pose history of the robot. + * + * @param poseTracker the PoseHistory to get the pose history from + */ + public static void drawPoseHistory(PoseHistory poseTracker) { + drawPoseHistory(poseTracker, historyLook); + } + + /** + * This tries to send the current packet to FTControl Panels. + */ + public static void sendPacket() { + panelsField.update(); + } +} \ No newline at end of file diff --git a/build.common.gradle b/build.common.gradle index a1d2fa4ad51c..160f84fffa2b 100644 --- a/build.common.gradle +++ b/build.common.gradle @@ -21,7 +21,7 @@ apply plugin: 'com.android.application' android { - compileSdkVersion 30 + compileSdk 34 signingConfigs { release { diff --git a/build.dependencies.gradle b/build.dependencies.gradle index a8bb721f38d9..653b5f4c53c5 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -1,6 +1,9 @@ repositories { mavenCentral() google() // Needed for androidx + + maven { url= "https://maven.pedropathing.com/" } + maven { url = "https://mymaven.bylazar.com/releases" } } dependencies { @@ -12,6 +15,11 @@ dependencies { implementation 'org.firstinspires.ftc:Hardware:10.3.0' implementation 'org.firstinspires.ftc:FtcCommon:10.3.0' implementation 'org.firstinspires.ftc:Vision:10.3.0' + + implementation 'com.pedropathing:ftc:2.0.0' + implementation 'com.pedropathing:telemetry:0.0.6' + + implementation 'com.bylazar:fullpanels:1.0.2' implementation 'androidx.appcompat:appcompat:1.2.0' } From ddd5f7abbb3b7119f943bb20d985e6241ec4b5c3 Mon Sep 17 00:00:00 2001 From: Baron <126834072+BaronClaps@users.noreply.github.com> Date: Fri, 29 Aug 2025 17:01:29 -0500 Subject: [PATCH 002/152] 2.0.0 - Template Constants --- .../ftc/teamcode/pedroPathing/Constants.java | 34 ++----------------- 1 file changed, 2 insertions(+), 32 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 1b43026ad2ac..6914a4b17daa 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -15,43 +15,13 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; public class Constants { - - public static FollowerConstants followerConstants = new FollowerConstants() - .centripetalScaling(0.005) - .forwardZeroPowerAcceleration(-41.278) - .lateralZeroPowerAcceleration(-59.7819) - .translationalPIDFCoefficients(new PIDFCoefficients(0.1, 0, 0.01, 0)) - .headingPIDFCoefficients(new PIDFCoefficients(2, 0, 0.1, 0)) - .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.1, 0, 0, 0.6, 0)) - .mass(5); - - public static MecanumConstants driveConstants = new MecanumConstants() - .xVelocity(57.8741) - .yVelocity(52.295) - .maxPower(1) - .leftFrontMotorName("lf") - .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE) - .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE) - .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD) - .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD) - .motorCachingThreshold(0.01) - .useBrakeModeInTeleOp(false); - - public static PinpointConstants pinpointConstants = new PinpointConstants() - .forwardPodY(-5) - .strafePodX(0.5) - .distanceUnit(DistanceUnit.INCH) - .hardwareMapName("pinpoint") - .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) - .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED); + public static FollowerConstants followerConstants = new FollowerConstants(); public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1); public static Follower createFollower(HardwareMap hardwareMap) { return new FollowerBuilder(followerConstants, hardwareMap) - .mecanumDrivetrain(driveConstants) - .pinpointLocalizer(pinpointConstants) .pathConstraints(pathConstraints) .build(); } -} \ No newline at end of file +} From 50d82039a2a18f938d0bab86fed2493d633bf631 Mon Sep 17 00:00:00 2001 From: Baron <126834072+BaronClaps@users.noreply.github.com> Date: Fri, 29 Aug 2025 17:13:20 -0500 Subject: [PATCH 003/152] 2.0.0 - Template Constants --- .../ftc/teamcode/pedroPathing/Constants.java | 8 -------- 1 file changed, 8 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 6914a4b17daa..fa30420ac7cd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -1,19 +1,11 @@ package org.firstinspires.ftc.teamcode.pedroPathing; -import com.pedropathing.control.FilteredPIDFCoefficients; -import com.pedropathing.control.PIDFCoefficients; import com.pedropathing.follower.Follower; import com.pedropathing.follower.FollowerConstants; import com.pedropathing.ftc.FollowerBuilder; -import com.pedropathing.ftc.drivetrains.MecanumConstants; -import com.pedropathing.ftc.localization.constants.PinpointConstants; import com.pedropathing.paths.PathConstraints; -import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver; -import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.HardwareMap; -import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; - public class Constants { public static FollowerConstants followerConstants = new FollowerConstants(); From 16059fb72c7c70bd8812f1d358896be952464597 Mon Sep 17 00:00:00 2001 From: Baron <126834072+BaronClaps@users.noreply.github.com> Date: Fri, 29 Aug 2025 17:33:11 -0500 Subject: [PATCH 004/152] Add Circle to the selector --- .../firstinspires/ftc/teamcode/pedroPathing/Tuning.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java index edf090ed237d..be71f39b0ffd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java @@ -68,8 +68,9 @@ public Tuning() { p.add("Centripetal Tuner", CentripetalTuner::new); }); s.folder("Tests", p -> { - p.add("Line Test", LineTest::new); + p.add("Line", Line::new); p.add("Triangle", Triangle::new); + p.add("Circle", Circle::new); }); }); } @@ -935,7 +936,7 @@ public void loop() { * @author Harrison Womack - 10158 Scott's Bots * @version 1.0, 3/12/2024 */ -class LineTest extends OpMode { +class Line extends OpMode { public static double DISTANCE = 40; private boolean forward = true; @@ -1320,4 +1321,4 @@ public static void drawPoseHistory(PoseHistory poseTracker) { public static void sendPacket() { panelsField.update(); } -} \ No newline at end of file +} From aaf40d0685f31793b9e8f36194f1ff060607e08b Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Sep 2025 15:37:21 -0400 Subject: [PATCH 005/152] Added Apriltag code --- .../LOAD-Code/April_Tag_Follow_Test.java | 245 ++++++++++++++++++ .../ftc/teamcode/LOAD-Code/TeleopTest_V1.java | 63 +++++ 2 files changed, 308 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java new file mode 100644 index 000000000000..a1a23efb3379 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java @@ -0,0 +1,245 @@ +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.pedropathing.follower.Follower; +import com.pedropathing.localization.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; +import org.firstinspires.ftc.robotcore.external.navigation.Position; +import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; +import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; +import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +import java.util.List; + + +@TeleOp(name="April_Tag_Follow_Test",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") +public class April_Tag_Follow_Test extends OpMode { + private Follower follower; + private final Pose startPose = new Pose(0,0,0); + + private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera + private Position cameraPosition = new Position(DistanceUnit.INCH, + 0, 0, 0, 0); + private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES, + 0, -90, 0, 0); + private AprilTagProcessor aprilTag; + private VisionPortal visionPortal; + + /** This method is call once when init is played, it initializes the follower **/ + @Override + public void init() { + follower = new Follower(hardwareMap, FConstants.class, LConstants.class); + follower.setStartingPose(startPose); + + initAprilTag(); + + // Wait for the DS start button to be touched. + telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); + telemetry.addData(">", "Touch START to start OpMode"); + telemetry.update(); + } + + /** This method is called continuously after Init while waiting to be started. **/ + @Override + public void init_loop() { + } + + /** This method is called once at the start of the OpMode. **/ + @Override + public void start() { + follower.startTeleopDrive(); + } + + /** This is the main loop of the opmode and runs continuously after play **/ + @Override + public void loop() { + + + + /* Telemetry Outputs of our Follower */ + telemetry.addData("X", follower.getPose().getX()); + telemetry.addData("Y", follower.getPose().getY()); + telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); + + telemetryAprilTag(); + + // Save CPU resources; can resume streaming when needed. + if (gamepad1.dpad_down) { + visionPortal.stopStreaming(); + } else if (gamepad1.dpad_up) { + visionPortal.resumeStreaming(); + } + + /* Update Telemetry to the Driver Hub */ + telemetry.update(); + + + + } + + /** We do not use this because everything automatically should disable **/ + @Override + public void stop() { + visionPortal.close(); + } + + /** + * Initialize the AprilTag processor. + */ + public void initAprilTag() { + + // Create the AprilTag processor. + aprilTag = new AprilTagProcessor.Builder() + + // The following default settings are available to un-comment and edit as needed. + //.setDrawAxes(false) + //.setDrawCubeProjection(false) + //.setDrawTagOutline(true) + //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11) + //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary()) + //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES) + .setCameraPose(cameraPosition, cameraOrientation) + + // == CAMERA CALIBRATION == + // If you do not manually specify calibration parameters, the SDK will attempt + // to load a predefined calibration for your camera. + //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506) + // ... these parameters are fx, fy, cx, cy. + + .build(); + + // Adjust Image Decimation to trade-off detection-range for detection-rate. + // eg: Some typical detection data using a Logitech C920 WebCam + // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second + // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second + // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default) + // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default) + // Note: Decimation can be changed on-the-fly to adapt during a match. + //aprilTag.setDecimation(3); + + // Create the vision portal by using a builder. + VisionPortal.Builder builder = new VisionPortal.Builder(); + + // Set the camera (webcam vs. built-in RC phone camera). + if (USE_WEBCAM) { + builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); + } else { + builder.setCamera(BuiltinCameraDirection.BACK); + } + + // Choose a camera resolution. Not all cameras support all resolutions. + //builder.setCameraResolution(new Size(640, 480)); + + // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. + //builder.enableLiveView(true); + + // Set the stream format; MJPEG uses less bandwidth than default YUY2. + //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); + + // Choose whether or not LiveView stops if no processors are enabled. + // If set "true", monitor shows solid orange screen if no processors enabled. + // If set "false", monitor shows camera view without annotations. + //builder.setAutoStopLiveView(false); + + // Set and enable the processor. + builder.addProcessor(aprilTag); + + // Build the Vision Portal, using the above settings. + visionPortal = builder.build(); + + // Disable or re-enable the aprilTag processor at any time. + //visionPortal.setProcessorEnabled(aprilTag, true); + + } // end method initAprilTag() + + /** + * Add telemetry about AprilTag detections. + */ + public void telemetryAprilTag() { + + List currentDetections = aprilTag.getDetections(); + telemetry.addData("# AprilTags Detected", currentDetections.size()); + + // Step through the list of detections and display info for each one. + for (AprilTagDetection detection : currentDetections) { + if (detection.metadata != null) { + telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name)); + telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", + detection.robotPose.getPosition().x, + detection.robotPose.getPosition().y, + detection.robotPose.getPosition().z)); + telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", + detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES))); + + followTag( + detection.robotPose.getPosition().x, + detection.robotPose.getPosition().y, + detection.robotPose.getPosition().z, + detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES) + ); + + } else { + telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id)); + telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y)); + } + } // end for() loop + + // Add "key" information to telemetry + telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist."); + telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)"); + + } // end method telemetryAprilTag() + + public void followTag(double posX, double posY, double posZ, double angX, double angY, double angZ){ + + double distancMarginError = 1; // Measured in Inches + double angleMarginError = 1; // Measured in Degrees + + double FB_Movement = 0; + double SLR_Movement = 0; + double TLR_Movement = 0; + boolean robotCentric = true; + + double followDistance = 18; // Measured in Inches + + if (posZ > followDistance + distancMarginError) { + FB_Movement = 0.1; + }else if (posZ < followDistance - distancMarginError) { + FB_Movement = -0.1; + }else{ + FB_Movement = 0; + } + + if (-posX > 0 + angleMarginError) { + TLR_Movement = 0.1; + }else if (-posX < 0 - angleMarginError) { + TLR_Movement = -0.1; + }else{ + TLR_Movement = 0; + } + + + + /* Update Pedro to move the robot based on: + - Forward/Backward Movement: -gamepad1.left_stick_y + - Left/Right Movement: -gamepad1.left_stick_x + - Turn Left/Right Movement: -gamepad1.right_stick_x + - Robot-Centric Mode: true + */ + + follower.setTeleOpMovementVectors(FB_Movement, -SLR_Movement, TLR_Movement, robotCentric); + follower.update(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java new file mode 100644 index 000000000000..90f7e7663ad3 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java @@ -0,0 +1,63 @@ +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.pedropathing.follower.Follower; +import com.pedropathing.localization.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; +import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; + + +@TeleOp(name="TeleopTest_V1",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") +public class TeleopTest_V1 extends OpMode { + private Follower follower; + private final Pose startPose = new Pose(0,0,0); + + /** This method is call once when init is played, it initializes the follower **/ + @Override + public void init() { + follower = new Follower(hardwareMap, FConstants.class, LConstants.class); + follower.setStartingPose(startPose); + } + + /** This method is called continuously after Init while waiting to be started. **/ + @Override + public void init_loop() { + } + + /** This method is called once at the start of the OpMode. **/ + @Override + public void start() { + follower.startTeleopDrive(); + } + + /** This is the main loop of the opmode and runs continuously after play **/ + @Override + public void loop() { + + /* Update Pedro to move the robot based on: + - Forward/Backward Movement: -gamepad1.left_stick_y + - Left/Right Movement: -gamepad1.left_stick_x + - Turn Left/Right Movement: -gamepad1.right_stick_x + - Robot-Centric Mode: true + */ + + follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); + follower.update(); + + /* Telemetry Outputs of our Follower */ + telemetry.addData("X", follower.getPose().getX()); + telemetry.addData("Y", follower.getPose().getY()); + telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); + + /* Update Telemetry to the Driver Hub */ + telemetry.update(); + + } + + /** We do not use this because everything automatically should disable **/ + @Override + public void stop() { + } +} From 1d5ad7122c821c10b0415eda17bb8e97a6c9d163 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Sep 2025 15:58:33 -0400 Subject: [PATCH 006/152] Began writing constants file --- .../ftc/teamcode/pedroPathing/Constants.java | 31 ++++++++++++++++++- 1 file changed, 30 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index fa30420ac7cd..bac2e5063508 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -3,17 +3,46 @@ import com.pedropathing.follower.Follower; import com.pedropathing.follower.FollowerConstants; import com.pedropathing.ftc.FollowerBuilder; +import com.pedropathing.ftc.drivetrains.MecanumConstants; +import com.pedropathing.ftc.localization.constants.PinpointConstants; import com.pedropathing.paths.PathConstraints; +import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver; +import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.HardwareMap; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + public class Constants { - public static FollowerConstants followerConstants = new FollowerConstants(); + public static FollowerConstants followerConstants = new FollowerConstants() + .mass(5); // TODO: Change this to the actual weight of the robot public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1); + public static MecanumConstants driveConstants = new MecanumConstants() + .maxPower(1) + .rightFrontMotorName("FR") + .rightRearMotorName("BR") + .leftRearMotorName("BL") + .leftFrontMotorName("FL") + .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE) + .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE) + .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD) + .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD); + + public static PinpointConstants localizerConstants = new PinpointConstants() + .forwardPodY(-1.5) + .strafePodX(6.5) + .distanceUnit(DistanceUnit.INCH) + .hardwareMapName("pinpoint") + .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) + .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED) + .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD); + public static Follower createFollower(HardwareMap hardwareMap) { return new FollowerBuilder(followerConstants, hardwareMap) .pathConstraints(pathConstraints) + .mecanumDrivetrain(driveConstants) + .pinpointLocalizer(localizerConstants) .build(); } } From 9c92c35ad69b1a977f8984f8cefc55e3ba008622 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Sep 2025 16:07:21 -0400 Subject: [PATCH 007/152] Removed old code --- .../LOAD-Code/April_Tag_Follow_Test.java | 245 ------------------ .../ftc/teamcode/LOAD-Code/TeleopTest_V1.java | 63 ----- 2 files changed, 308 deletions(-) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java deleted file mode 100644 index a1a23efb3379..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.java +++ /dev/null @@ -1,245 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode; - -import com.pedropathing.follower.Follower; -import com.pedropathing.localization.Pose; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; - -import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; -import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; -import org.firstinspires.ftc.robotcore.external.navigation.Position; -import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; -import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; -import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; -import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; - -import java.util.List; - - -@TeleOp(name="April_Tag_Follow_Test",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") -public class April_Tag_Follow_Test extends OpMode { - private Follower follower; - private final Pose startPose = new Pose(0,0,0); - - private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera - private Position cameraPosition = new Position(DistanceUnit.INCH, - 0, 0, 0, 0); - private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES, - 0, -90, 0, 0); - private AprilTagProcessor aprilTag; - private VisionPortal visionPortal; - - /** This method is call once when init is played, it initializes the follower **/ - @Override - public void init() { - follower = new Follower(hardwareMap, FConstants.class, LConstants.class); - follower.setStartingPose(startPose); - - initAprilTag(); - - // Wait for the DS start button to be touched. - telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); - telemetry.addData(">", "Touch START to start OpMode"); - telemetry.update(); - } - - /** This method is called continuously after Init while waiting to be started. **/ - @Override - public void init_loop() { - } - - /** This method is called once at the start of the OpMode. **/ - @Override - public void start() { - follower.startTeleopDrive(); - } - - /** This is the main loop of the opmode and runs continuously after play **/ - @Override - public void loop() { - - - - /* Telemetry Outputs of our Follower */ - telemetry.addData("X", follower.getPose().getX()); - telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); - - telemetryAprilTag(); - - // Save CPU resources; can resume streaming when needed. - if (gamepad1.dpad_down) { - visionPortal.stopStreaming(); - } else if (gamepad1.dpad_up) { - visionPortal.resumeStreaming(); - } - - /* Update Telemetry to the Driver Hub */ - telemetry.update(); - - - - } - - /** We do not use this because everything automatically should disable **/ - @Override - public void stop() { - visionPortal.close(); - } - - /** - * Initialize the AprilTag processor. - */ - public void initAprilTag() { - - // Create the AprilTag processor. - aprilTag = new AprilTagProcessor.Builder() - - // The following default settings are available to un-comment and edit as needed. - //.setDrawAxes(false) - //.setDrawCubeProjection(false) - //.setDrawTagOutline(true) - //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11) - //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary()) - //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES) - .setCameraPose(cameraPosition, cameraOrientation) - - // == CAMERA CALIBRATION == - // If you do not manually specify calibration parameters, the SDK will attempt - // to load a predefined calibration for your camera. - //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506) - // ... these parameters are fx, fy, cx, cy. - - .build(); - - // Adjust Image Decimation to trade-off detection-range for detection-rate. - // eg: Some typical detection data using a Logitech C920 WebCam - // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second - // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second - // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default) - // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default) - // Note: Decimation can be changed on-the-fly to adapt during a match. - //aprilTag.setDecimation(3); - - // Create the vision portal by using a builder. - VisionPortal.Builder builder = new VisionPortal.Builder(); - - // Set the camera (webcam vs. built-in RC phone camera). - if (USE_WEBCAM) { - builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); - } else { - builder.setCamera(BuiltinCameraDirection.BACK); - } - - // Choose a camera resolution. Not all cameras support all resolutions. - //builder.setCameraResolution(new Size(640, 480)); - - // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. - //builder.enableLiveView(true); - - // Set the stream format; MJPEG uses less bandwidth than default YUY2. - //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); - - // Choose whether or not LiveView stops if no processors are enabled. - // If set "true", monitor shows solid orange screen if no processors enabled. - // If set "false", monitor shows camera view without annotations. - //builder.setAutoStopLiveView(false); - - // Set and enable the processor. - builder.addProcessor(aprilTag); - - // Build the Vision Portal, using the above settings. - visionPortal = builder.build(); - - // Disable or re-enable the aprilTag processor at any time. - //visionPortal.setProcessorEnabled(aprilTag, true); - - } // end method initAprilTag() - - /** - * Add telemetry about AprilTag detections. - */ - public void telemetryAprilTag() { - - List currentDetections = aprilTag.getDetections(); - telemetry.addData("# AprilTags Detected", currentDetections.size()); - - // Step through the list of detections and display info for each one. - for (AprilTagDetection detection : currentDetections) { - if (detection.metadata != null) { - telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name)); - telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", - detection.robotPose.getPosition().x, - detection.robotPose.getPosition().y, - detection.robotPose.getPosition().z)); - telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", - detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES))); - - followTag( - detection.robotPose.getPosition().x, - detection.robotPose.getPosition().y, - detection.robotPose.getPosition().z, - detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES) - ); - - } else { - telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id)); - telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y)); - } - } // end for() loop - - // Add "key" information to telemetry - telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist."); - telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)"); - - } // end method telemetryAprilTag() - - public void followTag(double posX, double posY, double posZ, double angX, double angY, double angZ){ - - double distancMarginError = 1; // Measured in Inches - double angleMarginError = 1; // Measured in Degrees - - double FB_Movement = 0; - double SLR_Movement = 0; - double TLR_Movement = 0; - boolean robotCentric = true; - - double followDistance = 18; // Measured in Inches - - if (posZ > followDistance + distancMarginError) { - FB_Movement = 0.1; - }else if (posZ < followDistance - distancMarginError) { - FB_Movement = -0.1; - }else{ - FB_Movement = 0; - } - - if (-posX > 0 + angleMarginError) { - TLR_Movement = 0.1; - }else if (-posX < 0 - angleMarginError) { - TLR_Movement = -0.1; - }else{ - TLR_Movement = 0; - } - - - - /* Update Pedro to move the robot based on: - - Forward/Backward Movement: -gamepad1.left_stick_y - - Left/Right Movement: -gamepad1.left_stick_x - - Turn Left/Right Movement: -gamepad1.right_stick_x - - Robot-Centric Mode: true - */ - - follower.setTeleOpMovementVectors(FB_Movement, -SLR_Movement, TLR_Movement, robotCentric); - follower.update(); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java deleted file mode 100644 index 90f7e7663ad3..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.java +++ /dev/null @@ -1,63 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode; - -import com.pedropathing.follower.Follower; -import com.pedropathing.localization.Pose; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; - -import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; -import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; - - -@TeleOp(name="TeleopTest_V1",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") -public class TeleopTest_V1 extends OpMode { - private Follower follower; - private final Pose startPose = new Pose(0,0,0); - - /** This method is call once when init is played, it initializes the follower **/ - @Override - public void init() { - follower = new Follower(hardwareMap, FConstants.class, LConstants.class); - follower.setStartingPose(startPose); - } - - /** This method is called continuously after Init while waiting to be started. **/ - @Override - public void init_loop() { - } - - /** This method is called once at the start of the OpMode. **/ - @Override - public void start() { - follower.startTeleopDrive(); - } - - /** This is the main loop of the opmode and runs continuously after play **/ - @Override - public void loop() { - - /* Update Pedro to move the robot based on: - - Forward/Backward Movement: -gamepad1.left_stick_y - - Left/Right Movement: -gamepad1.left_stick_x - - Turn Left/Right Movement: -gamepad1.right_stick_x - - Robot-Centric Mode: true - */ - - follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); - follower.update(); - - /* Telemetry Outputs of our Follower */ - telemetry.addData("X", follower.getPose().getX()); - telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); - - /* Update Telemetry to the Driver Hub */ - telemetry.update(); - - } - - /** We do not use this because everything automatically should disable **/ - @Override - public void stop() { - } -} From 5f2d8a465bf910c382009f5f96640cd78ffe2ef0 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Sep 2025 16:08:46 -0400 Subject: [PATCH 008/152] Added old code back as .txt files --- .../LOAD-Code/April_Tag_Follow_Test.txt | 254 ++++++++++++++++++ .../ftc/teamcode/LOAD-Code/TeleopTest_V1.txt | 63 +++++ 2 files changed, 317 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.txt create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.txt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.txt new file mode 100644 index 000000000000..2ce84250e593 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.txt @@ -0,0 +1,254 @@ + + +import com.pedropathing.follower.Follower; + +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.pedropathing.follower.Follower; +import com.pedropathing.localization.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; +import org.firstinspires.ftc.robotcore.external.navigation.Position; +import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; +import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; +import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +import java.util.List; + + +@TeleOp(name="April_Tag_Follow_Test",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") +public class April_Tag_Follow_Test extends OpMode { + private Follower follower; + private final Pose startPose = new Pose(0,0,0); + + private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera + private Position cameraPosition = new Position(DistanceUnit.INCH, + 0, 0, 0, 0); + private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES, + 0, -90, 0, 0); + private AprilTagProcessor aprilTag; + private VisionPortal visionPortal; + + /** This method is call once when init is played, it initializes the follower **/ + @Override + public void init() { + follower = new Follower(hardwareMap, FConstants.class, LConstants.class); + follower.setStartingPose(startPose); + + initAprilTag(); + + // Wait for the DS start button to be touched. + telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); + telemetry.addData(">", "Touch START to start OpMode"); + telemetry.update(); + } + + /** This method is called continuously after Init while waiting to be started. **/ + @Override + public void init_loop() { + } + + /** This method is called once at the start of the OpMode. **/ + @Override + public void start() { + follower.startTeleopDrive(); + } + + /** This is the main loop of the opmode and runs continuously after play **/ + @Override + public void loop() { + + + + /* Telemetry Outputs of our Follower */ + telemetry.addData("X", follower.getPose().getX()); + telemetry.addData("Y", follower.getPose().getY()); + telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); + + telemetryAprilTag(); + + // Save CPU resources; can resume streaming when needed. + if (gamepad1.dpad_down) { + visionPortal.stopStreaming(); + } else if (gamepad1.dpad_up) { + visionPortal.resumeStreaming(); + } + + /* Update Telemetry to the Driver Hub */ + telemetry.update(); + + + + } + + /** We do not use this because everything automatically should disable **/ + @Override + public void stop() { + visionPortal.close(); + } + + /** + * Initialize the AprilTag processor. + */ + public void initAprilTag() { + + // Create the AprilTag processor. + aprilTag = new AprilTagProcessor.Builder() + + // The following default settings are available to un-comment and edit as needed. + //.setDrawAxes(false) + //.setDrawCubeProjection(false) + //.setDrawTagOutline(true) + //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11) + //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary()) + //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES) + .setCameraPose(cameraPosition, cameraOrientation) + + // == CAMERA CALIBRATION == + // If you do not manually specify calibration parameters, the SDK will attempt + // to load a predefined calibration for your camera. + //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506) + // ... these parameters are fx, fy, cx, cy. + + .build(); + + // Adjust Image Decimation to trade-off detection-range for detection-rate. + // eg: Some typical detection data using a Logitech C920 WebCam + // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second + // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second + // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default) + // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default) + // Note: Decimation can be changed on-the-fly to adapt during a match. + //aprilTag.setDecimation(3); + + // Create the vision portal by using a builder. + VisionPortal.Builder builder = new VisionPortal.Builder(); + + // Set the camera (webcam vs. built-in RC phone camera). + if (USE_WEBCAM) { + builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); + } else { + builder.setCamera(BuiltinCameraDirection.BACK); + } + + // Choose a camera resolution. Not all cameras support all resolutions. + //builder.setCameraResolution(new Size(640, 480)); + + // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. + //builder.enableLiveView(true); + + // Set the stream format; MJPEG uses less bandwidth than default YUY2. + //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); + + // Choose whether or not LiveView stops if no processors are enabled. + // If set "true", monitor shows solid orange screen if no processors enabled. + // If set "false", monitor shows camera view without annotations. + //builder.setAutoStopLiveView(false); + + // Set and enable the processor. + builder.addProcessor(aprilTag); + + // Build the Vision Portal, using the above settings. + visionPortal = builder.build(); + + // Disable or re-enable the aprilTag processor at any time. + //visionPortal.setProcessorEnabled(aprilTag, true); + + } // end method initAprilTag() + + /** + * Add telemetry about AprilTag detections. + */ + public void telemetryAprilTag() { + + List currentDetections = aprilTag.getDetections(); + telemetry.addData("# AprilTags Detected", currentDetections.size()); + + // Step through the list of detections and display info for each one. + for (AprilTagDetection detection : currentDetections) { + if (detection.metadata != null) { + telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name)); + telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", + detection.robotPose.getPosition().x, + detection.robotPose.getPosition().y, + detection.robotPose.getPosition().z)); + telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", + detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES))); + + followTag( + detection.robotPose.getPosition().x, + detection.robotPose.getPosition().y, + detection.robotPose.getPosition().z, + detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), + detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES) + ); + + } else { + telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id)); + telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y)); + } + } // end for() loop + + // Add "key" information to telemetry + telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist."); + telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)"); + + } // end method telemetryAprilTag() + + public void followTag(double posX, double posY, double posZ, double angX, double angY, double angZ){ + + double distancMarginError = 1; // Measured in Inches + double angleMarginError = 1; // Measured in Degrees + + double FB_Movement = 0; + double SLR_Movement = 0; + double TLR_Movement = 0; + boolean robotCentric = true; + + double followDistance = 18; // Measured in Inches + + if (posZ > followDistance + distancMarginError) { + FB_Movement = 0.1; + }else if (posZ < followDistance - distancMarginError) { + FB_Movement = -0.1; + }else{ + FB_Movement = 0; + } + + if (-posX > 0 + angleMarginError) { + TLR_Movement = 0.1; + }else if (-posX < 0 - angleMarginError) { + TLR_Movement = -0.1; + }else{ + TLR_Movement = 0; + } + + + + /* Update Pedro to move the robot based on: + - Forward/Backward Movement: -gamepad1.left_stick_y + - Left/Right Movement: -gamepad1.left_stick_x + - Turn Left/Right Movement: -gamepad1.right_stick_x + - Robot-Centric Mode: true + */ + + follower.setTeleOpMovementVectors(FB_Movement, -SLR_Movement, TLR_Movement, robotCentric); + follower.update(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt new file mode 100644 index 000000000000..90f7e7663ad3 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt @@ -0,0 +1,63 @@ +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.pedropathing.follower.Follower; +import com.pedropathing.localization.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; +import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; + + +@TeleOp(name="TeleopTest_V1",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") +public class TeleopTest_V1 extends OpMode { + private Follower follower; + private final Pose startPose = new Pose(0,0,0); + + /** This method is call once when init is played, it initializes the follower **/ + @Override + public void init() { + follower = new Follower(hardwareMap, FConstants.class, LConstants.class); + follower.setStartingPose(startPose); + } + + /** This method is called continuously after Init while waiting to be started. **/ + @Override + public void init_loop() { + } + + /** This method is called once at the start of the OpMode. **/ + @Override + public void start() { + follower.startTeleopDrive(); + } + + /** This is the main loop of the opmode and runs continuously after play **/ + @Override + public void loop() { + + /* Update Pedro to move the robot based on: + - Forward/Backward Movement: -gamepad1.left_stick_y + - Left/Right Movement: -gamepad1.left_stick_x + - Turn Left/Right Movement: -gamepad1.right_stick_x + - Robot-Centric Mode: true + */ + + follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); + follower.update(); + + /* Telemetry Outputs of our Follower */ + telemetry.addData("X", follower.getPose().getX()); + telemetry.addData("Y", follower.getPose().getY()); + telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); + + /* Update Telemetry to the Driver Hub */ + telemetry.update(); + + } + + /** We do not use this because everything automatically should disable **/ + @Override + public void stop() { + } +} From 8d8e33b940a22c4e5b51f57e74a198cf1f6ab9a8 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 2 Sep 2025 17:46:08 -0400 Subject: [PATCH 009/152] Added new Teleop that is current with PedroPathing v2.0 --- .../ftc/teamcode/LOAD-Code/TeleopTest_V2.java | 48 +++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java new file mode 100644 index 000000000000..4c9d15579e6e --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java @@ -0,0 +1,48 @@ +class TeleopTest_V2 extends OpMode { + + double leftTriggerMult = 0.33; + double rightTriggerMult = 1; + double defaultMult = 0.66; + double currentMult = defaultMult; + + @Override + public void init() {} + + /** This initializes the PoseUpdater, the mecanum drive motors, and the Panels telemetry. */ + @Override + public void init_loop() { + telemetryM.debug("This will print your robot's position to telemetry while " + + "allowing robot control through a basic mecanum drive on gamepad 1."); + telemetryM.update(telemetry); + follower.update(); + drawCurrent(); + } + + @Override + public void start() { + follower.startTeleopDrive(); + follower.update(); + } + + /** + * This updates the robot's pose estimate, the simple mecanum drive, and updates the + * Panels telemetry with the robot's position as well as draws the robot's position. + */ + @Override + public void loop() { + + currentMult = 1; + + + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, true); + follower.update(); + + telemetryM.debug("x:" + follower.getPose().getX()); + telemetryM.debug("y:" + follower.getPose().getY()); + telemetryM.debug("heading:" + follower.getPose().getHeading()); + telemetryM.debug("total heading:" + follower.getTotalHeading()); + telemetryM.update(telemetry); + + drawCurrentAndHistory(); + } +} \ No newline at end of file From 50e5d4ff62c08218d0759d7dd61ab71ef53d4d0f Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Sep 2025 17:49:26 -0400 Subject: [PATCH 010/152] Tuning work --- .../ftc/teamcode/pedroPathing/Constants.java | 14 +++++++++++--- .../ftc/teamcode/pedroPathing/Tuning.java | 4 ++-- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index bac2e5063508..0e6a0566ee88 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -14,7 +14,13 @@ public class Constants { public static FollowerConstants followerConstants = new FollowerConstants() - .mass(5); // TODO: Change this to the actual weight of the robot + .mass(5) // TODO: Change this to the actual weight of the robot + .forwardZeroPowerAcceleration(-45.7735) + .lateralZeroPowerAcceleration(-53.7000) + // Set following parameters to true to enable dual PID + .useSecondaryTranslationalPIDF(false) + .useSecondaryHeadingPIDF(false) + .useSecondaryDrivePIDF(false); public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1); @@ -27,7 +33,9 @@ public class Constants { .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE) .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE) .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD) - .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD); + .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD) + .xVelocity(59.3402) + .yVelocity(46.4157); public static PinpointConstants localizerConstants = new PinpointConstants() .forwardPodY(-1.5) @@ -35,7 +43,7 @@ public class Constants { .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) - .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED) + .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD) .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD); public static Follower createFollower(HardwareMap hardwareMap) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java index be71f39b0ffd..68a4b06dd3d6 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java @@ -322,7 +322,7 @@ public void loop() { */ class ForwardVelocityTuner extends OpMode { private final ArrayList velocities = new ArrayList<>(); - public static double DISTANCE = 48; + public static double DISTANCE = 96; public static double RECORD_NUMBER = 10; private boolean end; @@ -428,7 +428,7 @@ public void loop() { class LateralVelocityTuner extends OpMode { private final ArrayList velocities = new ArrayList<>(); - public static double DISTANCE = 48; + public static double DISTANCE = 96; public static double RECORD_NUMBER = 10; private boolean end; From 1d15fa7493b69ea22f87a980ea77699bdb4af171 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Sep 2025 18:42:32 -0400 Subject: [PATCH 011/152] Fixed TeleopTest --- .../ftc/teamcode/LOAD-Code/TeleopTest_V1.txt | 63 ------------------ .../ftc/teamcode/LOAD-Code/TeleopTest_V2.java | 48 -------------- .../April_Tag_Follow_Test.txt | 0 .../ftc/teamcode/LOADCode/TeleopTest_V1.java | 66 +++++++++++++++++++ 4 files changed, 66 insertions(+), 111 deletions(-) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/{LOAD-Code => LOADCode}/April_Tag_Follow_Test.txt (100%) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt deleted file mode 100644 index 90f7e7663ad3..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V1.txt +++ /dev/null @@ -1,63 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode; - -import com.pedropathing.follower.Follower; -import com.pedropathing.localization.Pose; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; - -import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; -import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; - - -@TeleOp(name="TeleopTest_V1",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") -public class TeleopTest_V1 extends OpMode { - private Follower follower; - private final Pose startPose = new Pose(0,0,0); - - /** This method is call once when init is played, it initializes the follower **/ - @Override - public void init() { - follower = new Follower(hardwareMap, FConstants.class, LConstants.class); - follower.setStartingPose(startPose); - } - - /** This method is called continuously after Init while waiting to be started. **/ - @Override - public void init_loop() { - } - - /** This method is called once at the start of the OpMode. **/ - @Override - public void start() { - follower.startTeleopDrive(); - } - - /** This is the main loop of the opmode and runs continuously after play **/ - @Override - public void loop() { - - /* Update Pedro to move the robot based on: - - Forward/Backward Movement: -gamepad1.left_stick_y - - Left/Right Movement: -gamepad1.left_stick_x - - Turn Left/Right Movement: -gamepad1.right_stick_x - - Robot-Centric Mode: true - */ - - follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); - follower.update(); - - /* Telemetry Outputs of our Follower */ - telemetry.addData("X", follower.getPose().getX()); - telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); - - /* Update Telemetry to the Driver Hub */ - telemetry.update(); - - } - - /** We do not use this because everything automatically should disable **/ - @Override - public void stop() { - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java deleted file mode 100644 index 4c9d15579e6e..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/TeleopTest_V2.java +++ /dev/null @@ -1,48 +0,0 @@ -class TeleopTest_V2 extends OpMode { - - double leftTriggerMult = 0.33; - double rightTriggerMult = 1; - double defaultMult = 0.66; - double currentMult = defaultMult; - - @Override - public void init() {} - - /** This initializes the PoseUpdater, the mecanum drive motors, and the Panels telemetry. */ - @Override - public void init_loop() { - telemetryM.debug("This will print your robot's position to telemetry while " - + "allowing robot control through a basic mecanum drive on gamepad 1."); - telemetryM.update(telemetry); - follower.update(); - drawCurrent(); - } - - @Override - public void start() { - follower.startTeleopDrive(); - follower.update(); - } - - /** - * This updates the robot's pose estimate, the simple mecanum drive, and updates the - * Panels telemetry with the robot's position as well as draws the robot's position. - */ - @Override - public void loop() { - - currentMult = 1; - - - follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, true); - follower.update(); - - telemetryM.debug("x:" + follower.getPose().getX()); - telemetryM.debug("y:" + follower.getPose().getY()); - telemetryM.debug("heading:" + follower.getPose().getHeading()); - telemetryM.debug("total heading:" + follower.getTotalHeading()); - telemetryM.update(telemetry); - - drawCurrentAndHistory(); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.txt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/April_Tag_Follow_Test.txt similarity index 100% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOAD-Code/April_Tag_Follow_Test.txt rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/April_Tag_Follow_Test.txt diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java new file mode 100644 index 000000000000..0fede74fba61 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java @@ -0,0 +1,66 @@ +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; + +@TeleOp(name = "Example Robot-Centric TeleOp", group = "Examples") +public class TeleopTest_V1 extends OpMode { + private Follower follower; + /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ + private final Pose startPose = new Pose(60,96, Math.toRadians(-90)); + private final Pose scorePose = new Pose(16,128, Math.toRadians(-45)); + private boolean prevYPressed; + + /** This method is called once when init is pressed and initializes the follower **/ + @Override + public void init() { + // Initializing the follower and setting its starting position. + follower = Constants.createFollower(hardwareMap); + follower.setStartingPose(startPose); + } + + /** This method is called once at the start of the OpMode. **/ + @Override + public void start() { + // Calling this method is necessary at the start of your TeleOp OpMode. + follower.startTeleopDrive(); + } + + /** This is the main loop of the OpMode and runs continuously after pressing play **/ + @Override + public void loop() { + /* + * A rising edge detector to check if the y button was pressed. + * If the y button was pressed, relocalize the robot. + */ + if (gamepad1.y && !prevYPressed) { + // Resetting the position of the robot + follower.setStartingPose(new Pose(9, 111, Math.toRadians(0))); + } + + // Update robot movement based on gamepad inputs + /* Update Pedro to move the robot based on: + * Forward/Backward Movement: -gamepad1.left_stick_y + * Left/Right Movement: -gamepad1.left_stick_x + * Turn Left/Right Movement: -gamepad1.right_stick_x + * Robot-Centric Mode: true + */ + // Loop robot movement and odometry values + follower.update(); + + // Telemetry Outputs of the Follower + telemetry.addData("X", follower.getPose().getX()); + telemetry.addData("Y", follower.getPose().getY()); + telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); + + // Update Telemetry to the Driver Hub + telemetry.update(); + + // Updating the status of the gamepad buttons + prevYPressed = gamepad1.y; + } +} \ No newline at end of file From c8e9084841bb71be9cca213d54dfe44a1a122ce3 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Sat, 6 Sep 2025 21:39:29 -0400 Subject: [PATCH 012/152] Fixed TeleopTest_V1.java (I hope) --- .../org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java | 1 + 1 file changed, 1 insertion(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java index 0fede74fba61..71f07a1ab24f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java @@ -28,6 +28,7 @@ public void init() { public void start() { // Calling this method is necessary at the start of your TeleOp OpMode. follower.startTeleopDrive(); + follower.update(); } /** This is the main loop of the OpMode and runs continuously after pressing play **/ From 088e43c8f12a110cc9fa251fa33d62d1cc765173 Mon Sep 17 00:00:00 2001 From: Daniel <141444315+Professor348@users.noreply.github.com> Date: Tue, 9 Sep 2025 08:56:08 -0400 Subject: [PATCH 013/152] Updated to Pedro 2.0.1 --- build.dependencies.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.dependencies.gradle b/build.dependencies.gradle index 868153f675d9..9eb983998037 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -16,7 +16,7 @@ dependencies { implementation 'org.firstinspires.ftc:Vision:11.0.0' implementation 'androidx.appcompat:appcompat:1.2.0' - implementation 'com.pedropathing:ftc:2.0.0' + implementation 'com.pedropathing:ftc:2.0.1' implementation 'com.pedropathing:telemetry:0.0.6' implementation 'com.bylazar:fullpanels:1.0.0' } From 821fe67e6035e940f3b55598c2047e50cd9c0213 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Sat, 13 Sep 2025 09:52:45 -0400 Subject: [PATCH 014/152] Tuned Pedropathing --- .../ftc/teamcode/LOADCode/TeleopTest_V1.java | 29 +++++++++---------- .../ftc/teamcode/pedroPathing/Constants.java | 13 +++++++-- .../ftc/teamcode/pedroPathing/Tuning.java | 4 +-- 3 files changed, 26 insertions(+), 20 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java index 0fede74fba61..57096c9f9622 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java @@ -1,19 +1,23 @@ package org.firstinspires.ftc.teamcode.LOADCode; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.follower; + +import com.bylazar.configurables.annotations.IgnoreConfigurable; +import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @TeleOp(name = "Example Robot-Centric TeleOp", group = "Examples") public class TeleopTest_V1 extends OpMode { - private Follower follower; + public static Follower follower; + @IgnoreConfigurable + static TelemetryManager telemetryM; /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ - private final Pose startPose = new Pose(60,96, Math.toRadians(-90)); - private final Pose scorePose = new Pose(16,128, Math.toRadians(-45)); - private boolean prevYPressed; + private final Pose startPose = new Pose(60,96, Math.toRadians(0)); /** This method is called once when init is pressed and initializes the follower **/ @Override @@ -21,6 +25,7 @@ public void init() { // Initializing the follower and setting its starting position. follower = Constants.createFollower(hardwareMap); follower.setStartingPose(startPose); + follower.update(); } /** This method is called once at the start of the OpMode. **/ @@ -28,20 +33,12 @@ public void init() { public void start() { // Calling this method is necessary at the start of your TeleOp OpMode. follower.startTeleopDrive(); + follower.update(); } /** This is the main loop of the OpMode and runs continuously after pressing play **/ @Override public void loop() { - /* - * A rising edge detector to check if the y button was pressed. - * If the y button was pressed, relocalize the robot. - */ - if (gamepad1.y && !prevYPressed) { - // Resetting the position of the robot - follower.setStartingPose(new Pose(9, 111, Math.toRadians(0))); - } - // Update robot movement based on gamepad inputs /* Update Pedro to move the robot based on: * Forward/Backward Movement: -gamepad1.left_stick_y @@ -49,18 +46,18 @@ public void loop() { * Turn Left/Right Movement: -gamepad1.right_stick_x * Robot-Centric Mode: true */ + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); // Loop robot movement and odometry values follower.update(); // Telemetry Outputs of the Follower telemetry.addData("X", follower.getPose().getX()); telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); + telemetry.addData("Heading in Degrees", Math.toDegrees(1)); // Update Telemetry to the Driver Hub telemetry.update(); // Updating the status of the gamepad buttons - prevYPressed = gamepad1.y; } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 0e6a0566ee88..4156b984b2f3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -1,5 +1,7 @@ package org.firstinspires.ftc.teamcode.pedroPathing; +import com.pedropathing.control.FilteredPIDFCoefficients; +import com.pedropathing.control.PIDFCoefficients; import com.pedropathing.follower.Follower; import com.pedropathing.follower.FollowerConstants; import com.pedropathing.ftc.FollowerBuilder; @@ -20,9 +22,16 @@ public class Constants { // Set following parameters to true to enable dual PID .useSecondaryTranslationalPIDF(false) .useSecondaryHeadingPIDF(false) - .useSecondaryDrivePIDF(false); + .useSecondaryDrivePIDF(false) + .translationalPIDFCoefficients(new PIDFCoefficients(.1, 0, 0.01, 0.05)) + .headingPIDFCoefficients(new PIDFCoefficients(3, 0.3, 0.2, 0.05)) + .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.3, 0.1, 0.01, 0.6, 0.6)); - public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1); + public static PathConstraints pathConstraints = new PathConstraints( + 0.99, + 100, + 3, + 1); public static MecanumConstants driveConstants = new MecanumConstants() .maxPower(1) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java index 68a4b06dd3d6..0a5b40ab7dad 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java @@ -1188,10 +1188,10 @@ class Drawing { private static final FieldManager panelsField = PanelsField.INSTANCE.getField(); private static final Style robotLook = new Style( - "", "#3F51B5", 0.0 + "", "#3F51B5", 0.5 ); private static final Style historyLook = new Style( - "", "#4CAF50", 0.0 + "", "#4CAF50", 0.5 ); /** From 587ceea78f2eefc1d35ec6be6c28b98f12adb72e Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Sat, 13 Sep 2025 10:12:07 -0400 Subject: [PATCH 015/152] Added program to chase an aprilTag and tried to modify it to use pedropathing controls --- .../LOADCode/AutoDriveToAprilTagOmni.java | 322 ++++++++++++++++++ .../ftc/teamcode/LOADCode/Chase_AprilTag.java | 225 ++++++++++++ 2 files changed, 547 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java new file mode 100644 index 000000000000..523776cd3a31 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java @@ -0,0 +1,322 @@ +/* Copyright (c) 2023 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode; + +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; +import com.qualcomm.robotcore.util.Range; + +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +import java.util.List; +import java.util.concurrent.TimeUnit; + +/* + * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. + * The code assumes a Holonomic (Mecanum or X Drive) Robot. + * + * For an introduction to AprilTags, see the ftc-docs link below: + * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html + * + * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera. + * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below. + * https://ftc-docs.firstinspires.org/apriltag-detection-values + * + * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and + * driving towards the tag to achieve the desired distance. + * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS) + * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder. + * + * The code assumes a Robot Configuration with motors named: front_left_drive and front_right_drive, back_left_drive and back_right_drive. + * The motor directions must be set so a positive power goes forward on all wheels. + * This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default, + * so you should choose to approach a valid tag ID. + * + * Under manual control, the left stick will move forward/back & left/right. The right stick will rotate the robot. + * Manually drive the robot until it displays Target data on the Driver Station. + * + * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode. + * Release the Left Bumper to return to manual driving mode. + * + * Under "Drive To Target" mode, the robot has three goals: + * 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.) + * 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front of the tag. (Use the Target Yaw to strafe the robot) + * 3) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward) + * + * Use DESIRED_DISTANCE to set how close you want the robot to get to the target. + * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. + * + * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder. + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list. + * + */ + +@TeleOp(name="Omni Drive To AprilTag", group = "Concept") +@Disabled +public class AutoDriveToAprilTagOmni extends LinearOpMode +{ + // Adjust these numbers to suit your robot. + final double DESIRED_DISTANCE = 12.0; // this is how close the camera should get to the target (inches) + + // Set the GAIN constants to control the relationship between the measured position error, and how much power is + // applied to the drive motors to correct the error. + // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. + final double SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) + final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) + final double TURN_GAIN = 0.01 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + + final double MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot) + final double MAX_AUTO_STRAFE= 0.5; // Clip the strafing speed to this max value (adjust for your robot) + final double MAX_AUTO_TURN = 0.3; // Clip the turn speed to this max value (adjust for your robot) + + private DcMotor frontLeftDrive = null; // Used to control the left front drive wheel + private DcMotor frontRightDrive = null; // Used to control the right front drive wheel + private DcMotor backLeftDrive = null; // Used to control the left back drive wheel + private DcMotor backRightDrive = null; // Used to control the right back drive wheel + + private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera + private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. + private VisionPortal visionPortal; // Used to manage the video source. + private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. + private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag + + @Override public void runOpMode() + { + boolean targetFound = false; // Set to true when an AprilTag target is detected + double drive = 0; // Desired forward power/speed (-1 to +1) + double strafe = 0; // Desired strafe power/speed (-1 to +1) + double turn = 0; // Desired turning power/speed (-1 to +1) + + // Initialize the Apriltag Detection process + initAprilTag(); + + // Initialize the hardware variables. Note that the strings used here as parameters + // to 'get' must match the names assigned during the robot configuration. + // step (using the FTC Robot Controller app on the phone). + frontLeftDrive = hardwareMap.get(DcMotor.class, "FL"); + frontRightDrive = hardwareMap.get(DcMotor.class, "FR"); + backLeftDrive = hardwareMap.get(DcMotor.class, "BL"); + backRightDrive = hardwareMap.get(DcMotor.class, "BR"); + + // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. + // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. + // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips + frontLeftDrive.setDirection(DcMotor.Direction.REVERSE); + backLeftDrive.setDirection(DcMotor.Direction.REVERSE); + frontRightDrive.setDirection(DcMotor.Direction.FORWARD); + backRightDrive.setDirection(DcMotor.Direction.FORWARD); + + if (USE_WEBCAM) + setManualExposure(6, 250); // Use low exposure time to reduce motion blur + + // Wait for driver to press start + telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); + telemetry.addData(">", "Touch START to start OpMode"); + telemetry.update(); + waitForStart(); + + while (opModeIsActive()) + { + targetFound = false; + desiredTag = null; + + // Step through the list of detected tags and look for a matching tag + List currentDetections = aprilTag.getDetections(); + for (AprilTagDetection detection : currentDetections) { + // Look to see if we have size info on this tag. + if (detection.metadata != null) { + // Check to see if we want to track towards this tag. + if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) { + // Yes, we want to use this tag. + targetFound = true; + desiredTag = detection; + break; // don't look any further. + } else { + // This tag is in the library, but we do not want to track it right now. + telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id); + } + } else { + // This tag is NOT in the library, so we don't have enough information to track to it. + telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id); + } + } + + // Tell the driver what we see, and what to do. + if (targetFound) { + telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n"); + telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); + telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); + telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); + telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); + } else { + telemetry.addData("\n>","Drive using joysticks to find valid target\n"); + } + + // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . + if (gamepad1.left_bumper && targetFound) { + + // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically. + double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE); + double headingError = desiredTag.ftcPose.bearing; + double yawError = desiredTag.ftcPose.yaw; + + // Use the speed and turn "gains" to calculate how we want the robot to move. + drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED); + turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ; + strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE); + + telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + } else { + + // drive using manual POV Joystick mode. Slow things down to make the robot more controlable. + drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%. + strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%. + turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%. + telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + } + telemetry.update(); + + // Apply desired axes motions to the drivetrain. + moveRobot(drive, strafe, turn); + sleep(10); + } + } + + /** + * Move robot according to desired axes motions + *

+ * Positive X is forward + *

+ * Positive Y is strafe left + *

+ * Positive Yaw is counter-clockwise + */ + public void moveRobot(double x, double y, double yaw) { + // Calculate wheel powers. + double frontLeftPower = x - y - yaw; + double frontRightPower = x + y + yaw; + double backLeftPower = x + y - yaw; + double backRightPower = x - y + yaw; + + // Normalize wheel powers to be less than 1.0 + double max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower)); + max = Math.max(max, Math.abs(backLeftPower)); + max = Math.max(max, Math.abs(backRightPower)); + + if (max > 1.0) { + frontLeftPower /= max; + frontRightPower /= max; + backLeftPower /= max; + backRightPower /= max; + } + + // Send powers to the wheels. + frontLeftDrive.setPower(frontLeftPower); + frontRightDrive.setPower(frontRightPower); + backLeftDrive.setPower(backLeftPower); + backRightDrive.setPower(backRightPower); + } + + /** + * Initialize the AprilTag processor. + */ + private void initAprilTag() { + // Create the AprilTag processor by using a builder. + aprilTag = new AprilTagProcessor.Builder().build(); + + // Adjust Image Decimation to trade-off detection-range for detection-rate. + // e.g. Some typical detection data using a Logitech C920 WebCam + // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second + // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second + // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second + // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second + // Note: Decimation can be changed on-the-fly to adapt during a match. + aprilTag.setDecimation(2); + + // Create the vision portal by using a builder. + if (USE_WEBCAM) { + visionPortal = new VisionPortal.Builder() + .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) + .addProcessor(aprilTag) + .build(); + } else { + visionPortal = new VisionPortal.Builder() + .setCamera(BuiltinCameraDirection.BACK) + .addProcessor(aprilTag) + .build(); + } + } + + /* + Manually set the camera gain and exposure. + This can only be called AFTER calling initAprilTag(), and only works for Webcams; + */ + private void setManualExposure(int exposureMS, int gain) { + // Wait for the camera to be open, then use the controls + + if (visionPortal == null) { + return; + } + + // Make sure camera is streaming before we try to set the exposure controls + if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) { + telemetry.addData("Camera", "Waiting"); + telemetry.update(); + while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) { + sleep(20); + } + telemetry.addData("Camera", "Ready"); + telemetry.update(); + } + + // Set camera controls unless we are stopping. + if (!isStopRequested()) + { + ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class); + if (exposureControl.getMode() != ExposureControl.Mode.Manual) { + exposureControl.setMode(ExposureControl.Mode.Manual); + sleep(50); + } + exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS); + sleep(20); + GainControl gainControl = visionPortal.getCameraControl(GainControl.class); + gainControl.setGain(gain); + sleep(20); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java new file mode 100644 index 000000000000..1dd9eb3b580e --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java @@ -0,0 +1,225 @@ +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.bylazar.configurables.annotations.IgnoreConfigurable; +import com.bylazar.telemetry.TelemetryManager; +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.Range; + +import org.firstinspires.ftc.robotcontroller.external.samples.BasicOpMode_Iterative; +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +import java.util.List; +import java.util.concurrent.TimeUnit; + +@TeleOp(name = "Chase AprilTag", group = "Examples") +public class Chase_AprilTag extends OpMode { + public static Follower follower; + @IgnoreConfigurable + static TelemetryManager telemetryM; + /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ + private final Pose startPose = new Pose(60,96, Math.toRadians(0)); + + // Adjust these numbers to suit your robot. + final double DESIRED_DISTANCE = 24.0; // this is how close the camera should get to the target (inches) + + // Set the GAIN constants to control the relationship between the measured position error, and how much power is + // applied to the drive motors to correct the error. + // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. + final double SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) + final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) + final double TURN_GAIN = 0.01 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + + final double MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot) + final double MAX_AUTO_STRAFE= 0.5; // Clip the strafing speed to this max value (adjust for your robot) + final double MAX_AUTO_TURN = 0.3; // Clip the turn speed to this max value (adjust for your robot) + + private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera + private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. + private VisionPortal visionPortal; // Used to manage the video source. + private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. + private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag + + boolean targetFound = false; // Set to true when an AprilTag target is detected + double drive = 0; // Desired forward power/speed (-1 to +1) + double strafe = 0; // Desired strafe power/speed (-1 to +1) + double turn = 0; // Desired turning power/speed (-1 to +1) + + /** This method is called once when init is pressed and initializes the follower **/ + @Override + public void init() { + + // Initialize the Apriltag Detection process + initAprilTag(); + + // Initializing the follower and setting its starting position. + follower = Constants.createFollower(hardwareMap); + follower.setStartingPose(startPose); + follower.update(); + } + + /** This method is called once at the start of the OpMode. **/ + @Override + public void start() { + // Calling this method is necessary at the start of your TeleOp OpMode. + follower.startTeleopDrive(); + follower.update(); + } + + /** This is the main loop of the OpMode and runs continuously after pressing play **/ + @Override + public void loop() { + + + targetFound = false; + desiredTag = null; + + // Step through the list of detected tags and look for a matching tag + List currentDetections = aprilTag.getDetections(); + for (AprilTagDetection detection : currentDetections) { + // Look to see if we have size info on this tag. + if (detection.metadata != null) { + // Check to see if we want to track towards this tag. + if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) { + // Yes, we want to use this tag. + targetFound = true; + desiredTag = detection; + break; // don't look any further. + } else { + // This tag is in the library, but we do not want to track it right now. + telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id); + } + } else { + // This tag is NOT in the library, so we don't have enough information to track to it. + telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id); + } + } + + // Tell the driver what we see, and what to do. + if (targetFound) { + telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n"); + telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); + telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); + telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); + telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); + } else { + telemetry.addData("\n>","Drive using joysticks to find valid target\n"); + } + + // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . + if (gamepad1.left_bumper && targetFound) { + + // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically. + double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE); + double headingError = desiredTag.ftcPose.bearing; + double yawError = desiredTag.ftcPose.yaw; + + // Use the speed and turn "gains" to calculate how we want the robot to move. + drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED); + turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ; + strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE); + + telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + } else { + + // drive using manual POV Joystick mode. Slow things down to make the robot more controlable. + drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%. + strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%. + turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%. + telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + } + telemetry.update(); + + + // Update robot movement based on gamepad inputs + /* Update Pedro to move the robot based on: + * Forward/Backward Movement: -gamepad1.left_stick_y + * Left/Right Movement: -gamepad1.left_stick_x + * Turn Left/Right Movement: -gamepad1.right_stick_x + * Robot-Centric Mode: true + */ + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); + // Loop robot movement and odometry values + follower.update(); + + // Telemetry Outputs of the Follower + telemetry.addData("X", follower.getPose().getX()); + telemetry.addData("Y", follower.getPose().getY()); + telemetry.addData("Heading in Degrees", Math.toDegrees(1)); + + // Update Telemetry to the Driver Hub + telemetry.update(); + + // Updating the status of the gamepad buttons + } + + /** + * Initialize the AprilTag processor. + */ + private void initAprilTag() { + // Create the AprilTag processor by using a builder. + aprilTag = new AprilTagProcessor.Builder().build(); + + // Adjust Image Decimation to trade-off detection-range for detection-rate. + // e.g. Some typical detection data using a Logitech C920 WebCam + // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second + // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second + // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second + // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second + // Note: Decimation can be changed on-the-fly to adapt during a match. + aprilTag.setDecimation(2); + + // Create the vision portal by using a builder. + if (USE_WEBCAM) { + visionPortal = new VisionPortal.Builder() + .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) + .addProcessor(aprilTag) + .build(); + } else { + visionPortal = new VisionPortal.Builder() + .setCamera(BuiltinCameraDirection.BACK) + .addProcessor(aprilTag) + .build(); + } + } + + /* + Manually set the camera gain and exposure. + This can only be called AFTER calling initAprilTag(), and only works for Webcams; + */ + private void setManualExposure(int exposureMS, int gain) { + // Wait for the camera to be open, then use the controls + + if (visionPortal == null) { + return; + } + + // Make sure camera is streaming before we try to set the exposure controls + if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) { + telemetry.addData("Camera", "Waiting"); + telemetry.update(); + while ((visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {} + telemetry.addData("Camera", "Ready"); + telemetry.update(); + + } + + // Set camera controls unless we are stopping. + ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class); + if (exposureControl.getMode() != ExposureControl.Mode.Manual) { + exposureControl.setMode(ExposureControl.Mode.Manual); + } + exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS); + GainControl gainControl = visionPortal.getCameraControl(GainControl.class); + gainControl.setGain(gain); + } +} \ No newline at end of file From d9bd24c259abaf38ed2b59132b5de5f4be8cf923 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 16 Sep 2025 10:11:01 -0400 Subject: [PATCH 016/152] More AprilTag testing --- .../LOADCode/AutoDriveToAprilTagOmni.java | 29 +- .../ftc/teamcode/LOADCode/Chase_AprilTag.java | 8 +- .../LOADCode/PedroDriveToAprilTag.java | 315 ++++++++++++++++++ .../ftc/teamcode/LOADCode/TeleopTest_V1.java | 2 +- 4 files changed, 341 insertions(+), 13 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java index 523776cd3a31..34a34972d48b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java @@ -86,23 +86,22 @@ * */ -@TeleOp(name="Omni Drive To AprilTag", group = "Concept") -@Disabled +@TeleOp(name="Follow AprilTag", group = "Demo") public class AutoDriveToAprilTagOmni extends LinearOpMode { // Adjust these numbers to suit your robot. - final double DESIRED_DISTANCE = 12.0; // this is how close the camera should get to the target (inches) + final double DESIRED_DISTANCE = 80.0; // this is how close the camera should get to the target (inches) // Set the GAIN constants to control the relationship between the measured position error, and how much power is // applied to the drive motors to correct the error. // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. - final double SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) - final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) - final double TURN_GAIN = 0.01 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + final double SPEED_GAIN = 0.04 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) + final double STRAFE_GAIN = 0.04 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) + final double TURN_GAIN = 0.04 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) - final double MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot) - final double MAX_AUTO_STRAFE= 0.5; // Clip the strafing speed to this max value (adjust for your robot) - final double MAX_AUTO_TURN = 0.3; // Clip the turn speed to this max value (adjust for your robot) + final double MAX_AUTO_SPEED = 1; // Clip the approach speed to this max value (adjust for your robot) + final double MAX_AUTO_STRAFE= 1; // Clip the strafing speed to this max value (adjust for your robot) + final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) private DcMotor frontLeftDrive = null; // Used to control the left front drive wheel private DcMotor frontRightDrive = null; // Used to control the right front drive wheel @@ -115,6 +114,9 @@ public class AutoDriveToAprilTagOmni extends LinearOpMode private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag + private boolean toggle = false; + private boolean oldToggleVal = false; + @Override public void runOpMode() { boolean targetFound = false; // Set to true when an AprilTag target is detected @@ -187,8 +189,15 @@ public class AutoDriveToAprilTagOmni extends LinearOpMode telemetry.addData("\n>","Drive using joysticks to find valid target\n"); } + if (gamepad1.b && !oldToggleVal){ + toggle = !toggle; + oldToggleVal = true; + }else if (!gamepad1.b && oldToggleVal){ + oldToggleVal = false; + } + // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . - if (gamepad1.left_bumper && targetFound) { + if (toggle && targetFound) { // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically. double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java index 1dd9eb3b580e..0fc114a5b640 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java @@ -4,6 +4,7 @@ import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.Range; @@ -16,12 +17,14 @@ import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import org.firstinspires.ftc.vision.VisionPortal; import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagLibrary; import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; import java.util.List; import java.util.concurrent.TimeUnit; @TeleOp(name = "Chase AprilTag", group = "Examples") +@Disabled public class Chase_AprilTag extends OpMode { public static Follower follower; @IgnoreConfigurable @@ -30,7 +33,7 @@ public class Chase_AprilTag extends OpMode { private final Pose startPose = new Pose(60,96, Math.toRadians(0)); // Adjust these numbers to suit your robot. - final double DESIRED_DISTANCE = 24.0; // this is how close the camera should get to the target (inches) + final double DESIRED_DISTANCE = 30.0; // this is how close the camera should get to the target (inches) // Set the GAIN constants to control the relationship between the measured position error, and how much power is // applied to the drive motors to correct the error. @@ -167,7 +170,8 @@ public void loop() { */ private void initAprilTag() { // Create the AprilTag processor by using a builder. - aprilTag = new AprilTagProcessor.Builder().build(); + aprilTag = new AprilTagProcessor.Builder() + .build(); // Adjust Image Decimation to trade-off detection-range for detection-rate. // e.g. Some typical detection data using a Logitech C920 WebCam diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java new file mode 100644 index 000000000000..8b9985e4b844 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java @@ -0,0 +1,315 @@ +/* Copyright (c) 2023 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode; + +import com.bylazar.configurables.annotations.IgnoreConfigurable; +import com.bylazar.telemetry.TelemetryManager; +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.Range; + +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +import java.util.List; +import java.util.concurrent.TimeUnit; + +/* + * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. + * The code assumes a Holonomic (Mecanum or X Drive) Robot. + * + * For an introduction to AprilTags, see the ftc-docs link below: + * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html + * + * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera. + * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below. + * https://ftc-docs.firstinspires.org/apriltag-detection-values + * + * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and + * driving towards the tag to achieve the desired distance. + * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS) + * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder. + * + * The code assumes a Robot Configuration with motors named: front_left_drive and front_right_drive, back_left_drive and back_right_drive. + * The motor directions must be set so a positive power goes forward on all wheels. + * This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default, + * so you should choose to approach a valid tag ID. + * + * Under manual control, the left stick will move forward/back & left/right. The right stick will rotate the robot. + * Manually drive the robot until it displays Target data on the Driver Station. + * + * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode. + * Release the Left Bumper to return to manual driving mode. + * + * Under "Drive To Target" mode, the robot has three goals: + * 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.) + * 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front of the tag. (Use the Target Yaw to strafe the robot) + * 3) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward) + * + * Use DESIRED_DISTANCE to set how close you want the robot to get to the target. + * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. + * + * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder. + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list. + * + */ + +@TeleOp(name="Pedro Follow AprilTag", group = "Demo") +public class PedroDriveToAprilTag extends LinearOpMode +{ + // Adjust these numbers to suit your robot. + final double DESIRED_DISTANCE = 80.0; // this is how close the camera should get to the target (inches) + + // Set the GAIN constants to control the relationship between the measured position error, and how much power is + // applied to the drive motors to correct the error. + // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. + final double SPEED_GAIN = 0.04 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) + final double STRAFE_GAIN = 0.03 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) + final double TURN_GAIN = 0.02 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + + final double MAX_AUTO_SPEED = 1; // Clip the approach speed to this max value (adjust for your robot) + final double MAX_AUTO_STRAFE= 1; // Clip the strafing speed to this max value (adjust for your robot) + final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) + + private DcMotor frontLeftDrive = null; // Used to control the left front drive wheel + private DcMotor frontRightDrive = null; // Used to control the right front drive wheel + private DcMotor backLeftDrive = null; // Used to control the left back drive wheel + private DcMotor backRightDrive = null; // Used to control the right back drive wheel + + private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera + private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. + private VisionPortal visionPortal; // Used to manage the video source. + private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. + private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag + + private boolean toggle = false; + private boolean oldToggleVal = false; + + public static Follower follower; + @IgnoreConfigurable + static TelemetryManager telemetryM; + /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ + private final Pose startPose = new Pose(60,96, Math.toRadians(0)); + + @Override public void runOpMode() + { + boolean targetFound = false; // Set to true when an AprilTag target is detected + double drive; // Desired forward power/speed (-1 to +1) + double strafe; // Desired strafe power/speed (-1 to +1) + double turn; // Desired turning power/speed (-1 to +1) + + // Initialize the Apriltag Detection process + initAprilTag(); + + // Initialize the hardware variables. Note that the strings used here as parameters + // to 'get' must match the names assigned during the robot configuration. + // step (using the FTC Robot Controller app on the phone). + frontLeftDrive = hardwareMap.get(DcMotor.class, "FL"); + frontRightDrive = hardwareMap.get(DcMotor.class, "FR"); + backLeftDrive = hardwareMap.get(DcMotor.class, "BL"); + backRightDrive = hardwareMap.get(DcMotor.class, "BR"); + + // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. + // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. + // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips + frontLeftDrive.setDirection(DcMotor.Direction.REVERSE); + backLeftDrive.setDirection(DcMotor.Direction.REVERSE); + frontRightDrive.setDirection(DcMotor.Direction.FORWARD); + backRightDrive.setDirection(DcMotor.Direction.FORWARD); + + if (USE_WEBCAM) + setManualExposure(6, 250); // Use low exposure time to reduce motion blur + + follower = Constants.createFollower(hardwareMap); + follower.setStartingPose(startPose); + follower.update(); + + // Wait for driver to press start + telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); + telemetry.addData(">", "Touch START to start OpMode"); + telemetry.update(); + waitForStart(); + + follower.startTeleopDrive(); + follower.update(); + + while (opModeIsActive()) + { + targetFound = false; + desiredTag = null; + + // Step through the list of detected tags and look for a matching tag + List currentDetections = aprilTag.getDetections(); + for (AprilTagDetection detection : currentDetections) { + // Look to see if we have size info on this tag. + if (detection.metadata != null) { + // Check to see if we want to track towards this tag. + if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) { + // Yes, we want to use this tag. + targetFound = true; + desiredTag = detection; + break; // don't look any further. + } else { + // This tag is in the library, but we do not want to track it right now. + telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id); + } + } else { + // This tag is NOT in the library, so we don't have enough information to track to it. + telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id); + } + } + + // Tell the driver what we see, and what to do. + if (targetFound) { + telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n"); + telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); + telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); + telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); + telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); + } else { + telemetry.addData("\n>","Drive using joysticks to find valid target\n"); + } + + if (gamepad1.b && !oldToggleVal){ + toggle = !toggle; + oldToggleVal = true; + }else if (!gamepad1.b && oldToggleVal){ + oldToggleVal = false; + } + + // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . + if (toggle && targetFound) { + + // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically. + double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE); + double headingError = desiredTag.ftcPose.bearing; + double yawError = desiredTag.ftcPose.yaw; + + // Use the speed and turn "gains" to calculate how we want the robot to move. + drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED); + turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ; + strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE); + + telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + } else { + + // drive using manual POV Joystick mode. Slow things down to make the robot more controlable. + drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%. + strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%. + turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%. + telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + } + telemetry.update(); + + // Apply desired axes motions to the drivetrain. + follower.setTeleOpDrive(drive, strafe, turn, true); + follower.update(); + //moveRobot(drive, strafe, turn); + sleep(10); + } + } + + /** + * Initialize the AprilTag processor. + */ + private void initAprilTag() { + // Create the AprilTag processor by using a builder. + aprilTag = new AprilTagProcessor.Builder().build(); + + // Adjust Image Decimation to trade-off detection-range for detection-rate. + // e.g. Some typical detection data using a Logitech C920 WebCam + // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second + // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second + // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second + // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second + // Note: Decimation can be changed on-the-fly to adapt during a match. + aprilTag.setDecimation(2); + + // Create the vision portal by using a builder. + if (USE_WEBCAM) { + visionPortal = new VisionPortal.Builder() + .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) + .addProcessor(aprilTag) + .build(); + } else { + visionPortal = new VisionPortal.Builder() + .setCamera(BuiltinCameraDirection.BACK) + .addProcessor(aprilTag) + .build(); + } + } + + /* + Manually set the camera gain and exposure. + This can only be called AFTER calling initAprilTag(), and only works for Webcams; + */ + private void setManualExposure(int exposureMS, int gain) { + // Wait for the camera to be open, then use the controls + + if (visionPortal == null) { + return; + } + + // Make sure camera is streaming before we try to set the exposure controls + if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) { + telemetry.addData("Camera", "Waiting"); + telemetry.update(); + while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) { + sleep(20); + } + telemetry.addData("Camera", "Ready"); + telemetry.update(); + } + + // Set camera controls unless we are stopping. + if (!isStopRequested()) + { + ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class); + if (exposureControl.getMode() != ExposureControl.Mode.Manual) { + exposureControl.setMode(ExposureControl.Mode.Manual); + sleep(50); + } + exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS); + sleep(20); + GainControl gainControl = visionPortal.getCameraControl(GainControl.class); + gainControl.setGain(gain); + sleep(20); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java index 57096c9f9622..bf96091ee387 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java @@ -11,7 +11,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.Constants; -@TeleOp(name = "Example Robot-Centric TeleOp", group = "Examples") +@TeleOp(name = "Example Robot-Centric TeleOp", group = "Main") public class TeleopTest_V1 extends OpMode { public static Follower follower; @IgnoreConfigurable From 66dc05758c25e3fe3abb4d39b1554c58df1eb9b4 Mon Sep 17 00:00:00 2001 From: Daniel <141444315+Professor348@users.noreply.github.com> Date: Wed, 17 Sep 2025 08:48:48 -0400 Subject: [PATCH 017/152] Update README.md Updated the README to describe what the repo is for better. --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 522fb8048e75..1aa865b6cf37 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,6 @@ +# LOAD Robotics DECODE Robot Code +This repository contains LOAD Robotics' robot code for the 2025-2026 FTC season DECODE. + ## NOTICE This repository contains the public FTC SDK for the DECODE (2025-2026) competition season. From 4fa6e405ad82bf4716ee778738dc0659a42986d5 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Tue, 23 Sep 2025 20:31:03 -0400 Subject: [PATCH 018/152] Finalized transfer of aprilTag tracking from example code to Pedropathing, & made a field-centric heading-based tag tracker --- .../LOADCode/April_Tag_Follow_Test.txt | 254 ------------------ .../ftc/teamcode/LOADCode/Chase_AprilTag.java | 229 ---------------- ...Omni.java => FieldCentricTagTracking.java} | 119 +++----- .../LOADCode/PedroDriveToAprilTag.java | 38 +-- 4 files changed, 42 insertions(+), 598 deletions(-) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/April_Tag_Follow_Test.txt delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{AutoDriveToAprilTagOmni.java => FieldCentricTagTracking.java} (71%) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/April_Tag_Follow_Test.txt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/April_Tag_Follow_Test.txt deleted file mode 100644 index 2ce84250e593..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/April_Tag_Follow_Test.txt +++ /dev/null @@ -1,254 +0,0 @@ - - -import com.pedropathing.follower.Follower; - -import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; - -package org.firstinspires.ftc.teamcode.LOADCode; - -import com.pedropathing.follower.Follower; -import com.pedropathing.localization.Pose; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; - -import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; -import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; -import org.firstinspires.ftc.robotcore.external.navigation.Position; -import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; -import org.firstinspires.ftc.teamcode.pedroPathing.constants.FConstants; -import org.firstinspires.ftc.teamcode.pedroPathing.constants.LConstants; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; -import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; - -import java.util.List; - - -@TeleOp(name="April_Tag_Follow_Test",group = "org/firstinspires/ftc/teamcode/pedroPathing/LOADCode") -public class April_Tag_Follow_Test extends OpMode { - private Follower follower; - private final Pose startPose = new Pose(0,0,0); - - private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera - private Position cameraPosition = new Position(DistanceUnit.INCH, - 0, 0, 0, 0); - private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES, - 0, -90, 0, 0); - private AprilTagProcessor aprilTag; - private VisionPortal visionPortal; - - /** This method is call once when init is played, it initializes the follower **/ - @Override - public void init() { - follower = new Follower(hardwareMap, FConstants.class, LConstants.class); - follower.setStartingPose(startPose); - - initAprilTag(); - - // Wait for the DS start button to be touched. - telemetry.addData("DS preview on/off", "3 dots, Camera Stream"); - telemetry.addData(">", "Touch START to start OpMode"); - telemetry.update(); - } - - /** This method is called continuously after Init while waiting to be started. **/ - @Override - public void init_loop() { - } - - /** This method is called once at the start of the OpMode. **/ - @Override - public void start() { - follower.startTeleopDrive(); - } - - /** This is the main loop of the opmode and runs continuously after play **/ - @Override - public void loop() { - - - - /* Telemetry Outputs of our Follower */ - telemetry.addData("X", follower.getPose().getX()); - telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(follower.getPose().getHeading())); - - telemetryAprilTag(); - - // Save CPU resources; can resume streaming when needed. - if (gamepad1.dpad_down) { - visionPortal.stopStreaming(); - } else if (gamepad1.dpad_up) { - visionPortal.resumeStreaming(); - } - - /* Update Telemetry to the Driver Hub */ - telemetry.update(); - - - - } - - /** We do not use this because everything automatically should disable **/ - @Override - public void stop() { - visionPortal.close(); - } - - /** - * Initialize the AprilTag processor. - */ - public void initAprilTag() { - - // Create the AprilTag processor. - aprilTag = new AprilTagProcessor.Builder() - - // The following default settings are available to un-comment and edit as needed. - //.setDrawAxes(false) - //.setDrawCubeProjection(false) - //.setDrawTagOutline(true) - //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11) - //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary()) - //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES) - .setCameraPose(cameraPosition, cameraOrientation) - - // == CAMERA CALIBRATION == - // If you do not manually specify calibration parameters, the SDK will attempt - // to load a predefined calibration for your camera. - //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506) - // ... these parameters are fx, fy, cx, cy. - - .build(); - - // Adjust Image Decimation to trade-off detection-range for detection-rate. - // eg: Some typical detection data using a Logitech C920 WebCam - // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second - // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second - // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second (default) - // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second (default) - // Note: Decimation can be changed on-the-fly to adapt during a match. - //aprilTag.setDecimation(3); - - // Create the vision portal by using a builder. - VisionPortal.Builder builder = new VisionPortal.Builder(); - - // Set the camera (webcam vs. built-in RC phone camera). - if (USE_WEBCAM) { - builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")); - } else { - builder.setCamera(BuiltinCameraDirection.BACK); - } - - // Choose a camera resolution. Not all cameras support all resolutions. - //builder.setCameraResolution(new Size(640, 480)); - - // Enable the RC preview (LiveView). Set "false" to omit camera monitoring. - //builder.enableLiveView(true); - - // Set the stream format; MJPEG uses less bandwidth than default YUY2. - //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2); - - // Choose whether or not LiveView stops if no processors are enabled. - // If set "true", monitor shows solid orange screen if no processors enabled. - // If set "false", monitor shows camera view without annotations. - //builder.setAutoStopLiveView(false); - - // Set and enable the processor. - builder.addProcessor(aprilTag); - - // Build the Vision Portal, using the above settings. - visionPortal = builder.build(); - - // Disable or re-enable the aprilTag processor at any time. - //visionPortal.setProcessorEnabled(aprilTag, true); - - } // end method initAprilTag() - - /** - * Add telemetry about AprilTag detections. - */ - public void telemetryAprilTag() { - - List currentDetections = aprilTag.getDetections(); - telemetry.addData("# AprilTags Detected", currentDetections.size()); - - // Step through the list of detections and display info for each one. - for (AprilTagDetection detection : currentDetections) { - if (detection.metadata != null) { - telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name)); - telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", - detection.robotPose.getPosition().x, - detection.robotPose.getPosition().y, - detection.robotPose.getPosition().z)); - telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", - detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES))); - - followTag( - detection.robotPose.getPosition().x, - detection.robotPose.getPosition().y, - detection.robotPose.getPosition().z, - detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES), - detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES) - ); - - } else { - telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id)); - telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y)); - } - } // end for() loop - - // Add "key" information to telemetry - telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist."); - telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)"); - - } // end method telemetryAprilTag() - - public void followTag(double posX, double posY, double posZ, double angX, double angY, double angZ){ - - double distancMarginError = 1; // Measured in Inches - double angleMarginError = 1; // Measured in Degrees - - double FB_Movement = 0; - double SLR_Movement = 0; - double TLR_Movement = 0; - boolean robotCentric = true; - - double followDistance = 18; // Measured in Inches - - if (posZ > followDistance + distancMarginError) { - FB_Movement = 0.1; - }else if (posZ < followDistance - distancMarginError) { - FB_Movement = -0.1; - }else{ - FB_Movement = 0; - } - - if (-posX > 0 + angleMarginError) { - TLR_Movement = 0.1; - }else if (-posX < 0 - angleMarginError) { - TLR_Movement = -0.1; - }else{ - TLR_Movement = 0; - } - - - - /* Update Pedro to move the robot based on: - - Forward/Backward Movement: -gamepad1.left_stick_y - - Left/Right Movement: -gamepad1.left_stick_x - - Turn Left/Right Movement: -gamepad1.right_stick_x - - Robot-Centric Mode: true - */ - - follower.setTeleOpMovementVectors(FB_Movement, -SLR_Movement, TLR_Movement, robotCentric); - follower.update(); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java deleted file mode 100644 index 0fc114a5b640..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Chase_AprilTag.java +++ /dev/null @@ -1,229 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode; - -import com.bylazar.configurables.annotations.IgnoreConfigurable; -import com.bylazar.telemetry.TelemetryManager; -import com.pedropathing.follower.Follower; -import com.pedropathing.geometry.Pose; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.util.Range; - -import org.firstinspires.ftc.robotcontroller.external.samples.BasicOpMode_Iterative; -import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; -import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; -import org.firstinspires.ftc.teamcode.pedroPathing.Constants; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; -import org.firstinspires.ftc.vision.apriltag.AprilTagLibrary; -import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; - -import java.util.List; -import java.util.concurrent.TimeUnit; - -@TeleOp(name = "Chase AprilTag", group = "Examples") -@Disabled -public class Chase_AprilTag extends OpMode { - public static Follower follower; - @IgnoreConfigurable - static TelemetryManager telemetryM; - /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ - private final Pose startPose = new Pose(60,96, Math.toRadians(0)); - - // Adjust these numbers to suit your robot. - final double DESIRED_DISTANCE = 30.0; // this is how close the camera should get to the target (inches) - - // Set the GAIN constants to control the relationship between the measured position error, and how much power is - // applied to the drive motors to correct the error. - // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. - final double SPEED_GAIN = 0.02 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) - final double STRAFE_GAIN = 0.015 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) - final double TURN_GAIN = 0.01 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) - - final double MAX_AUTO_SPEED = 0.5; // Clip the approach speed to this max value (adjust for your robot) - final double MAX_AUTO_STRAFE= 0.5; // Clip the strafing speed to this max value (adjust for your robot) - final double MAX_AUTO_TURN = 0.3; // Clip the turn speed to this max value (adjust for your robot) - - private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera - private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. - private VisionPortal visionPortal; // Used to manage the video source. - private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. - private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag - - boolean targetFound = false; // Set to true when an AprilTag target is detected - double drive = 0; // Desired forward power/speed (-1 to +1) - double strafe = 0; // Desired strafe power/speed (-1 to +1) - double turn = 0; // Desired turning power/speed (-1 to +1) - - /** This method is called once when init is pressed and initializes the follower **/ - @Override - public void init() { - - // Initialize the Apriltag Detection process - initAprilTag(); - - // Initializing the follower and setting its starting position. - follower = Constants.createFollower(hardwareMap); - follower.setStartingPose(startPose); - follower.update(); - } - - /** This method is called once at the start of the OpMode. **/ - @Override - public void start() { - // Calling this method is necessary at the start of your TeleOp OpMode. - follower.startTeleopDrive(); - follower.update(); - } - - /** This is the main loop of the OpMode and runs continuously after pressing play **/ - @Override - public void loop() { - - - targetFound = false; - desiredTag = null; - - // Step through the list of detected tags and look for a matching tag - List currentDetections = aprilTag.getDetections(); - for (AprilTagDetection detection : currentDetections) { - // Look to see if we have size info on this tag. - if (detection.metadata != null) { - // Check to see if we want to track towards this tag. - if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) { - // Yes, we want to use this tag. - targetFound = true; - desiredTag = detection; - break; // don't look any further. - } else { - // This tag is in the library, but we do not want to track it right now. - telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id); - } - } else { - // This tag is NOT in the library, so we don't have enough information to track to it. - telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id); - } - } - - // Tell the driver what we see, and what to do. - if (targetFound) { - telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n"); - telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); - telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); - telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); - telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); - } else { - telemetry.addData("\n>","Drive using joysticks to find valid target\n"); - } - - // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . - if (gamepad1.left_bumper && targetFound) { - - // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically. - double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE); - double headingError = desiredTag.ftcPose.bearing; - double yawError = desiredTag.ftcPose.yaw; - - // Use the speed and turn "gains" to calculate how we want the robot to move. - drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED); - turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ; - strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE); - - telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); - } else { - - // drive using manual POV Joystick mode. Slow things down to make the robot more controlable. - drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%. - strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%. - turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%. - telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); - } - telemetry.update(); - - - // Update robot movement based on gamepad inputs - /* Update Pedro to move the robot based on: - * Forward/Backward Movement: -gamepad1.left_stick_y - * Left/Right Movement: -gamepad1.left_stick_x - * Turn Left/Right Movement: -gamepad1.right_stick_x - * Robot-Centric Mode: true - */ - follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); - // Loop robot movement and odometry values - follower.update(); - - // Telemetry Outputs of the Follower - telemetry.addData("X", follower.getPose().getX()); - telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(1)); - - // Update Telemetry to the Driver Hub - telemetry.update(); - - // Updating the status of the gamepad buttons - } - - /** - * Initialize the AprilTag processor. - */ - private void initAprilTag() { - // Create the AprilTag processor by using a builder. - aprilTag = new AprilTagProcessor.Builder() - .build(); - - // Adjust Image Decimation to trade-off detection-range for detection-rate. - // e.g. Some typical detection data using a Logitech C920 WebCam - // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second - // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second - // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second - // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second - // Note: Decimation can be changed on-the-fly to adapt during a match. - aprilTag.setDecimation(2); - - // Create the vision portal by using a builder. - if (USE_WEBCAM) { - visionPortal = new VisionPortal.Builder() - .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) - .addProcessor(aprilTag) - .build(); - } else { - visionPortal = new VisionPortal.Builder() - .setCamera(BuiltinCameraDirection.BACK) - .addProcessor(aprilTag) - .build(); - } - } - - /* - Manually set the camera gain and exposure. - This can only be called AFTER calling initAprilTag(), and only works for Webcams; - */ - private void setManualExposure(int exposureMS, int gain) { - // Wait for the camera to be open, then use the controls - - if (visionPortal == null) { - return; - } - - // Make sure camera is streaming before we try to set the exposure controls - if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) { - telemetry.addData("Camera", "Waiting"); - telemetry.update(); - while ((visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {} - telemetry.addData("Camera", "Ready"); - telemetry.update(); - - } - - // Set camera controls unless we are stopping. - ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class); - if (exposureControl.getMode() != ExposureControl.Mode.Manual) { - exposureControl.setMode(ExposureControl.Mode.Manual); - } - exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS); - GainControl gainControl = visionPortal.getCameraControl(GainControl.class); - gainControl.setGain(gain); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/FieldCentricTagTracking.java similarity index 71% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/FieldCentricTagTracking.java index 34a34972d48b..88937245bb2d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/AutoDriveToAprilTagOmni.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/FieldCentricTagTracking.java @@ -29,7 +29,10 @@ package org.firstinspires.ftc.teamcode.LOADCode; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.bylazar.configurables.annotations.IgnoreConfigurable; +import com.bylazar.telemetry.TelemetryManager; +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.DcMotor; @@ -39,6 +42,7 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import org.firstinspires.ftc.vision.VisionPortal; import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; @@ -81,33 +85,18 @@ * Use DESIRED_DISTANCE to set how close you want the robot to get to the target. * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. * - * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder. - * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list. - * */ -@TeleOp(name="Follow AprilTag", group = "Demo") -public class AutoDriveToAprilTagOmni extends LinearOpMode +@TeleOp(name="Field-Centric Tag Tracking", group = "Demo") +public class FieldCentricTagTracking extends LinearOpMode { // Adjust these numbers to suit your robot. - final double DESIRED_DISTANCE = 80.0; // this is how close the camera should get to the target (inches) - // Set the GAIN constants to control the relationship between the measured position error, and how much power is // applied to the drive motors to correct the error. // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. - final double SPEED_GAIN = 0.04 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) - final double STRAFE_GAIN = 0.04 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) final double TURN_GAIN = 0.04 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) - - final double MAX_AUTO_SPEED = 1; // Clip the approach speed to this max value (adjust for your robot) - final double MAX_AUTO_STRAFE= 1; // Clip the strafing speed to this max value (adjust for your robot) final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) - private DcMotor frontLeftDrive = null; // Used to control the left front drive wheel - private DcMotor frontRightDrive = null; // Used to control the right front drive wheel - private DcMotor backLeftDrive = null; // Used to control the left back drive wheel - private DcMotor backRightDrive = null; // Used to control the right back drive wheel - private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. private VisionPortal visionPortal; // Used to manage the video source. @@ -117,41 +106,38 @@ public class AutoDriveToAprilTagOmni extends LinearOpMode private boolean toggle = false; private boolean oldToggleVal = false; + public static Follower follower; + @IgnoreConfigurable + static TelemetryManager telemetryM; + /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ + private final Pose startPose = new Pose(60,96, Math.toRadians(0)); + @Override public void runOpMode() { - boolean targetFound = false; // Set to true when an AprilTag target is detected - double drive = 0; // Desired forward power/speed (-1 to +1) - double strafe = 0; // Desired strafe power/speed (-1 to +1) - double turn = 0; // Desired turning power/speed (-1 to +1) + boolean targetFound; // Set to true when an AprilTag target is detected + double drive; // Desired forward power/speed (-1 to +1) + double strafe; // Desired strafe power/speed (-1 to +1) + double turn; // Desired turning power/speed (-1 to +1) // Initialize the Apriltag Detection process initAprilTag(); - // Initialize the hardware variables. Note that the strings used here as parameters - // to 'get' must match the names assigned during the robot configuration. - // step (using the FTC Robot Controller app on the phone). - frontLeftDrive = hardwareMap.get(DcMotor.class, "FL"); - frontRightDrive = hardwareMap.get(DcMotor.class, "FR"); - backLeftDrive = hardwareMap.get(DcMotor.class, "BL"); - backRightDrive = hardwareMap.get(DcMotor.class, "BR"); - - // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. - // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. - // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips - frontLeftDrive.setDirection(DcMotor.Direction.REVERSE); - backLeftDrive.setDirection(DcMotor.Direction.REVERSE); - frontRightDrive.setDirection(DcMotor.Direction.FORWARD); - backRightDrive.setDirection(DcMotor.Direction.FORWARD); - if (USE_WEBCAM) setManualExposure(6, 250); // Use low exposure time to reduce motion blur + follower = Constants.createFollower(hardwareMap); + follower.setStartingPose(startPose); + follower.update(); + // Wait for driver to press start telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); telemetry.addData(">", "Touch START to start OpMode"); telemetry.update(); waitForStart(); + follower.startTeleopDrive(); + follower.update(); + while (opModeIsActive()) { targetFound = false; @@ -196,71 +182,34 @@ public class AutoDriveToAprilTagOmni extends LinearOpMode oldToggleVal = false; } + drive = -gamepad1.left_stick_y; + strafe = -gamepad1.left_stick_x; + // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . if (toggle && targetFound) { - // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically. - double rangeError = (desiredTag.ftcPose.range - DESIRED_DISTANCE); + // Determine heading (tag image rotation) error so we can use them to control the robot automatically. double headingError = desiredTag.ftcPose.bearing; - double yawError = desiredTag.ftcPose.yaw; - // Use the speed and turn "gains" to calculate how we want the robot to move. - drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED); + // Use the turn "gain" to calculate how we want the robot to move. turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ; - strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE); telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } else { - // drive using manual POV Joystick mode. Slow things down to make the robot more controlable. - drive = -gamepad1.left_stick_y / 2.0; // Reduce drive rate to 50%. - strafe = -gamepad1.left_stick_x / 2.0; // Reduce strafe rate to 50%. - turn = -gamepad1.right_stick_x / 3.0; // Reduce turn rate to 33%. + // drive using manual POV Joystick mode. Slow things down to make the robot more controllable. + turn = -gamepad1.right_stick_x; telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } telemetry.update(); // Apply desired axes motions to the drivetrain. - moveRobot(drive, strafe, turn); + follower.setTeleOpDrive(drive, strafe, turn, false); + follower.update(); sleep(10); } } - /** - * Move robot according to desired axes motions - *

- * Positive X is forward - *

- * Positive Y is strafe left - *

- * Positive Yaw is counter-clockwise - */ - public void moveRobot(double x, double y, double yaw) { - // Calculate wheel powers. - double frontLeftPower = x - y - yaw; - double frontRightPower = x + y + yaw; - double backLeftPower = x + y - yaw; - double backRightPower = x - y + yaw; - - // Normalize wheel powers to be less than 1.0 - double max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower)); - max = Math.max(max, Math.abs(backLeftPower)); - max = Math.max(max, Math.abs(backRightPower)); - - if (max > 1.0) { - frontLeftPower /= max; - frontRightPower /= max; - backLeftPower /= max; - backRightPower /= max; - } - - // Send powers to the wheels. - frontLeftDrive.setPower(frontLeftPower); - frontRightDrive.setPower(frontRightPower); - backLeftDrive.setPower(backLeftPower); - backRightDrive.setPower(backRightPower); - } - /** * Initialize the AprilTag processor. */ @@ -275,7 +224,7 @@ private void initAprilTag() { // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second // Note: Decimation can be changed on-the-fly to adapt during a match. - aprilTag.setDecimation(2); + aprilTag.setDecimation(3); // Create the vision portal by using a builder. if (USE_WEBCAM) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java index 8b9985e4b844..a035b1288d58 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java @@ -90,28 +90,23 @@ * */ -@TeleOp(name="Pedro Follow AprilTag", group = "Demo") +@TeleOp(name="Follow AprilTag", group = "Demo") public class PedroDriveToAprilTag extends LinearOpMode { // Adjust these numbers to suit your robot. - final double DESIRED_DISTANCE = 80.0; // this is how close the camera should get to the target (inches) + final double DESIRED_DISTANCE = 60.0; // this is how close the camera should get to the target (inches) // Set the GAIN constants to control the relationship between the measured position error, and how much power is // applied to the drive motors to correct the error. // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. final double SPEED_GAIN = 0.04 ; // Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error. (0.50 / 25.0) - final double STRAFE_GAIN = 0.03 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) - final double TURN_GAIN = 0.02 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + final double STRAFE_GAIN = 0.04 ; // Strafe Speed Control "Gain". e.g. Ramp up to 37% power at a 25 degree Yaw error. (0.375 / 25.0) + final double TURN_GAIN = 0.04 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) final double MAX_AUTO_SPEED = 1; // Clip the approach speed to this max value (adjust for your robot) final double MAX_AUTO_STRAFE= 1; // Clip the strafing speed to this max value (adjust for your robot) final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) - private DcMotor frontLeftDrive = null; // Used to control the left front drive wheel - private DcMotor frontRightDrive = null; // Used to control the right front drive wheel - private DcMotor backLeftDrive = null; // Used to control the left back drive wheel - private DcMotor backRightDrive = null; // Used to control the right back drive wheel - private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. private VisionPortal visionPortal; // Used to manage the video source. @@ -129,30 +124,14 @@ public class PedroDriveToAprilTag extends LinearOpMode @Override public void runOpMode() { - boolean targetFound = false; // Set to true when an AprilTag target is detected - double drive; // Desired forward power/speed (-1 to +1) - double strafe; // Desired strafe power/speed (-1 to +1) - double turn; // Desired turning power/speed (-1 to +1) + boolean targetFound; // Set to true when an AprilTag target is detected + double drive; // Desired forward power/speed (-1 to +1) + double strafe; // Desired strafe power/speed (-1 to +1) + double turn; // Desired turning power/speed (-1 to +1) // Initialize the Apriltag Detection process initAprilTag(); - // Initialize the hardware variables. Note that the strings used here as parameters - // to 'get' must match the names assigned during the robot configuration. - // step (using the FTC Robot Controller app on the phone). - frontLeftDrive = hardwareMap.get(DcMotor.class, "FL"); - frontRightDrive = hardwareMap.get(DcMotor.class, "FR"); - backLeftDrive = hardwareMap.get(DcMotor.class, "BL"); - backRightDrive = hardwareMap.get(DcMotor.class, "BR"); - - // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. - // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. - // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips - frontLeftDrive.setDirection(DcMotor.Direction.REVERSE); - backLeftDrive.setDirection(DcMotor.Direction.REVERSE); - frontRightDrive.setDirection(DcMotor.Direction.FORWARD); - backRightDrive.setDirection(DcMotor.Direction.FORWARD); - if (USE_WEBCAM) setManualExposure(6, 250); // Use low exposure time to reduce motion blur @@ -240,7 +219,6 @@ public class PedroDriveToAprilTag extends LinearOpMode // Apply desired axes motions to the drivetrain. follower.setTeleOpDrive(drive, strafe, turn, true); follower.update(); - //moveRobot(drive, strafe, turn); sleep(10); } } From 155330cbab70b6721989e94d4b3e932e2ce1ba20 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Mon, 13 Oct 2025 17:40:28 -0400 Subject: [PATCH 019/152] Began Auto Development --- .../teamcode/LOADCode/Autos/TestAutoR1.java | 243 ++++++++++++++++++ .../FieldCentricTagTracking.java | 5 +- .../{ => TeleOps}/PedroDriveToAprilTag.java | 5 +- .../LOADCode/{ => TeleOps}/TeleopTest_V1.java | 6 +- .../ftc/teamcode/pedroPathing/Constants.java | 4 +- 5 files changed, 251 insertions(+), 12 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => TeleOps}/FieldCentricTagTracking.java (98%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => TeleOps}/PedroDriveToAprilTag.java (99%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => TeleOps}/TeleopTest_V1.java (92%) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java new file mode 100644 index 000000000000..d1e4acf27298 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java @@ -0,0 +1,243 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Autos; // make sure this aligns with class location + +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.BezierCurve; +import com.pedropathing.geometry.BezierLine; +import com.pedropathing.geometry.Pose; +import com.pedropathing.paths.PathChain; +import com.pedropathing.util.Timer; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; + +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; + +@Autonomous(name = "TestAutoR1", group = "TestAuto") +public class TestAutoR1 extends OpMode { + + private Follower follower; + private Timer pathTimer, actionTimer, opmodeTimer; + + private int pathState; + private boolean shooting; + + private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. + private final Pose scorePose = new Pose(86, 22, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. + private final Pose pickupR3PoseA = new Pose(110.4, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. + private final Pose pickupR3PoseB = new Pose(121.9, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. + private final Pose pickupR2PoseA = new Pose(110.4, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. + private final Pose pickupR2PoseB = new Pose(121.9, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. + private final Pose pickupR1PoseA = new Pose(110.4, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. + private final Pose pickupR1PoseB = new Pose(121.9, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. + + private PathChain grabPickup1, scorePickup, grabPickup2, grabPickup3; + + public void buildPaths() { + + grabPickup1 = follower.pathBuilder() + .addPath(new BezierCurve( + startPose, + new Pose(91.100, 35.700), + pickupR1PoseA + )) + .setLinearHeadingInterpolation(startPose.getHeading(), pickupR1PoseA.getHeading()) + .addPath(new BezierLine( + pickupR1PoseA, + pickupR1PoseB + )) + .setLinearHeadingInterpolation(pickupR1PoseA.getHeading(), pickupR1PoseA.getHeading()) + .setVelocityConstraint(0.5) + .build(); + + grabPickup2 = follower.pathBuilder() + .addPath(new BezierCurve( + scorePose, + new Pose(91.100, 60.5), + pickupR2PoseA + )) + .setLinearHeadingInterpolation(scorePose.getHeading(), pickupR2PoseA.getHeading()) + .addPath(new BezierLine( + pickupR2PoseA, + pickupR2PoseB + )) + .setLinearHeadingInterpolation(pickupR2PoseA.getHeading(), pickupR2PoseA.getHeading()) + .setVelocityConstraint(0.5) + .build(); + + grabPickup3 = follower.pathBuilder() + .addPath(new BezierCurve( + scorePose, + new Pose(91.100, 84.6), + pickupR3PoseA + )) + .setLinearHeadingInterpolation(scorePose.getHeading(), pickupR3PoseA.getHeading()) + .addPath(new BezierLine( + pickupR3PoseA, + pickupR3PoseB + )) + .setLinearHeadingInterpolation(pickupR3PoseA.getHeading(), pickupR3PoseA.getHeading()) + .setVelocityConstraint(0.5) + .build(); + + scorePickup = follower.pathBuilder() + .addPath(new BezierLine( + follower.getPose(), + scorePose + )) + .setLinearHeadingInterpolation(follower.getHeading(), scorePose.getHeading()) + .setVelocityConstraint(0.5) + .build(); + } + + public void delay(int time){ + Timer wait = new Timer(); + wait.resetTimer(); + while (wait.getElapsedTime() < time){} + } + + public void autonomousPathUpdate() { + switch (pathState) { + case 0: + + //Shoot balls + + setPathState(1); + break; + case 1: + + /* You could check for + - Follower State: "if(!follower.isBusy()) {}" + - Time: "if(pathTimer.getElapsedTimeSeconds() > 1) {}" + - Robot Position: "if(follower.getPose().getX() > 36) {}" + */ + + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ + follower.followPath(grabPickup1,true); + setPathState(2); + } + break; + case 2: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup1Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(scorePickup,true); + setPathState(3); + } + break; + case 3: + + //Shoot balls + + setPathState(4); + break; + case 4: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ + follower.followPath(grabPickup2,true); + setPathState(5); + } + break; + case 5: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup2Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(scorePickup,true); + setPathState(6); + } + break; + case 6: + + //Shoot balls + + setPathState(7); + break; + case 7: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ + follower.followPath(grabPickup3,true); + setPathState(8); + } + break; + case 8: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(scorePickup, true); + setPathState(9); + } + break; + case 9: + + //Shoot balls + + setPathState(10); + break; + case 10: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Set the state to a Case we won't use or define, so it just stops running an new paths */ + setPathState(-1); + } + break; + } + } + + /** These change the states of the paths and actions. It will also reset the timers of the individual switches **/ + public void setPathState(int pState) { + pathState = pState; + pathTimer.resetTimer(); + } + + /** This method is called once at the init of the OpMode. **/ + @Override + public void init() { + pathTimer = new Timer(); + opmodeTimer = new Timer(); + opmodeTimer.resetTimer(); + + shooting = false; + + + follower = Constants.createFollower(hardwareMap); + buildPaths(); + follower.setStartingPose(startPose); + + } + + /** This method is called continuously after Init while waiting for "play". **/ + @Override + public void init_loop() {} + + /** This method is called once at the start of the OpMode. + * It runs all the setup actions, including building paths and starting the path system **/ + @Override + public void start() { + opmodeTimer.resetTimer(); + setPathState(0); + } + + /** This is the main loop of the OpMode, it will run repeatedly after clicking "Play". **/ + @Override + public void loop() { + + // These loop the movements of the robot, these must be called continuously in order to work + follower.update(); + autonomousPathUpdate(); + + // Feedback to Driver Hub for debugging + telemetry.addData("path state", pathState); + telemetry.addData("shooting", shooting); + telemetry.addData("x", follower.getPose().getX()); + telemetry.addData("y", follower.getPose().getY()); + telemetry.addData("heading", follower.getPose().getHeading()); + telemetry.update(); + } + + /** We do not use this because everything should automatically disable **/ + @Override + public void stop() { + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java similarity index 98% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/FieldCentricTagTracking.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 88937245bb2d..11b08efbf26d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode; +package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; @@ -35,7 +35,6 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.util.Range; import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; @@ -87,7 +86,7 @@ * */ -@TeleOp(name="Field-Centric Tag Tracking", group = "Demo") +@TeleOp(name="Field-Centric Tag Tracking", group = "TestTeleOp") public class FieldCentricTagTracking extends LinearOpMode { // Adjust these numbers to suit your robot. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/PedroDriveToAprilTag.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/PedroDriveToAprilTag.java index a035b1288d58..5e9218db9662 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/PedroDriveToAprilTag.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/PedroDriveToAprilTag.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode; +package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; @@ -35,7 +35,6 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.util.Range; import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; @@ -90,7 +89,7 @@ * */ -@TeleOp(name="Follow AprilTag", group = "Demo") +@TeleOp(name="Follow AprilTag", group = "TestTeleOp") public class PedroDriveToAprilTag extends LinearOpMode { // Adjust these numbers to suit your robot. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TeleopTest_V1.java similarity index 92% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TeleopTest_V1.java index bf96091ee387..42d2ecd02a76 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleopTest_V1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TeleopTest_V1.java @@ -1,6 +1,4 @@ -package org.firstinspires.ftc.teamcode.LOADCode; - -import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.follower; +package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; @@ -11,7 +9,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.Constants; -@TeleOp(name = "Example Robot-Centric TeleOp", group = "Main") +@TeleOp(name = "Example Robot-Centric TeleOp", group = "TestTeleOp") public class TeleopTest_V1 extends OpMode { public static Follower follower; @IgnoreConfigurable diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 4156b984b2f3..07b7693b75ca 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -30,8 +30,8 @@ public class Constants { public static PathConstraints pathConstraints = new PathConstraints( 0.99, 100, - 3, - 1); + 1, + 0.5); public static MecanumConstants driveConstants = new MecanumConstants() .maxPower(1) From 6dabceb6e8508052e15b8140711aba8865364c0f Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Mon, 13 Oct 2025 18:58:30 -0400 Subject: [PATCH 020/152] Continue Auto Development --- .../teamcode/LOADCode/Autos/TestAutoR1.java | 82 ++++++++----------- .../ftc/teamcode/pedroPathing/Constants.java | 11 ++- 2 files changed, 43 insertions(+), 50 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java index d1e4acf27298..70235a8840da 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java @@ -22,6 +22,7 @@ public class TestAutoR1 extends OpMode { private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. private final Pose scorePose = new Pose(86, 22, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. + private final Pose leavePose = new Pose(97, 30, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. private final Pose pickupR3PoseA = new Pose(110.4, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. private final Pose pickupR3PoseB = new Pose(121.9, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. private final Pose pickupR2PoseA = new Pose(110.4, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. @@ -29,7 +30,7 @@ public class TestAutoR1 extends OpMode { private final Pose pickupR1PoseA = new Pose(110.4, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. private final Pose pickupR1PoseB = new Pose(121.9, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. - private PathChain grabPickup1, scorePickup, grabPickup2, grabPickup3; + private PathChain grabPickup1, scorePickup, grabPickup2, grabPickup3, leave; public void buildPaths() { @@ -45,7 +46,6 @@ public void buildPaths() { pickupR1PoseB )) .setLinearHeadingInterpolation(pickupR1PoseA.getHeading(), pickupR1PoseA.getHeading()) - .setVelocityConstraint(0.5) .build(); grabPickup2 = follower.pathBuilder() @@ -60,7 +60,6 @@ public void buildPaths() { pickupR2PoseB )) .setLinearHeadingInterpolation(pickupR2PoseA.getHeading(), pickupR2PoseA.getHeading()) - .setVelocityConstraint(0.5) .build(); grabPickup3 = follower.pathBuilder() @@ -75,7 +74,6 @@ public void buildPaths() { pickupR3PoseB )) .setLinearHeadingInterpolation(pickupR3PoseA.getHeading(), pickupR3PoseA.getHeading()) - .setVelocityConstraint(0.5) .build(); scorePickup = follower.pathBuilder() @@ -84,7 +82,13 @@ public void buildPaths() { scorePose )) .setLinearHeadingInterpolation(follower.getHeading(), scorePose.getHeading()) - .setVelocityConstraint(0.5) + .build(); + leave = follower.pathBuilder() + .addPath(new BezierLine( + follower.getPose(), + leavePose + )) + .setLinearHeadingInterpolation(follower.getHeading(), leavePose.getHeading()) .build(); } @@ -98,12 +102,6 @@ public void autonomousPathUpdate() { switch (pathState) { case 0: - //Shoot balls - - setPathState(1); - break; - case 1: - /* You could check for - Follower State: "if(!follower.isBusy()) {}" - Time: "if(pathTimer.getElapsedTimeSeconds() > 1) {}" @@ -111,73 +109,63 @@ public void autonomousPathUpdate() { */ /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ follower.followPath(grabPickup1,true); - setPathState(2); + setPathState(1); } break; - case 2: + case 1: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup1Pose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(scorePickup,true); - setPathState(3); + setPathState(2); } break; - case 3: - - //Shoot balls - - setPathState(4); - break; - case 4: + case 2: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ follower.followPath(grabPickup2,true); - setPathState(5); + setPathState(3); } break; - case 5: + case 3: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup2Pose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(scorePickup,true); - setPathState(6); + setPathState(4); } break; - case 6: - - //Shoot balls - - setPathState(7); - break; - case 7: + case 4: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ follower.followPath(grabPickup3,true); - setPathState(8); + setPathState(5); } break; - case 8: + case 5: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(scorePickup, true); - setPathState(9); + setPathState(6); } break; - case 9: - - //Shoot balls - - setPathState(10); + case 6: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ + if(pathTimer.getElapsedTimeSeconds() > 5) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(leave, true); + setPathState(7); + } break; - case 10: + case 7: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { + if(pathTimer.getElapsedTimeSeconds() > 5) { /* Set the state to a Case we won't use or define, so it just stops running an new paths */ setPathState(-1); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 07b7693b75ca..f1445e0561bf 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -29,9 +29,14 @@ public class Constants { public static PathConstraints pathConstraints = new PathConstraints( 0.99, - 100, - 1, - 0.5); + 0.1, + 0.1, + 0.009, + 50, + 1.25, + 10, + 1 + ); public static MecanumConstants driveConstants = new MecanumConstants() .maxPower(1) From 35a0d0fa039c4227a2d3ad7dc2f6f1866594d015 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 14 Oct 2025 16:15:05 -0400 Subject: [PATCH 021/152] Worked on autotracking camera turret --- .../teamcode/LOADCode/Autos/TestAutoR1.java | 26 ++--- .../TeleOps/FieldCentricTagTracking.java | 44 ++++++--- .../LOADCode/Tests/ConceptScanServo.java | 99 +++++++++++++++++++ 3 files changed, 143 insertions(+), 26 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java index 70235a8840da..e0bd2fa7b7d0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java @@ -109,7 +109,7 @@ public void autonomousPathUpdate() { */ /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ follower.followPath(grabPickup1,true); setPathState(1); @@ -117,7 +117,7 @@ public void autonomousPathUpdate() { break; case 1: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup1Pose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(scorePickup,true); setPathState(2); @@ -125,7 +125,7 @@ public void autonomousPathUpdate() { break; case 2: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ follower.followPath(grabPickup2,true); setPathState(3); @@ -133,7 +133,7 @@ public void autonomousPathUpdate() { break; case 3: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup2Pose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(scorePickup,true); setPathState(4); @@ -141,7 +141,7 @@ public void autonomousPathUpdate() { break; case 4: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ follower.followPath(grabPickup3,true); setPathState(5); @@ -149,7 +149,7 @@ public void autonomousPathUpdate() { break; case 5: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(scorePickup, true); setPathState(6); @@ -157,7 +157,7 @@ public void autonomousPathUpdate() { break; case 6: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ follower.followPath(leave, true); setPathState(7); @@ -165,7 +165,7 @@ public void autonomousPathUpdate() { break; case 7: /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(pathTimer.getElapsedTimeSeconds() > 5) { + if(!follower.isBusy()) { /* Set the state to a Case we won't use or define, so it just stops running an new paths */ setPathState(-1); } @@ -186,9 +186,6 @@ public void init() { opmodeTimer = new Timer(); opmodeTimer.resetTimer(); - shooting = false; - - follower = Constants.createFollower(hardwareMap); buildPaths(); follower.setStartingPose(startPose); @@ -217,11 +214,16 @@ public void loop() { // Feedback to Driver Hub for debugging telemetry.addData("path state", pathState); - telemetry.addData("shooting", shooting); telemetry.addData("x", follower.getPose().getX()); telemetry.addData("y", follower.getPose().getY()); telemetry.addData("heading", follower.getPose().getHeading()); telemetry.update(); + + if (gamepad1.left_stick_y < -10){ + + }else if (gamepad1.left_stick_y > 10){ + + } } /** We do not use this because everything should automatically disable **/ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 11b08efbf26d..6a50880b5ace 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -29,12 +29,15 @@ package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +import android.view.textclassifier.TextClassifierEvent; + import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.CRServo; import com.qualcomm.robotcore.util.Range; import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; @@ -93,11 +96,11 @@ public class FieldCentricTagTracking extends LinearOpMode // Set the GAIN constants to control the relationship between the measured position error, and how much power is // applied to the drive motors to correct the error. // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. - final double TURN_GAIN = 0.04 ; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + final double TURN_GAIN = 0.02; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera - private static final int DESIRED_TAG_ID = -1; // Choose the tag you want to approach or set to -1 for ANY tag. + private static final int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. private VisionPortal visionPortal; // Used to manage the video source. private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag @@ -117,6 +120,10 @@ public class FieldCentricTagTracking extends LinearOpMode double drive; // Desired forward power/speed (-1 to +1) double strafe; // Desired strafe power/speed (-1 to +1) double turn; // Desired turning power/speed (-1 to +1) + double target_turn = 0; + double angleToTag; + + CRServo turret; // Initialize the Apriltag Detection process initAprilTag(); @@ -137,6 +144,8 @@ public class FieldCentricTagTracking extends LinearOpMode follower.startTeleopDrive(); follower.update(); + turret = hardwareMap.get(CRServo.class, "turret"); + while (opModeIsActive()) { targetFound = false; @@ -165,39 +174,44 @@ public class FieldCentricTagTracking extends LinearOpMode // Tell the driver what we see, and what to do. if (targetFound) { - telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n"); telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); } else { - telemetry.addData("\n>","Drive using joysticks to find valid target\n"); - } - - if (gamepad1.b && !oldToggleVal){ - toggle = !toggle; - oldToggleVal = true; - }else if (!gamepad1.b && oldToggleVal){ - oldToggleVal = false; + telemetry.addData("\n>","Drive using joysticks to find valid target or\n"); + telemetry.addData("\n>", "use D-pad to turn camera to find target"); } drive = -gamepad1.left_stick_y; strafe = -gamepad1.left_stick_x; + turn = -gamepad1.right_stick_x; + + // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . - if (toggle && targetFound) { + if (targetFound) { // Determine heading (tag image rotation) error so we can use them to control the robot automatically. double headingError = desiredTag.ftcPose.bearing; + angleToTag = Math.atan2(desiredTag.ftcPose.y,desiredTag.ftcPose.x) * (180/Math.PI); //Minus robot heading + // follower.getPose().getHeading(); // This gets the robot heading + // Use the turn "gain" to calculate how we want the robot to move. - turn = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ; + target_turn = -Range.clip(headingError * TURN_GAIN, -1, 1) ; telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } else { // drive using manual POV Joystick mode. Slow things down to make the robot more controllable. - turn = -gamepad1.right_stick_x; + if (gamepad1.dpad_left){ + target_turn = -0.2; + }else if (gamepad1.dpad_right){ + target_turn = 0.2; + }else{ + target_turn = 0; + } telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } telemetry.update(); @@ -205,6 +219,8 @@ public class FieldCentricTagTracking extends LinearOpMode // Apply desired axes motions to the drivetrain. follower.setTeleOpDrive(drive, strafe, turn, false); follower.update(); + turret.setPower(target_turn); + telemetry.addData("Turret Speed:", target_turn); sleep(10); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java new file mode 100644 index 000000000000..5a3ed2795af9 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java @@ -0,0 +1,99 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.Tests; + +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.CRServo; +import com.qualcomm.robotcore.hardware.Servo; + +/* + * This OpMode scans a single servo back and forward until Stop is pressed. + * The code is structured as a LinearOpMode + * INCREMENT sets how much to increase/decrease the servo position each cycle + * CYCLE_MS sets the update period. + * + * This code assumes a Servo configured with the name "left_hand" as is found on a Robot. + * + * NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other + * connected servos are able to move freely before running this test. + * + * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list + */ +@TeleOp(name = "Servo Test", group = "TestHardware") + +public class ConceptScanServo extends LinearOpMode { + + static final double INCREMENT = 0.01; // amount to slew servo each CYCLE_MS cycle + static final int CYCLE_MS = 10; // period of each cycle + static final double MAX_POS = 1.0; // Maximum rotational position + static final double MIN_POS = 0.0; // Minimum rotational position + + // Define class members + CRServo servo; + double position = (MAX_POS - MIN_POS) / 2; // Start at halfway position + boolean rampUp = true; + + + @Override + public void runOpMode() { + + // Connect to servo (Assume Robot Left Hand) + // Change the text in quotes to match any servo name on your robot. + servo = hardwareMap.get(CRServo.class, "turret"); + + // Wait for the start button + telemetry.addData(">", "Press Start to scan Servo." ); + telemetry.update(); + waitForStart(); + + + // Scan servo till stop pressed. + while(opModeIsActive()){ + + + + // Display the current value + telemetry.addData("Servo Position", "%5.2f", gamepad1.right_stick_x); + telemetry.addData(">", "Press Stop to end test." ); + telemetry.update(); + + // Set the servo to the new position and pause; + servo.setPower(gamepad1.right_stick_x); + sleep(CYCLE_MS); + } + + // Signal done; + telemetry.addData(">", "Done"); + telemetry.update(); + } +} From 0ef4582f15ea3e149a225ce67016a9b14c9f16d6 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 14 Oct 2025 18:06:35 -0400 Subject: [PATCH 022/152] Worked on autotracking camera turret --- .../TeleOps/FieldCentricTagTracking.java | 46 +++++++++++++++++-- .../LOADCode/Tests/ConceptScanServo.java | 9 +++- build.dependencies.gradle | 2 + 3 files changed, 50 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 6a50880b5ace..7e2a3369be71 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -29,14 +29,17 @@ package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +import android.service.controls.Control; import android.view.textclassifier.TextClassifierEvent; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +import com.pedropathing.util.Timer; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.AnalogInput; import com.qualcomm.robotcore.hardware.CRServo; import com.qualcomm.robotcore.util.Range; @@ -52,6 +55,9 @@ import java.util.List; import java.util.concurrent.TimeUnit; +import dev.nextftc.control.ControlSystem; +import dev.nextftc.control.KineticState; + /* * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. * The code assumes a Holonomic (Mecanum or X Drive) Robot. @@ -96,7 +102,7 @@ public class FieldCentricTagTracking extends LinearOpMode // Set the GAIN constants to control the relationship between the measured position error, and how much power is // applied to the drive motors to correct the error. // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. - final double TURN_GAIN = 0.02; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) + final double TURN_GAIN = 0.0075; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera @@ -108,6 +114,8 @@ public class FieldCentricTagTracking extends LinearOpMode private boolean toggle = false; private boolean oldToggleVal = false; + public Timer turretVelTimer; + public static Follower follower; @IgnoreConfigurable static TelemetryManager telemetryM; @@ -121,9 +129,17 @@ public class FieldCentricTagTracking extends LinearOpMode double strafe; // Desired strafe power/speed (-1 to +1) double turn; // Desired turning power/speed (-1 to +1) double target_turn = 0; - double angleToTag; + double angleToTag = 0; CRServo turret; + ControlSystem turretPID = ControlSystem.builder() + .posPid(0, 0, 0) + .build(); + AnalogInput turretEncoder; + double turretPos = 0; + double oldTurretTime = 0; + double oldTurretPos = 0; + double turretVel = 0; // Initialize the Apriltag Detection process initAprilTag(); @@ -135,6 +151,8 @@ public class FieldCentricTagTracking extends LinearOpMode follower.setStartingPose(startPose); follower.update(); + turretVelTimer = new Timer(); + // Wait for driver to press start telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); telemetry.addData(">", "Touch START to start OpMode"); @@ -145,12 +163,15 @@ public class FieldCentricTagTracking extends LinearOpMode follower.update(); turret = hardwareMap.get(CRServo.class, "turret"); + turretEncoder = hardwareMap.get(AnalogInput.class,"AxonTurret"); while (opModeIsActive()) { targetFound = false; desiredTag = null; + turretVelTimer.resetTimer(); + // Step through the list of detected tags and look for a matching tag List currentDetections = aprilTag.getDetections(); for (AprilTagDetection detection : currentDetections) { @@ -217,10 +238,25 @@ public class FieldCentricTagTracking extends LinearOpMode telemetry.update(); // Apply desired axes motions to the drivetrain. - follower.setTeleOpDrive(drive, strafe, turn, false); + follower.setTeleOpDrive(drive, strafe, turn, true); follower.update(); - turret.setPower(target_turn); - telemetry.addData("Turret Speed:", target_turn); + + double currentTime = turretVelTimer.getElapsedTime(); + + turretPID.setGoal(new KineticState(turretPos+angleToTag)); + + turretPos = (turretEncoder.getVoltage() / 3.3) * 360; + turretVel = (turretPos-oldTurretPos)/(currentTime-oldTurretTime); + telemetry.addData("Servo Power:", turretPID.calculate(new KineticState(turretPos, turretVel))); + turret.setPower(0); + + oldTurretTime = currentTime; + oldTurretPos = turretPos; + + telemetry.addData("Turret Pos:", turretPos); + telemetry.addData("Target Pos:", turretPos+angleToTag); + telemetry.addData("Turret Vel:", turretVel); + telemetry.addData("Angle To Tag:", angleToTag); sleep(10); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java index 5a3ed2795af9..4f84f046fb25 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java @@ -32,6 +32,7 @@ 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.AnalogInput; import com.qualcomm.robotcore.hardware.CRServo; import com.qualcomm.robotcore.hardware.Servo; @@ -60,7 +61,8 @@ public class ConceptScanServo extends LinearOpMode { // Define class members CRServo servo; - double position = (MAX_POS - MIN_POS) / 2; // Start at halfway position + AnalogInput turretEncoder; + double axonPos = 0; // Start at halfway position boolean rampUp = true; @@ -70,6 +72,8 @@ public void runOpMode() { // Connect to servo (Assume Robot Left Hand) // Change the text in quotes to match any servo name on your robot. servo = hardwareMap.get(CRServo.class, "turret"); + turretEncoder = hardwareMap.get(AnalogInput.class,"AxonTurret"); + // Wait for the start button telemetry.addData(">", "Press Start to scan Servo." ); @@ -80,9 +84,10 @@ public void runOpMode() { // Scan servo till stop pressed. while(opModeIsActive()){ - + axonPos = (turretEncoder.getVoltage() / 3.3) * 360; // Display the current value + telemetry.addData("Encoder Position", axonPos); telemetry.addData("Servo Position", "%5.2f", gamepad1.right_stick_x); telemetry.addData(">", "Press Stop to end test." ); telemetry.update(); diff --git a/build.dependencies.gradle b/build.dependencies.gradle index bf1157dffe90..ba0325aa45f1 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -18,5 +18,7 @@ dependencies { implementation 'com.pedropathing:ftc:2.0.2' implementation 'com.pedropathing:telemetry:1.0.0' implementation 'com.bylazar:fullpanels:1.0.6' + + implementation 'dev.nextftc:control:1.0.0' } From eb16005759231371b710227587d430e60094ac31 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Tue, 14 Oct 2025 18:09:19 -0400 Subject: [PATCH 023/152] Worked on autotracking camera turret --- .../ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 7e2a3369be71..bfddff3f1f51 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -133,7 +133,7 @@ public class FieldCentricTagTracking extends LinearOpMode CRServo turret; ControlSystem turretPID = ControlSystem.builder() - .posPid(0, 0, 0) + .posPid(1, 0, 0) .build(); AnalogInput turretEncoder; double turretPos = 0; From 0110d803b9d7e7c6cd5f036bfca22bf4d88554a3 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Wed, 15 Oct 2025 17:21:41 -0400 Subject: [PATCH 024/152] Adjusted turret code to avoid NANs --- .../TeleOps/FieldCentricTagTracking.java | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index bfddff3f1f51..6a16599c7242 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -139,6 +139,7 @@ public class FieldCentricTagTracking extends LinearOpMode double turretPos = 0; double oldTurretTime = 0; double oldTurretPos = 0; + double oldTurretVel = 0; double turretVel = 0; // Initialize the Apriltag Detection process @@ -246,12 +247,21 @@ public class FieldCentricTagTracking extends LinearOpMode turretPID.setGoal(new KineticState(turretPos+angleToTag)); turretPos = (turretEncoder.getVoltage() / 3.3) * 360; - turretVel = (turretPos-oldTurretPos)/(currentTime-oldTurretTime); - telemetry.addData("Servo Power:", turretPID.calculate(new KineticState(turretPos, turretVel))); - turret.setPower(0); + double timeDiff = currentTime - oldTurretTime; + if (timeDiff == 0){ + turretVel = oldTurretVel; + }else{ + turretVel = (turretPos - oldTurretPos) / timeDiff; + } + double turretPower = turretPID.calculate(new KineticState(turretPos, turretVel)); + telemetry.addData("Servo Power:", turretPower); + if (gamepad1.b){ + turret.setPower(turretPower); + } oldTurretTime = currentTime; oldTurretPos = turretPos; + oldTurretVel = turretVel; telemetry.addData("Turret Pos:", turretPos); telemetry.addData("Target Pos:", turretPos+angleToTag); From 4e22aa1e246ed1b4b2cb1c2f68f007a8164e624d Mon Sep 17 00:00:00 2001 From: Professor348 Date: Fri, 17 Oct 2025 09:21:05 -0400 Subject: [PATCH 025/152] Updated to Pedropathing 2.0.3 --- .../LOADCode/Tests/{ConceptScanServo.java => ServoTest.java} | 4 +--- build.dependencies.gradle | 2 +- 2 files changed, 2 insertions(+), 4 deletions(-) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/{ConceptScanServo.java => ServoTest.java} (96%) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ServoTest.java similarity index 96% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ServoTest.java index 4f84f046fb25..07439e713cf5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ConceptScanServo.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ServoTest.java @@ -29,12 +29,10 @@ package org.firstinspires.ftc.teamcode.LOADCode.Tests; -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.AnalogInput; import com.qualcomm.robotcore.hardware.CRServo; -import com.qualcomm.robotcore.hardware.Servo; /* * This OpMode scans a single servo back and forward until Stop is pressed. @@ -52,7 +50,7 @@ */ @TeleOp(name = "Servo Test", group = "TestHardware") -public class ConceptScanServo extends LinearOpMode { +public class ServoTest extends LinearOpMode { static final double INCREMENT = 0.01; // amount to slew servo each CYCLE_MS cycle static final int CYCLE_MS = 10; // period of each cycle diff --git a/build.dependencies.gradle b/build.dependencies.gradle index ba0325aa45f1..11a2cc27df10 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -15,7 +15,7 @@ dependencies { implementation 'org.firstinspires.ftc:Vision:11.0.0' implementation 'androidx.appcompat:appcompat:1.2.0' - implementation 'com.pedropathing:ftc:2.0.2' + implementation 'com.pedropathing:ftc:2.0.3' implementation 'com.pedropathing:telemetry:1.0.0' implementation 'com.bylazar:fullpanels:1.0.6' From 794d2da735915c3b182105b4cfea1cd6228c5dcd Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Mon, 20 Oct 2025 19:01:38 -0400 Subject: [PATCH 026/152] Worked on tuning turret tracking --- .../TeleOps/FieldCentricTagTracking.java | 71 +++++-------------- 1 file changed, 17 insertions(+), 54 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 6a16599c7242..9eb692a49ceb 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -41,6 +41,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.AnalogInput; import com.qualcomm.robotcore.hardware.CRServo; +import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.util.Range; import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; @@ -128,19 +129,13 @@ public class FieldCentricTagTracking extends LinearOpMode double drive; // Desired forward power/speed (-1 to +1) double strafe; // Desired strafe power/speed (-1 to +1) double turn; // Desired turning power/speed (-1 to +1) - double target_turn = 0; - double angleToTag = 0; + double headingError = 0; CRServo turret; - ControlSystem turretPID = ControlSystem.builder() - .posPid(1, 0, 0) - .build(); AnalogInput turretEncoder; - double turretPos = 0; - double oldTurretTime = 0; - double oldTurretPos = 0; - double oldTurretVel = 0; - double turretVel = 0; + + double turretPos; + double turretPower = 0; // Initialize the Apriltag Detection process initAprilTag(); @@ -152,8 +147,6 @@ public class FieldCentricTagTracking extends LinearOpMode follower.setStartingPose(startPose); follower.update(); - turretVelTimer = new Timer(); - // Wait for driver to press start telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); telemetry.addData(">", "Touch START to start OpMode"); @@ -171,7 +164,8 @@ public class FieldCentricTagTracking extends LinearOpMode targetFound = false; desiredTag = null; - turretVelTimer.resetTimer(); + turretPos = (turretEncoder.getVoltage() / 3.3) * 360; + // Step through the list of detected tags and look for a matching tag List currentDetections = aprilTag.getDetections(); @@ -209,65 +203,34 @@ public class FieldCentricTagTracking extends LinearOpMode strafe = -gamepad1.left_stick_x; turn = -gamepad1.right_stick_x; - - // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . if (targetFound) { // Determine heading (tag image rotation) error so we can use them to control the robot automatically. - double headingError = desiredTag.ftcPose.bearing; - - angleToTag = Math.atan2(desiredTag.ftcPose.y,desiredTag.ftcPose.x) * (180/Math.PI); //Minus robot heading - // follower.getPose().getHeading(); // This gets the robot heading - - // Use the turn "gain" to calculate how we want the robot to move. - target_turn = -Range.clip(headingError * TURN_GAIN, -1, 1) ; + headingError = -desiredTag.ftcPose.bearing; + turretPower = Math.pow(Math.min(Math.abs(headingError/25),1), 5) * headingError/Math.abs(headingError) * 0.75; telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } else { - - // drive using manual POV Joystick mode. Slow things down to make the robot more controllable. - if (gamepad1.dpad_left){ - target_turn = -0.2; - }else if (gamepad1.dpad_right){ - target_turn = 0.2; - }else{ - target_turn = 0; - } telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } telemetry.update(); // Apply desired axes motions to the drivetrain. - follower.setTeleOpDrive(drive, strafe, turn, true); + follower.setTeleOpDrive(drive, strafe, turn/2, true); follower.update(); - double currentTime = turretVelTimer.getElapsedTime(); - - turretPID.setGoal(new KineticState(turretPos+angleToTag)); - - turretPos = (turretEncoder.getVoltage() / 3.3) * 360; - double timeDiff = currentTime - oldTurretTime; - if (timeDiff == 0){ - turretVel = oldTurretVel; - }else{ - turretVel = (turretPos - oldTurretPos) / timeDiff; - } - double turretPower = turretPID.calculate(new KineticState(turretPos, turretVel)); - telemetry.addData("Servo Power:", turretPower); - if (gamepad1.b){ + if (gamepad1.b && targetFound){ turret.setPower(turretPower); + }else{ + turret.setPower(0); } - oldTurretTime = currentTime; - oldTurretPos = turretPos; - oldTurretVel = turretVel; + telemetry.addData("Turret Power:", turretPower); + telemetry.addData("Heading Error:", headingError); + telemetry.addData("Absolute Angle:", turretPos); - telemetry.addData("Turret Pos:", turretPos); - telemetry.addData("Target Pos:", turretPos+angleToTag); - telemetry.addData("Turret Vel:", turretVel); - telemetry.addData("Angle To Tag:", angleToTag); - sleep(10); + sleep(1); } } From 0be4a5d52925d1ea2c4fa570dfc1c4a8ed909e5d Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 21 Oct 2025 17:47:51 -0400 Subject: [PATCH 027/152] Fixed a discontinuity in the turret power formula at x=0 and also added a test telemetry message --- .../LOADCode/TeleOps/FieldCentricTagTracking.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 9eb692a49ceb..583c75116dce 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -209,7 +209,11 @@ public class FieldCentricTagTracking extends LinearOpMode // Determine heading (tag image rotation) error so we can use them to control the robot automatically. headingError = -desiredTag.ftcPose.bearing; - turretPower = Math.pow(Math.min(Math.abs(headingError/25),1), 5) * headingError/Math.abs(headingError) * 0.75; + if (Math.signum(headingError) != 0) { + turretPower = Math.pow(Math.min(Math.abs(headingError/25),1), 5) * Math.signum(headingError) * 0.75; + } else { + turretPower = 0; + } telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); } else { telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); @@ -230,6 +234,8 @@ public class FieldCentricTagTracking extends LinearOpMode telemetry.addData("Heading Error:", headingError); telemetry.addData("Absolute Angle:", turretPos); + telemetry.addData("Ari Test Telemetry:",69420); + sleep(1); } } From 16dc4b39c19ecf19a719eca7154b153f2fc0147e Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 21 Oct 2025 18:20:58 -0400 Subject: [PATCH 028/152] Tweaking the turret power formula further =D 10/21 6:20 --- .../ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java index 583c75116dce..7ea043774a11 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java @@ -210,7 +210,7 @@ public class FieldCentricTagTracking extends LinearOpMode headingError = -desiredTag.ftcPose.bearing; if (Math.signum(headingError) != 0) { - turretPower = Math.pow(Math.min(Math.abs(headingError/25),1), 5) * Math.signum(headingError) * 0.75; + turretPower = Math.pow(Math.min(Math.abs(headingError/20),1), 2) * Math.signum(headingError) * 0.8; } else { turretPower = 0; } From 19a18ebd6947c6628f8dd852e6ddbef4aa231454 Mon Sep 17 00:00:00 2001 From: Dan <141444315+Professor348@users.noreply.github.com> Date: Thu, 23 Oct 2025 20:01:37 -0400 Subject: [PATCH 029/152] Cleaned up and commented some code in FieldCentricTagTracking.java --- ...cking.java => TurretAprilTagTracking.java} | 102 ++++++------------ 1 file changed, 35 insertions(+), 67 deletions(-) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/{FieldCentricTagTracking.java => TurretAprilTagTracking.java} (78%) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java similarity index 78% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java index 7ea043774a11..90c5857303e5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/FieldCentricTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java @@ -29,20 +29,14 @@ package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; -import android.service.controls.Control; -import android.view.textclassifier.TextClassifierEvent; - import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; -import com.pedropathing.util.Timer; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.AnalogInput; import com.qualcomm.robotcore.hardware.CRServo; -import com.qualcomm.robotcore.hardware.Servo; -import com.qualcomm.robotcore.util.Range; import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; @@ -56,9 +50,6 @@ import java.util.List; import java.util.concurrent.TimeUnit; -import dev.nextftc.control.ControlSystem; -import dev.nextftc.control.KineticState; - /* * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. * The code assumes a Holonomic (Mecanum or X Drive) Robot. @@ -96,77 +87,64 @@ * */ -@TeleOp(name="Field-Centric Tag Tracking", group = "TestTeleOp") -public class FieldCentricTagTracking extends LinearOpMode +@TeleOp(name="Turret April-Tag Tracking", group = "TestTeleOp") +public class TurretAprilTagTracking extends LinearOpMode { - // Adjust these numbers to suit your robot. - // Set the GAIN constants to control the relationship between the measured position error, and how much power is - // applied to the drive motors to correct the error. - // Drive = Error * Gain Make these values smaller for smoother control, or larger for a more aggressive response. - final double TURN_GAIN = 0.0075; // Turn Control "Gain". e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0) - final double MAX_AUTO_TURN = 1; // Clip the turn speed to this max value (adjust for your robot) - private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera - private static final int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. + private static final int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. private VisionPortal visionPortal; // Used to manage the video source. private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. - private AprilTagDetection desiredTag = null; // Used to hold the data for a detected AprilTag - - private boolean toggle = false; - private boolean oldToggleVal = false; - - public Timer turretVelTimer; - - public static Follower follower; + public static Follower follower; // Used for managing the PedroPathing path follower @IgnoreConfigurable - static TelemetryManager telemetryM; - /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ + static TelemetryManager telemetryM; // Used for putting telemetry data on Panels + + // Start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(60,96, Math.toRadians(0)); @Override public void runOpMode() { - boolean targetFound; // Set to true when an AprilTag target is detected - double drive; // Desired forward power/speed (-1 to +1) - double strafe; // Desired strafe power/speed (-1 to +1) - double turn; // Desired turning power/speed (-1 to +1) - double headingError = 0; + boolean targetFound; // Set to true when an AprilTag target is detected + double headingError = 0; // The error in degrees in the turret's angle + // Used to store the hardware objects for the robot CRServo turret; AnalogInput turretEncoder; - double turretPos; - double turretPower = 0; + double turretPos; // Used to store the current angle of the turret + double turretPower = 0; // Used to store the calculated power to output to the turret servo - // Initialize the Apriltag Detection process - initAprilTag(); + initAprilTag(); // Initialize the Apriltag Detection process if (USE_WEBCAM) setManualExposure(6, 250); // Use low exposure time to reduce motion blur - follower = Constants.createFollower(hardwareMap); - follower.setStartingPose(startPose); - follower.update(); + follower = Constants.createFollower(hardwareMap); // Initializes the PedroPathing path follower + follower.setStartingPose(startPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization - // Wait for driver to press start telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); telemetry.addData(">", "Touch START to start OpMode"); telemetry.update(); - waitForStart(); - follower.startTeleopDrive(); - follower.update(); + waitForStart(); // Wait for driver to press start + + follower.startTeleopDrive(); // Activate the manual drive function for the drivetrain + follower.update(); // Apply the activation + // Fetch the actual hardware objects and store them in their respective variables turret = hardwareMap.get(CRServo.class, "turret"); turretEncoder = hardwareMap.get(AnalogInput.class,"AxonTurret"); while (opModeIsActive()) { + // Used to indicate whether or not a valid AprilTag has been detected targetFound = false; - desiredTag = null; + // Used to hold the data for a detected AprilTag + AprilTagDetection desiredTag = null; + // Read the Axon servo encoder position and convert it from a voltage to an angle in degrees turretPos = (turretEncoder.getVoltage() / 3.3) * 360; - // Step through the list of detected tags and look for a matching tag List currentDetections = aprilTag.getDetections(); for (AprilTagDetection detection : currentDetections) { @@ -195,18 +173,13 @@ public class FieldCentricTagTracking extends LinearOpMode telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); } else { - telemetry.addData("\n>","Drive using joysticks to find valid target or\n"); - telemetry.addData("\n>", "use D-pad to turn camera to find target"); + telemetry.addData("\n>","Drive using joysticks to find a valid target\n"); } - drive = -gamepad1.left_stick_y; - strafe = -gamepad1.left_stick_x; - turn = -gamepad1.right_stick_x; - - // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically . - if (targetFound) { - - // Determine heading (tag image rotation) error so we can use them to control the robot automatically. + // If B on Gamepad1 is being pressed, AND we have found the desired target, automatically aim the turret at the AprilTag. + // Otherwise, stop moving + if (gamepad1.b && targetFound) { + // Determine heading error so we can use them to control the robot automatically. headingError = -desiredTag.ftcPose.bearing; if (Math.signum(headingError) != 0) { @@ -214,22 +187,17 @@ public class FieldCentricTagTracking extends LinearOpMode } else { turretPower = 0; } - telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + + turret.setPower(turretPower); + } else { - telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn); + turretPower = 0; } - telemetry.update(); // Apply desired axes motions to the drivetrain. - follower.setTeleOpDrive(drive, strafe, turn/2, true); + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); follower.update(); - if (gamepad1.b && targetFound){ - turret.setPower(turretPower); - }else{ - turret.setPower(0); - } - telemetry.addData("Turret Power:", turretPower); telemetry.addData("Heading Error:", headingError); telemetry.addData("Absolute Angle:", turretPos); From 27670956bd0337f325db90c82de48b4d5298a9fd Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Thu, 23 Oct 2025 23:28:41 -0400 Subject: [PATCH 030/152] Cleaned up and commented some more code in FieldCentricTagTracking.java --- .../teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java index 90c5857303e5..cdce2411b45e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java @@ -111,7 +111,7 @@ public class TurretAprilTagTracking extends LinearOpMode AnalogInput turretEncoder; double turretPos; // Used to store the current angle of the turret - double turretPower = 0; // Used to store the calculated power to output to the turret servo + double turretPower; // Used to store the calculated power to output to the turret servo initAprilTag(); // Initialize the Apriltag Detection process @@ -187,13 +187,12 @@ public class TurretAprilTagTracking extends LinearOpMode } else { turretPower = 0; } - - turret.setPower(turretPower); - } else { turretPower = 0; } + turret.setPower(turretPower); + // Apply desired axes motions to the drivetrain. follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); follower.update(); From 277f52fd953ce625b272d6fbfab92e7b564ab6cb Mon Sep 17 00:00:00 2001 From: Professor348 Date: Sat, 25 Oct 2025 19:15:05 -0400 Subject: [PATCH 031/152] Update TurretAprilTagTracking.java Testing the Discord webhook --- .../ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java index cdce2411b45e..8bb0990dc051 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java @@ -98,7 +98,7 @@ public class TurretAprilTagTracking extends LinearOpMode @IgnoreConfigurable static TelemetryManager telemetryM; // Used for putting telemetry data on Panels - // Start Pose of our robot. This can be changed or saved from the autonomous period. + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(60,96, Math.toRadians(0)); @Override public void runOpMode() From 0f09e0a02cafb59d48cbea12ab387cd4ca6851df Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 27 Oct 2025 18:59:17 -0400 Subject: [PATCH 032/152] Turret Tuning --- .../TeleOps/TurretAprilTagTracking.java | 23 +++++++++---------- 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java index 8bb0990dc051..780d8b6ef778 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java @@ -96,7 +96,7 @@ public class TurretAprilTagTracking extends LinearOpMode private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. public static Follower follower; // Used for managing the PedroPathing path follower @IgnoreConfigurable - static TelemetryManager telemetryM; // Used for putting telemetry data on Panels + public TelemetryManager telemetryM; // Used for putting telemetry data on Panels // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(60,96, Math.toRadians(0)); @@ -133,7 +133,7 @@ public class TurretAprilTagTracking extends LinearOpMode // Fetch the actual hardware objects and store them in their respective variables turret = hardwareMap.get(CRServo.class, "turret"); - turretEncoder = hardwareMap.get(AnalogInput.class,"AxonTurret"); + turretEncoder = hardwareMap.get(AnalogInput.class,"turretEncoder"); while (opModeIsActive()) { @@ -155,6 +155,8 @@ public class TurretAprilTagTracking extends LinearOpMode // Yes, we want to use this tag. targetFound = true; desiredTag = detection; + // Determine heading error so we can use them to control the robot automatically. + headingError = -desiredTag.ftcPose.bearing; break; // don't look any further. } else { // This tag is in the library, but we do not want to track it right now. @@ -178,20 +180,18 @@ public class TurretAprilTagTracking extends LinearOpMode // If B on Gamepad1 is being pressed, AND we have found the desired target, automatically aim the turret at the AprilTag. // Otherwise, stop moving - if (gamepad1.b && targetFound) { - // Determine heading error so we can use them to control the robot automatically. - headingError = -desiredTag.ftcPose.bearing; - - if (Math.signum(headingError) != 0) { - turretPower = Math.pow(Math.min(Math.abs(headingError/20),1), 2) * Math.signum(headingError) * 0.8; + if (gamepad1.b) { + if (Math.abs(headingError) >= 0.5) { + turretPower = Math.pow(Math.min(Math.abs(headingError/7.5),1), 2) * Math.signum(headingError) * 0.2; } else { turretPower = 0; } } else { turretPower = 0; } - - turret.setPower(turretPower); + if(gamepad1.b){ + turret.setPower(turretPower); + } // Apply desired axes motions to the drivetrain. follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); @@ -201,8 +201,7 @@ public class TurretAprilTagTracking extends LinearOpMode telemetry.addData("Heading Error:", headingError); telemetry.addData("Absolute Angle:", turretPos); - telemetry.addData("Ari Test Telemetry:",69420); - + telemetry.update(); sleep(1); } } From c5101858941a5088301a5ca3c376d9a09ad5b2d9 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 28 Oct 2025 18:08:30 -0400 Subject: [PATCH 033/152] Semi-finished auto-aiming turret --- .../LOADCode/TeleOps/TurretLocalization.java | 290 ++++++++++++++++++ .../ftc/teamcode/pedroPathing/Constants.java | 4 +- 2 files changed, 292 insertions(+), 2 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java new file mode 100644 index 000000000000..8aaa6da054c3 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java @@ -0,0 +1,290 @@ +/* Copyright (c) 2023 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; + +import com.bylazar.configurables.annotations.IgnoreConfigurable; +import com.bylazar.telemetry.TelemetryManager; +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.AnalogInput; +import com.qualcomm.robotcore.hardware.CRServo; + +import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; +import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; +import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +import org.firstinspires.ftc.vision.VisionPortal; +import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; +import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; + +import java.util.List; +import java.util.concurrent.TimeUnit; + +/* + * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. + * The code assumes a Holonomic (Mecanum or X Drive) Robot. + * + * For an introduction to AprilTags, see the ftc-docs link below: + * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html + * + * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera. + * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below. + * https://ftc-docs.firstinspires.org/apriltag-detection-values + * + * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and + * driving towards the tag to achieve the desired distance. + * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS) + * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder. + * + * The code assumes a Robot Configuration with motors named: front_left_drive and front_right_drive, back_left_drive and back_right_drive. + * The motor directions must be set so a positive power goes forward on all wheels. + * This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default, + * so you should choose to approach a valid tag ID. + * + * Under manual control, the left stick will move forward/back & left/right. The right stick will rotate the robot. + * Manually drive the robot until it displays Target data on the Driver Station. + * + * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode. + * Release the Left Bumper to return to manual driving mode. + * + * Under "Drive To Target" mode, the robot has three goals: + * 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.) + * 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front of the tag. (Use the Target Yaw to strafe the robot) + * 3) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward) + * + * Use DESIRED_DISTANCE to set how close you want the robot to get to the target. + * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. + * + */ + +@TeleOp(name="Turret Localization", group = "TestTeleOp") +public class TurretLocalization extends LinearOpMode +{ + private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera + private static final int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. + private VisionPortal visionPortal; // Used to manage the video source. + private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. + public static Follower follower; // Used for managing the PedroPathing path follower + @IgnoreConfigurable + public TelemetryManager telemetryM; // Used for putting telemetry data on Panels + + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. + private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); + + @Override public void runOpMode() + { + boolean targetFound; // Set to true when an AprilTag target is detected + double headingError = 0; // The error in degrees in the turret's angle + + // Used to store the hardware objects for the robot + CRServo turret; + AnalogInput turretEncoder; + + double turretPos; // Used to store the current angle of the turret + double turretPower; // Used to store the calculated power to output to the turret servo + boolean runTurret = true; + + int[] goalCoords = new int[2]; + if (DESIRED_TAG_ID == 24){ + goalCoords[0] = 144; + goalCoords[1] = 144; + }else if (DESIRED_TAG_ID == 20){ + goalCoords[0] = 0; + goalCoords[1] = 144; + } + + initAprilTag(); // Initialize the Apriltag Detection process + + if (USE_WEBCAM) + setManualExposure(6, 250); // Use low exposure time to reduce motion blur + + follower = Constants.createFollower(hardwareMap); // Initializes the PedroPathing path follower + follower.setStartingPose(startPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization + + telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); + telemetry.addData(">", "Touch START to start OpMode"); + telemetry.update(); + + waitForStart(); // Wait for driver to press start + + follower.startTeleopDrive(); // Activate the manual drive function for the drivetrain + follower.update(); // Apply the activation + + // Fetch the actual hardware objects and store them in their respective variables + turret = hardwareMap.get(CRServo.class, "turret"); + turretEncoder = hardwareMap.get(AnalogInput.class,"turretEncoder"); + + while (opModeIsActive()) + { + // Used to indicate whether or not a valid AprilTag has been detected + targetFound = false; + // Used to hold the data for a detected AprilTag + AprilTagDetection desiredTag = null; + + // Read the Axon servo encoder position and convert it from a voltage to an angle in degrees + turretPos = Math.abs(((turretEncoder.getVoltage() / 3.3) * 360) - 360); + + // Step through the list of detected tags and look for a matching tag + List currentDetections = aprilTag.getDetections(); + for (AprilTagDetection detection : currentDetections) { + // Look to see if we have size info on this tag. + if (detection.metadata != null) { + // Check to see if we want to track towards this tag. + if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) { + // Yes, we want to use this tag. + targetFound = true; + desiredTag = detection; + // Determine heading error so we can use them to control the robot automatically. + headingError = -desiredTag.ftcPose.bearing; + break; // don't look any further. + } else { + // This tag is in the library, but we do not want to track it right now. + telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id); + } + } else { + // This tag is NOT in the library, so we don't have enough information to track to it. + telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id); + } + } + + // Tell the driver what we see, and what to do. + if (targetFound) { + telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); + telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); + telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); + telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); + } else { + telemetry.addData("\n>","Drive using joysticks to find a valid target\n"); + } + + double targetAngle; + double[] robotPose = {follower.getPose().getX(), follower.getPose().getY()}; + targetAngle = Math.toDegrees(Math.atan2(goalCoords[1]-robotPose[1], goalCoords[0]-robotPose[0])) - Math.toDegrees(follower.getPose().getHeading()); + targetAngle = (180 + targetAngle) % 360; + + double angleDiff = (targetAngle - turretPos); + turretPower = -Math.pow(Math.min(Math.abs(angleDiff/60),1), 1.33) * Math.signum(angleDiff); + + if (gamepad1.bWasPressed()){ + runTurret = !runTurret; + } + + if(runTurret){ + turret.setPower(turretPower); + }else{ + turret.setPower(0); + } + + // Apply desired axes motions to the drivetrain. + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); + follower.update(); + + telemetry.addData("Target Angle:", targetAngle); + telemetry.addData("Turret Angle:", turretPos); + telemetry.addData("Turret Error:", angleDiff); + telemetry.addData("Turret Power:", turretPower); + telemetry.addData("Robot Heading:", Math.toDegrees(follower.getPose().getHeading())); + + telemetry.update(); + } + } + + /** + * Initialize the AprilTag processor. + */ + private void initAprilTag() { + // Create the AprilTag processor by using a builder. + aprilTag = new AprilTagProcessor.Builder().build(); + + // Adjust Image Decimation to trade-off detection-range for detection-rate. + // e.g. Some typical detection data using a Logitech C920 WebCam + // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second + // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second + // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second + // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second + // Note: Decimation can be changed on-the-fly to adapt during a match. + aprilTag.setDecimation(3); + + // Create the vision portal by using a builder. + if (USE_WEBCAM) { + visionPortal = new VisionPortal.Builder() + .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) + .addProcessor(aprilTag) + .build(); + } else { + visionPortal = new VisionPortal.Builder() + .setCamera(BuiltinCameraDirection.BACK) + .addProcessor(aprilTag) + .build(); + } + } + + /* + Manually set the camera gain and exposure. + This can only be called AFTER calling initAprilTag(), and only works for Webcams; + */ + private void setManualExposure(int exposureMS, int gain) { + // Wait for the camera to be open, then use the controls + + if (visionPortal == null) { + return; + } + + // Make sure camera is streaming before we try to set the exposure controls + if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) { + telemetry.addData("Camera", "Waiting"); + telemetry.update(); + while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) { + sleep(20); + } + telemetry.addData("Camera", "Ready"); + telemetry.update(); + } + + // Set camera controls unless we are stopping. + if (!isStopRequested()) + { + ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class); + if (exposureControl.getMode() != ExposureControl.Mode.Manual) { + exposureControl.setMode(ExposureControl.Mode.Manual); + sleep(50); + } + exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS); + sleep(20); + GainControl gainControl = visionPortal.getCameraControl(GainControl.class); + gainControl.setGain(gain); + sleep(20); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index f1445e0561bf..a7335ed6b1d0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -52,8 +52,8 @@ public class Constants { .yVelocity(46.4157); public static PinpointConstants localizerConstants = new PinpointConstants() - .forwardPodY(-1.5) - .strafePodX(6.5) + .forwardPodY(-2) + .strafePodX(4.5) .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) From 00345b8e19e95017921636bb3ac7ff75b2fde65c Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Thu, 30 Oct 2025 13:44:50 -0400 Subject: [PATCH 034/152] Working on wraparound issues with the turret. We will try Daniel's reverse power method on Monday, and if it does not work, we will try my dead zone method. --- .../LOADCode/TeleOps/TurretLocalization.java | 21 ++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java index 8aaa6da054c3..51b18cc5fb8b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java @@ -113,6 +113,9 @@ public class TurretLocalization extends LinearOpMode double turretPos; // Used to store the current angle of the turret double turretPower; // Used to store the calculated power to output to the turret servo boolean runTurret = true; + double targetAngle; + double lastTurretPos; + int wraparoundTrigger = 0; int[] goalCoords = new int[2]; if (DESIRED_TAG_ID == 24){ @@ -144,6 +147,7 @@ public class TurretLocalization extends LinearOpMode // Fetch the actual hardware objects and store them in their respective variables turret = hardwareMap.get(CRServo.class, "turret"); turretEncoder = hardwareMap.get(AnalogInput.class,"turretEncoder"); + lastTurretPos = Math.abs(((turretEncoder.getVoltage() / 3.3) * 360) - 360); while (opModeIsActive()) { @@ -188,35 +192,46 @@ public class TurretLocalization extends LinearOpMode telemetry.addData("\n>","Drive using joysticks to find a valid target\n"); } - double targetAngle; + double[] robotPose = {follower.getPose().getX(), follower.getPose().getY()}; + targetAngle = Math.toDegrees(Math.atan2(goalCoords[1]-robotPose[1], goalCoords[0]-robotPose[0])) - Math.toDegrees(follower.getPose().getHeading()); targetAngle = (180 + targetAngle) % 360; double angleDiff = (targetAngle - turretPos); - turretPower = -Math.pow(Math.min(Math.abs(angleDiff/60),1), 1.33) * Math.signum(angleDiff); + turretPower = -Math.pow(Math.min(Math.abs(angleDiff/60),1), (4f/3f)) * Math.signum(angleDiff); + + if (Math.abs(turretPos-lastTurretPos) <= 10){ + wraparoundTrigger += (int)Math.signum(turretPos - 180); + } if (gamepad1.bWasPressed()){ runTurret = !runTurret; } - if(runTurret){ turret.setPower(turretPower); }else{ turret.setPower(0); } + // TODO We will work on Daniel's deadzone method next meeting, If that does not work, we will work on Ari's! + + // Apply desired axes motions to the drivetrain. follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); follower.update(); + lastTurretPos = turretPos; + telemetry.addData("Target Angle:", targetAngle); telemetry.addData("Turret Angle:", turretPos); telemetry.addData("Turret Error:", angleDiff); telemetry.addData("Turret Power:", turretPower); telemetry.addData("Robot Heading:", Math.toDegrees(follower.getPose().getHeading())); + telemetry.addData("Wraparound Trigger This Time: ", wraparoundTrigger); telemetry.update(); + } } From e8098f0b537e28a87960388b811d079e2f29d80e Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Thu, 30 Oct 2025 13:46:19 -0400 Subject: [PATCH 035/152] Working on wraparound issues with the turret. We will try Daniel's reverse power method on Monday, and if it does not work, we will try my dead zone method. I added the barebones system for wraparound detection, and a telemetry output to measure it as well. --- .../ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java index 51b18cc5fb8b..79e01c5cef35 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java @@ -217,7 +217,7 @@ public class TurretLocalization extends LinearOpMode // TODO We will work on Daniel's deadzone method next meeting, If that does not work, we will work on Ari's! - // Apply desired axes motions to the drivetrain. + // Apply desired axes motions to the drivetrain follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); follower.update(); From af1c3b7be052f6a9700be845a181b390b382cce3 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Sat, 1 Nov 2025 11:56:55 -0400 Subject: [PATCH 036/152] Added (But didn't enable) a PID controller for aiming the turret. --- .../LOADCode/TeleOps/TurretLocalization.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java index 79e01c5cef35..2bb8fa2e0194 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java @@ -50,6 +50,9 @@ import java.util.List; import java.util.concurrent.TimeUnit; +import dev.nextftc.control.ControlSystem; +import dev.nextftc.control.KineticState; + /* * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. * The code assumes a Holonomic (Mecanum or X Drive) Robot. @@ -126,6 +129,10 @@ public class TurretLocalization extends LinearOpMode goalCoords[1] = 144; } + ControlSystem turretPID = ControlSystem.builder() + .posPid(0,0,0) + .build(); + initAprilTag(); // Initialize the Apriltag Detection process if (USE_WEBCAM) @@ -205,6 +212,11 @@ public class TurretLocalization extends LinearOpMode wraparoundTrigger += (int)Math.signum(turretPos - 180); } + if (false){ + turretPID.setGoal(new KineticState(targetAngle)); + turretPower = turretPID.calculate(new KineticState(turretPos)); + } + if (gamepad1.bWasPressed()){ runTurret = !runTurret; } From 1a5e1b4732ddfd666dadb021739cbe7218c54bd7 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 3 Nov 2025 18:11:08 -0500 Subject: [PATCH 037/152] Installed PID on turret, worked on some tuning --- .../LOADCode/TeleOps/TurretLocalization.java | 84 +++++++++++++------ 1 file changed, 59 insertions(+), 25 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java index 2bb8fa2e0194..ab0879122222 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java @@ -29,6 +29,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +import com.bylazar.configurables.annotations.Configurable; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; @@ -52,6 +53,8 @@ import dev.nextftc.control.ControlSystem; import dev.nextftc.control.KineticState; +import dev.nextftc.control.feedback.PIDCoefficients; +import kotlin.jvm.JvmField; /* * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. @@ -89,18 +92,22 @@ * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. * */ - +@Configurable @TeleOp(name="Turret Localization", group = "TestTeleOp") public class TurretLocalization extends LinearOpMode { private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera - private static final int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. + int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. private VisionPortal visionPortal; // Used to manage the video source. private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. public static Follower follower; // Used for managing the PedroPathing path follower - @IgnoreConfigurable public TelemetryManager telemetryM; // Used for putting telemetry data on Panels + //Turret PID coefficients + public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.75, 0.005, 200); + + public static int turretDeadZoneSize = 15; + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); @@ -116,21 +123,14 @@ public class TurretLocalization extends LinearOpMode double turretPos; // Used to store the current angle of the turret double turretPower; // Used to store the calculated power to output to the turret servo boolean runTurret = true; + boolean useTurretPID = true; double targetAngle; double lastTurretPos; int wraparoundTrigger = 0; - int[] goalCoords = new int[2]; - if (DESIRED_TAG_ID == 24){ - goalCoords[0] = 144; - goalCoords[1] = 144; - }else if (DESIRED_TAG_ID == 20){ - goalCoords[0] = 0; - goalCoords[1] = 144; - } ControlSystem turretPID = ControlSystem.builder() - .posPid(0,0,0) + .posPid(new PIDCoefficients(turretCoefficients.kP/100000000, turretCoefficients.kI/100000000, turretCoefficients.kD/100000000)) .build(); initAprilTag(); // Initialize the Apriltag Detection process @@ -158,6 +158,23 @@ public class TurretLocalization extends LinearOpMode while (opModeIsActive()) { + + if (gamepad1.yWasPressed()){ + if (DESIRED_TAG_ID == 24){ + DESIRED_TAG_ID = 20; + } else { + DESIRED_TAG_ID = 24; + } + } + + if (DESIRED_TAG_ID == 24){ + goalCoords[0] = 144; + goalCoords[1] = 144; + }else if (DESIRED_TAG_ID == 20){ + goalCoords[0] = 0; + goalCoords[1] = 144; + } + // Used to indicate whether or not a valid AprilTag has been detected targetFound = false; // Used to hold the data for a detected AprilTag @@ -190,6 +207,11 @@ public class TurretLocalization extends LinearOpMode } // Tell the driver what we see, and what to do. + if (DESIRED_TAG_ID == 24){ + telemetry.addData("Goal Selected: ","Red"); + } else { + telemetry.addData("Goal Selected: ","Blue"); + } if (targetFound) { telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); @@ -199,22 +221,31 @@ public class TurretLocalization extends LinearOpMode telemetry.addData("\n>","Drive using joysticks to find a valid target\n"); } + // This block finds the robot position from it's odometry data and calculates the angle between the selected goal and the robot, adjusting the camera to match that angle double[] robotPose = {follower.getPose().getX(), follower.getPose().getY()}; - targetAngle = Math.toDegrees(Math.atan2(goalCoords[1]-robotPose[1], goalCoords[0]-robotPose[0])) - Math.toDegrees(follower.getPose().getHeading()); targetAngle = (180 + targetAngle) % 360; - + targetAngle = Math.min(Math.max(targetAngle, turretDeadZoneSize), 360-turretDeadZoneSize); double angleDiff = (targetAngle - turretPos); turretPower = -Math.pow(Math.min(Math.abs(angleDiff/60),1), (4f/3f)) * Math.signum(angleDiff); - if (Math.abs(turretPos-lastTurretPos) <= 10){ - wraparoundTrigger += (int)Math.signum(turretPos - 180); + if (gamepad1.aWasPressed()){ + useTurretPID = !useTurretPID; } - - if (false){ + if (useTurretPID){ turretPID.setGoal(new KineticState(targetAngle)); - turretPower = turretPID.calculate(new KineticState(turretPos)); + turretPower = -turretPID.calculate(new KineticState(turretPos)); + telemetry.addData("Turret Control System:", "PID"); + }else{ + telemetry.addData("Turret Control System:", "Non-PID"); + } + + if (Math.abs(turretPos-lastTurretPos) >= 30){ + wraparoundTrigger += (int)Math.signum(turretPos - 180); + } + if (wraparoundTrigger != 0) { + //turretPower = Math.max(Math.min(-wraparoundTrigger, 0.1), -0.1); } if (gamepad1.bWasPressed()){ @@ -235,15 +266,18 @@ public class TurretLocalization extends LinearOpMode lastTurretPos = turretPos; - telemetry.addData("Target Angle:", targetAngle); - telemetry.addData("Turret Angle:", turretPos); - telemetry.addData("Turret Error:", angleDiff); - telemetry.addData("Turret Power:", turretPower); - telemetry.addData("Robot Heading:", Math.toDegrees(follower.getPose().getHeading())); + telemetry.addData("Target Angle", targetAngle); + telemetry.addData("Turret Angle", turretPos); + telemetry.addData("Turret Error", angleDiff); + telemetry.addData("Turret Power", turretPower); + telemetry.addData("Robot Heading", Math.toDegrees(follower.getPose().getHeading())); telemetry.addData("Wraparound Trigger This Time: ", wraparoundTrigger); + telemetry.addData("-", "---------------------------------------------"); + telemetry.addData("kP", turretCoefficients.kP); + telemetry.addData("kI", turretCoefficients.kI); + telemetry.addData("kD", turretCoefficients.kD); telemetry.update(); - } } From 843a6f50c4d965b57fd710e67d84c350d8f0b081 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 4 Nov 2025 16:48:17 -0500 Subject: [PATCH 038/152] Added new "LoadHardwareClass" hardware manager, as well as a new teleop that uses it All the new features are organized into a new "Main_" folder to seperate our new clean code from the testing stuff. --- .../LOADCode/Main_/LoadHardwareClass.java | 154 ++++++++++++++++++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 88 ++++++++++ 2 files changed, 242 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java new file mode 100644 index 000000000000..8f7ec768ac3a --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -0,0 +1,154 @@ +/* Copyright (c) 2022 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.Main_; + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.Servo; +import com.qualcomm.robotcore.util.Range; + +/* + * This file works in conjunction with the External Hardware Class sample called: ConceptExternalHardwareClass.java + * Please read the explanations in that Sample about how to use this class definition. + * + * This file defines a Java Class that performs all the setup and configuration for a sample robot's hardware (motors and sensors). + * It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand) + * + * This one file/class can be used by ALL of your OpModes without having to cut & paste the code each time. + * + * Where possible, the actual hardware objects are "abstracted" (or hidden) so the OpMode code just makes calls into the class, + * rather than accessing the internal hardware directly. This is why the objects are declared "private". + * + * Use Android Studio to Copy this Class, and Paste it into your team's code folder with *exactly the same name*. + * + * Or... In OnBot Java, add a new file named RobotHardware.java, select this sample, and select Not an OpMode. + * Also add a new OpMode, select the sample ConceptExternalHardwareClass.java, and select TeleOp. + * + */ + +public class LoadHardwareClass { + + /* Declare OpMode members. */ + private LinearOpMode myOpMode = null; // gain access to methods in the calling OpMode. + + // Motors and servos go here + // Drivetrain + private DcMotor frontLeft = null; + private DcMotor frontRight = null; + private DcMotor backLeft = null; + private DcMotor backRight = null; + //Other + + // Public drive constants, empty for now + + public final double maxSpeed = 1.0; // make this slower for outreaches + + // Constructor that allows the OpMode to pass a reference to itself. + public LoadHardwareClass(LinearOpMode opmode) { + myOpMode = opmode; + } + + /** + * Initialize all the robot's hardware. + * This method must be called ONCE when the OpMode is initialized. + *

+ * All of the hardware devices are accessed via the hardware map, and initialized. + */ + public void init() { + // Define and initialize motors (note: need to use reference to actual OpMode). + frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "frontLeft"); + frontRight = myOpMode.hardwareMap.get(DcMotor.class, "frontRight"); + backLeft = myOpMode.hardwareMap.get(DcMotor.class, "backLeft"); + backRight = myOpMode.hardwareMap.get(DcMotor.class, "backRight"); + + // Set motor directions + frontLeft.setDirection(DcMotor.Direction.REVERSE); + frontRight.setDirection(DcMotor.Direction.FORWARD); + backLeft.setDirection(DcMotor.Direction.REVERSE); + backRight.setDirection(DcMotor.Direction.FORWARD); + + // If the drivetrain motors have encoders, handle all that here + + + + // Define and initialize servos here + + //Set servo directions + + myOpMode.telemetry.addData(">", "Hardware Initialized"); + myOpMode.telemetry.update(); + } + + + public void mecanumDrive(double forward, double strafe, double rotate) { + // This calculates the power needed for each wheel based on the amount of forward, + // strafe right, and rotate + double frontLeftPower = forward + strafe + rotate; + double frontRightPower = forward - strafe - rotate; + double backRightPower = forward + strafe - rotate; + double backLeftPower = forward - strafe + rotate; + + double maxPower = 1.0; + + // This is needed to make sure we don't pass > 1.0 to any wheel + // It allows us to keep all of the motors in proportion to what they should + // be and not get clipped + maxPower = Math.max(maxPower, Math.abs(frontLeftPower)); + maxPower = Math.max(maxPower, Math.abs(frontRightPower)); + maxPower = Math.max(maxPower, Math.abs(backRightPower)); + maxPower = Math.max(maxPower, Math.abs(backLeftPower)); + + // We multiply by maxSpeed so that it can be set lower for outreaches + // When a young child is driving the robot, we may not want to allow full + // speed. + setDrivePower( + maxSpeed * (frontLeftPower / maxPower), + maxSpeed * (frontRightPower / maxPower), + maxSpeed * (backLeftPower / maxPower), + maxSpeed * (backRightPower / maxPower) + ); + } + + /** + * Pass the requested wheel motor powers to the appropriate hardware drive motors. + * + * @param flPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward + * @param frPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward + * @param blPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward + * @param brPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward + */ + public void setDrivePower(double flPower, double frPower, double blPower, double brPower) { + // Output the values to the motor drives. + frontLeft.setPower(flPower); + frontRight.setPower(frPower); + backLeft.setPower(blPower); + backRight.setPower(brPower); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java new file mode 100644 index 000000000000..1842fffaab3c --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -0,0 +1,88 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; +import com.qualcomm.robotcore.util.Range; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; + + +/* + * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either + * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu + * of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode + * class is instantiated on the Robot Controller and executed. + * + * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot + * It includes all the skeletal structure that all linear OpModes contain. + * + * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. + * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list + */ + +@TeleOp(name="Teleop_Main_", group="TestTeleOp") +//@Disabled +public class Teleop_Main_ extends LinearOpMode { + + // Declare OpMode members. + private ElapsedTime runtime = new ElapsedTime(); + + + @Override + public void runOpMode() { + telemetry.addData("Status", "Initialized"); + telemetry.update(); + + LoadHardwareClass Robot = new LoadHardwareClass(this); + + // Wait for the game to start (driver presses START) + waitForStart(); + runtime.reset(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + Robot.init(); + + Robot.mecanumDrive( + gamepad1.right_stick_y, + gamepad1.right_stick_x, + gamepad1.left_stick_x + ); + + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.update(); + } + } +} From 7cf8be7b56aa938c6172083005c61799b8d7f7c0 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 4 Nov 2025 16:52:15 -0500 Subject: [PATCH 039/152] Fixed the incorrect hardware map references in the last version --- .../LOADCode/Main_/LoadHardwareClass.java | 25 +++++-------------- 1 file changed, 6 insertions(+), 19 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 8f7ec768ac3a..996ab7912b77 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -35,22 +35,9 @@ import com.qualcomm.robotcore.util.Range; /* - * This file works in conjunction with the External Hardware Class sample called: ConceptExternalHardwareClass.java - * Please read the explanations in that Sample about how to use this class definition. - * - * This file defines a Java Class that performs all the setup and configuration for a sample robot's hardware (motors and sensors). - * It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand) - * - * This one file/class can be used by ALL of your OpModes without having to cut & paste the code each time. - * - * Where possible, the actual hardware objects are "abstracted" (or hidden) so the OpMode code just makes calls into the class, - * rather than accessing the internal hardware directly. This is why the objects are declared "private". - * - * Use Android Studio to Copy this Class, and Paste it into your team's code folder with *exactly the same name*. - * - * Or... In OnBot Java, add a new file named RobotHardware.java, select this sample, and select Not an OpMode. - * Also add a new OpMode, select the sample ConceptExternalHardwareClass.java, and select TeleOp. + * This file is designed to work with our OpModes to handle all our hardware functionality to declutter our main scripts * + * The logic goes in the OpModes and the hardware control is handled here. */ public class LoadHardwareClass { @@ -83,10 +70,10 @@ public LoadHardwareClass(LinearOpMode opmode) { */ public void init() { // Define and initialize motors (note: need to use reference to actual OpMode). - frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "frontLeft"); - frontRight = myOpMode.hardwareMap.get(DcMotor.class, "frontRight"); - backLeft = myOpMode.hardwareMap.get(DcMotor.class, "backLeft"); - backRight = myOpMode.hardwareMap.get(DcMotor.class, "backRight"); + frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "fl"); + frontRight = myOpMode.hardwareMap.get(DcMotor.class, "fr"); + backLeft = myOpMode.hardwareMap.get(DcMotor.class, "bl"); + backRight = myOpMode.hardwareMap.get(DcMotor.class, "br"); // Set motor directions frontLeft.setDirection(DcMotor.Direction.REVERSE); From 519e170bf7e0e2ad9b80cb285a1a83dfaf333144 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 4 Nov 2025 16:55:00 -0500 Subject: [PATCH 040/152] Turret tweaks and fixed hardwaremap assignments --- .../LOADCode/Main_/LoadHardwareClass.java | 8 ++++---- .../LOADCode/TeleOps/TurretLocalization.java | 16 +++++++++++----- 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 996ab7912b77..71d5eca5d30f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -70,10 +70,10 @@ public LoadHardwareClass(LinearOpMode opmode) { */ public void init() { // Define and initialize motors (note: need to use reference to actual OpMode). - frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "fl"); - frontRight = myOpMode.hardwareMap.get(DcMotor.class, "fr"); - backLeft = myOpMode.hardwareMap.get(DcMotor.class, "bl"); - backRight = myOpMode.hardwareMap.get(DcMotor.class, "br"); + frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "FL"); + frontRight = myOpMode.hardwareMap.get(DcMotor.class, "FR"); + backLeft = myOpMode.hardwareMap.get(DcMotor.class, "BL"); + backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); // Set motor directions frontLeft.setDirection(DcMotor.Direction.REVERSE); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java index ab0879122222..3a0a8d473813 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java @@ -106,7 +106,7 @@ public class TurretLocalization extends LinearOpMode //Turret PID coefficients public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.75, 0.005, 200); - public static int turretDeadZoneSize = 15; + public static int turretDeadZoneSize = 5; // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); @@ -123,7 +123,7 @@ public class TurretLocalization extends LinearOpMode double turretPos; // Used to store the current angle of the turret double turretPower; // Used to store the calculated power to output to the turret servo boolean runTurret = true; - boolean useTurretPID = true; + boolean useTurretPID = false; double targetAngle; double lastTurretPos; int wraparoundTrigger = 0; @@ -241,11 +241,17 @@ public class TurretLocalization extends LinearOpMode telemetry.addData("Turret Control System:", "Non-PID"); } - if (Math.abs(turretPos-lastTurretPos) >= 30){ + if (gamepad1.dpad_left){ + turretPower = 0.4; + }else if (gamepad1.dpad_right){ + turretPower = -0.4; + } + + if ((Math.abs(turretPos-lastTurretPos) >= 120) && (turretPos<350 || turretPos>10)){ wraparoundTrigger += (int)Math.signum(turretPos - 180); } if (wraparoundTrigger != 0) { - //turretPower = Math.max(Math.min(-wraparoundTrigger, 0.1), -0.1); + turretPower = Math.max(Math.min(-wraparoundTrigger, 0.2), -0.2); } if (gamepad1.bWasPressed()){ @@ -261,7 +267,7 @@ public class TurretLocalization extends LinearOpMode // Apply desired axes motions to the drivetrain - follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x/2, true); + follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, true); follower.update(); lastTurretPos = turretPos; From d3269fc25e5ca4ac5482abc23555e2ef00fec185 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 4 Nov 2025 17:00:58 -0500 Subject: [PATCH 041/152] Updated the gamepad bindings for mecanumDrive --- .../ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java | 8 ++++---- .../ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java | 8 +++++--- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 71d5eca5d30f..81ae3b7038db 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -97,10 +97,10 @@ public void init() { public void mecanumDrive(double forward, double strafe, double rotate) { // This calculates the power needed for each wheel based on the amount of forward, // strafe right, and rotate - double frontLeftPower = forward + strafe + rotate; - double frontRightPower = forward - strafe - rotate; - double backRightPower = forward + strafe - rotate; - double backLeftPower = forward - strafe + rotate; + double frontLeftPower = -forward + strafe + rotate; + double frontRightPower = -forward - strafe - rotate; + double backRightPower = -forward + strafe - rotate; + double backLeftPower = -forward - strafe + rotate; double maxPower = 1.0; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 1842fffaab3c..62e638dbfa8b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -76,12 +76,14 @@ public void runOpMode() { Robot.init(); Robot.mecanumDrive( - gamepad1.right_stick_y, - gamepad1.right_stick_x, - gamepad1.left_stick_x + gamepad1.left_stick_y, + gamepad1.left_stick_x, + gamepad1.right_stick_x ); + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Version: ", "11/4/25"); telemetry.update(); } } From a3bf4f38a3cbe9d658d69817bed2a8f480524119 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 4 Nov 2025 17:04:16 -0500 Subject: [PATCH 042/152] Re-Scoped the Robot.init(); call to remove it from the main loop. --- .../ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 62e638dbfa8b..c9c3108d69bd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -70,11 +70,10 @@ public void runOpMode() { waitForStart(); runtime.reset(); + Robot.init(); // run until the end of the match (driver presses STOP) while (opModeIsActive()) { - Robot.init(); - Robot.mecanumDrive( gamepad1.left_stick_y, gamepad1.left_stick_x, From 0e5a34258b6a5747172b3fe1e927bcd9c9c9b08c Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 4 Nov 2025 17:21:07 -0500 Subject: [PATCH 043/152] Added more TODOs and comments --- .../LOADCode/Main_/LoadHardwareClass.java | 6 ++---- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 16 ++-------------- 2 files changed, 4 insertions(+), 18 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 81ae3b7038db..f0afa511126f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -35,7 +35,7 @@ import com.qualcomm.robotcore.util.Range; /* - * This file is designed to work with our OpModes to handle all our hardware functionality to declutter our main scripts + * This file is designed to work with our OpModes to handle all our hardware functionality to de-clutter our main scripts * * The logic goes in the OpModes and the hardware control is handled here. */ @@ -83,8 +83,6 @@ public void init() { // If the drivetrain motors have encoders, handle all that here - - // Define and initialize servos here //Set servo directions @@ -93,7 +91,7 @@ public void init() { myOpMode.telemetry.update(); } - + //TODO Add "PedroDriveTM" to replace the current Mecanum drive. public void mecanumDrive(double forward, double strafe, double rotate) { // This calculates the power needed for each wheel based on the amount of forward, // strafe right, and rotate diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index c9c3108d69bd..b18414e17724 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -37,19 +37,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; - -/* - * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either - * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu - * of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode - * class is instantiated on the Robot Controller and executed. - * - * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot - * It includes all the skeletal structure that all linear OpModes contain. - * - * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. - * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list - */ +//TODO, implement all our external libraries and functionality. @TeleOp(name="Teleop_Main_", group="TestTeleOp") //@Disabled @@ -80,10 +68,10 @@ public void runOpMode() { gamepad1.right_stick_x ); - telemetry.addData("Status", "Run Time: " + runtime.toString()); telemetry.addData("Version: ", "11/4/25"); telemetry.update(); + //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging } } } From ba2ffa94dff5e3a922dd1622fa92ac04e8f0e305 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 4 Nov 2025 17:53:22 -0500 Subject: [PATCH 044/152] Began adding functionality for a turret, as well as more comments and TODOs --- .../LOADCode/Main_/LoadHardwareClass.java | 44 +++++++++++-------- 1 file changed, 26 insertions(+), 18 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index f0afa511126f..5542dced4704 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -31,6 +31,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.util.Range; @@ -40,6 +41,14 @@ * The logic goes in the OpModes and the hardware control is handled here. */ +//TODO Abstract all the individual systems rather than the entire hardware +/* +Example: Abstract class for drivetrain, turret, intake, etc +They could be all individually referenced in the main OpMode +Drivetrain.doThing(args); +Turret.doOtherThing(args); +etc etc +*/ public class LoadHardwareClass { /* Declare OpMode members. */ @@ -52,9 +61,9 @@ public class LoadHardwareClass { private DcMotor backLeft = null; private DcMotor backRight = null; //Other + private DcMotorEx turretMotor = null; - // Public drive constants, empty for now - + // Public drive constants public final double maxSpeed = 1.0; // make this slower for outreaches // Constructor that allows the OpMode to pass a reference to itself. @@ -62,12 +71,6 @@ public LoadHardwareClass(LinearOpMode opmode) { myOpMode = opmode; } - /** - * Initialize all the robot's hardware. - * This method must be called ONCE when the OpMode is initialized. - *

- * All of the hardware devices are accessed via the hardware map, and initialized. - */ public void init() { // Define and initialize motors (note: need to use reference to actual OpMode). frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "FL"); @@ -75,13 +78,15 @@ public void init() { backLeft = myOpMode.hardwareMap.get(DcMotor.class, "BL"); backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); + turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turretMotor"); + // Set motor directions frontLeft.setDirection(DcMotor.Direction.REVERSE); frontRight.setDirection(DcMotor.Direction.FORWARD); backLeft.setDirection(DcMotor.Direction.REVERSE); backRight.setDirection(DcMotor.Direction.FORWARD); - // If the drivetrain motors have encoders, handle all that here + // If the motors have encoders, handle all that here // Define and initialize servos here @@ -120,15 +125,6 @@ public void mecanumDrive(double forward, double strafe, double rotate) { maxSpeed * (backRightPower / maxPower) ); } - - /** - * Pass the requested wheel motor powers to the appropriate hardware drive motors. - * - * @param flPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward - * @param frPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward - * @param blPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward - * @param brPower Fwd/Rev driving power (-1.0 to 1.0) +ve is forward - */ public void setDrivePower(double flPower, double frPower, double blPower, double brPower) { // Output the values to the motor drives. frontLeft.setPower(flPower); @@ -136,4 +132,16 @@ public void setDrivePower(double flPower, double frPower, double blPower, double backLeft.setPower(blPower); backRight.setPower(brPower); } + + public void setTurretPower(double power){ + turretMotor.setPower(power); + } + + public double getTurretPosition(){ + return turretMotor.getCurrentPosition(); + } + + public double getTurretVelocity(){ + return turretMotor.getVelocity(); + } } From a888ecb22f37831a36d0d386c9c3eae71eebd83a Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 4 Nov 2025 19:11:09 -0500 Subject: [PATCH 045/152] Implemented Turret PID --- .../LOADCode/Main_/LoadHardwareClass.java | 35 ++++++++++++++++--- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 18 ++++++++++ 2 files changed, 48 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 5542dced4704..ee2cd9c167c9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -32,8 +32,10 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; -import com.qualcomm.robotcore.hardware.Servo; -import com.qualcomm.robotcore.util.Range; + +import dev.nextftc.control.ControlSystem; +import dev.nextftc.control.KineticState; +import dev.nextftc.control.feedback.PIDCoefficients; /* * This file is designed to work with our OpModes to handle all our hardware functionality to de-clutter our main scripts @@ -60,12 +62,19 @@ public class LoadHardwareClass { private DcMotor frontRight = null; private DcMotor backLeft = null; private DcMotor backRight = null; - //Other + // Other private DcMotorEx turretMotor = null; // Public drive constants public final double maxSpeed = 1.0; // make this slower for outreaches + // Turret Constants + // PID coefficients + PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); + // Encoder ticks/rotation + // 1620rpm - 103.8 + double ticksPerRotation = 103.8; + // Constructor that allows the OpMode to pass a reference to itself. public LoadHardwareClass(LinearOpMode opmode) { myOpMode = opmode; @@ -90,7 +99,7 @@ public void init() { // Define and initialize servos here - //Set servo directions + // Set servo directions myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); @@ -137,11 +146,27 @@ public void setTurretPower(double power){ turretMotor.setPower(power); } - public double getTurretPosition(){ + public double getTurretEncoderTicks(){ return turretMotor.getCurrentPosition(); } + public double getTurretAngle(){ + return (turretMotor.getCurrentPosition()/ticksPerRotation*360); + } + public double getTurretVelocity(){ return turretMotor.getVelocity(); } + + public double getTurretPower(){ + return turretMotor.getPower(); + } + + public void setTurretAngle(double angle){ + ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); + KineticState currentKineticState = new KineticState(getTurretAngle(), getTurretVelocity()); + turretPID.setGoal(new KineticState(angle)); + setTurretPower(turretPID.calculate(currentKineticState)); + } + } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index b18414e17724..3ee6dc880ea8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -58,6 +58,8 @@ public void runOpMode() { waitForStart(); runtime.reset(); + double target = 0; + Robot.init(); // run until the end of the match (driver presses STOP) while (opModeIsActive()) { @@ -68,6 +70,22 @@ public void runOpMode() { gamepad1.right_stick_x ); + if (gamepad1.b){ + target = 90; + }else if (gamepad1.y){ + target = 0; + }else if (gamepad1.a){ + target = 180; + }else if (gamepad1.x){ + target = 270; + } + + Robot.setTurretAngle(target); + + telemetry.addData("Target:", target); + telemetry.addData("Angle", Robot.getTurretAngle()); + telemetry.addData("Set Power", Robot.getTurretPower()); + telemetry.addData("Status", "Run Time: " + runtime.toString()); telemetry.addData("Version: ", "11/4/25"); telemetry.update(); From 2552e470f1b172f6713cf04e96ee06e748da2097 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 4 Nov 2025 20:42:03 -0500 Subject: [PATCH 046/152] Abstracted hardware functions into Drivetrain and Turret objects, and added Pedropathing mecanum drive --- .../LOADCode/Main_/LoadHardwareClass.java | 159 ++++++++++-------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 20 ++- 2 files changed, 102 insertions(+), 77 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index ee2cd9c167c9..09ae45a7d8be 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -29,10 +29,14 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_; +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; + import dev.nextftc.control.ControlSystem; import dev.nextftc.control.KineticState; import dev.nextftc.control.feedback.PIDCoefficients; @@ -45,7 +49,7 @@ //TODO Abstract all the individual systems rather than the entire hardware /* -Example: Abstract class for drivetrain, turret, intake, etc +Example: Abstract class for drivetrain, Turret, intake, etc They could be all individually referenced in the main OpMode Drivetrain.doThing(args); Turret.doOtherThing(args); @@ -65,19 +69,17 @@ public class LoadHardwareClass { // Other private DcMotorEx turretMotor = null; + // Misc Constants + public Follower follower = null; + public Pose initialPose = null; + // Public drive constants public final double maxSpeed = 1.0; // make this slower for outreaches - // Turret Constants - // PID coefficients - PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); - // Encoder ticks/rotation - // 1620rpm - 103.8 - double ticksPerRotation = 103.8; - // Constructor that allows the OpMode to pass a reference to itself. - public LoadHardwareClass(LinearOpMode opmode) { + public LoadHardwareClass(LinearOpMode opmode, Pose pose) { myOpMode = opmode; + initialPose = pose; } public void init() { @@ -101,72 +103,91 @@ public void init() { // Set servo directions + // PedroPathing initialization + follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower + follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization + myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); } - //TODO Add "PedroDriveTM" to replace the current Mecanum drive. - public void mecanumDrive(double forward, double strafe, double rotate) { - // This calculates the power needed for each wheel based on the amount of forward, - // strafe right, and rotate - double frontLeftPower = -forward + strafe + rotate; - double frontRightPower = -forward - strafe - rotate; - double backRightPower = -forward + strafe - rotate; - double backLeftPower = -forward - strafe + rotate; - - double maxPower = 1.0; - - // This is needed to make sure we don't pass > 1.0 to any wheel - // It allows us to keep all of the motors in proportion to what they should - // be and not get clipped - maxPower = Math.max(maxPower, Math.abs(frontLeftPower)); - maxPower = Math.max(maxPower, Math.abs(frontRightPower)); - maxPower = Math.max(maxPower, Math.abs(backRightPower)); - maxPower = Math.max(maxPower, Math.abs(backLeftPower)); - - // We multiply by maxSpeed so that it can be set lower for outreaches - // When a young child is driving the robot, we may not want to allow full - // speed. - setDrivePower( - maxSpeed * (frontLeftPower / maxPower), - maxSpeed * (frontRightPower / maxPower), - maxSpeed * (backLeftPower / maxPower), - maxSpeed * (backRightPower / maxPower) - ); - } - public void setDrivePower(double flPower, double frPower, double blPower, double brPower) { - // Output the values to the motor drives. - frontLeft.setPower(flPower); - frontRight.setPower(frPower); - backLeft.setPower(blPower); - backRight.setPower(brPower); - } - - public void setTurretPower(double power){ - turretMotor.setPower(power); - } - - public double getTurretEncoderTicks(){ - return turretMotor.getCurrentPosition(); - } - - public double getTurretAngle(){ - return (turretMotor.getCurrentPosition()/ticksPerRotation*360); - } - - public double getTurretVelocity(){ - return turretMotor.getVelocity(); - } - - public double getTurretPower(){ - return turretMotor.getPower(); + public class Drivetrain { + public void mecanumDrive(double forward, double strafe, double rotate) { + // This calculates the power needed for each wheel based on the amount of forward, + // strafe right, and rotate + double frontLeftPower = -forward + strafe + rotate; + double frontRightPower = -forward - strafe - rotate; + double backRightPower = -forward + strafe - rotate; + double backLeftPower = -forward - strafe + rotate; + + double maxPower = 1.0; + + // This is needed to make sure we don't pass > 1.0 to any wheel + // It allows us to keep all of the motors in proportion to what they should + // be and not get clipped + maxPower = Math.max(maxPower, Math.abs(frontLeftPower)); + maxPower = Math.max(maxPower, Math.abs(frontRightPower)); + maxPower = Math.max(maxPower, Math.abs(backRightPower)); + maxPower = Math.max(maxPower, Math.abs(backLeftPower)); + + // We multiply by maxSpeed so that it can be set lower for outreaches + // When a young child is driving the robot, we may not want to allow full + // speed. + setDrivePower( + maxSpeed * (frontLeftPower / maxPower), + maxSpeed * (frontRightPower / maxPower), + maxSpeed * (backLeftPower / maxPower), + maxSpeed * (backRightPower / maxPower) + ); + } + public void pedroMecanumDrive(double forward, double strafe, double rotate, boolean robotCentricEnabled){ + follower.setTeleOpDrive(forward, strafe, rotate, robotCentricEnabled); + follower.update(); + } + public void setDrivePower(double flPower, double frPower, double blPower, double brPower) { + // Output the values to the motor drives. + frontLeft.setPower(flPower); + frontRight.setPower(frPower); + backLeft.setPower(blPower); + backRight.setPower(brPower); + } } - public void setTurretAngle(double angle){ - ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getTurretAngle(), getTurretVelocity()); - turretPID.setGoal(new KineticState(angle)); - setTurretPower(turretPID.calculate(currentKineticState)); + public class Turret { + // Turret Constants + // PID coefficients + PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); + // Encoder ticks/rotation + // 1620rpm - 103.8 + double ticksPerRotation = 103.8; + + public double getTurretEncoderTicks(){ + return turretMotor.getCurrentPosition(); + } + + public void setTurretPower(double power){ + turretMotor.setPower(power); + } + + public double getTurretAngle(){ + return (turretMotor.getCurrentPosition()/ticksPerRotation*360); + } + + public double getTurretVelocity(){ + return turretMotor.getVelocity(); + } + + public double getTurretPower(){ + return turretMotor.getPower(); + } + + public void setTurretAngle(double angle){ + ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); + KineticState currentKineticState = new KineticState(getTurretAngle(), getTurretVelocity()); + turretPID.setGoal(new KineticState(angle)); + setTurretPower(turretPID.calculate(currentKineticState)); + } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 3ee6dc880ea8..78650ccfed99 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -29,11 +29,10 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; +import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.util.ElapsedTime; -import com.qualcomm.robotcore.util.Range; import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; @@ -46,13 +45,17 @@ public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. + private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); @Override public void runOpMode() { telemetry.addData("Status", "Initialized"); telemetry.update(); - LoadHardwareClass Robot = new LoadHardwareClass(this); + LoadHardwareClass Robot = new LoadHardwareClass(this, startPose); + LoadHardwareClass.Drivetrain Drivetrain = Robot.new Drivetrain(); + LoadHardwareClass.Turret Turret = Robot.new Turret(); // Wait for the game to start (driver presses START) waitForStart(); @@ -64,10 +67,11 @@ public void runOpMode() { // run until the end of the match (driver presses STOP) while (opModeIsActive()) { - Robot.mecanumDrive( + Drivetrain.pedroMecanumDrive( gamepad1.left_stick_y, gamepad1.left_stick_x, - gamepad1.right_stick_x + gamepad1.right_stick_x, + true ); if (gamepad1.b){ @@ -80,11 +84,11 @@ public void runOpMode() { target = 270; } - Robot.setTurretAngle(target); + Turret.setTurretAngle(target); telemetry.addData("Target:", target); - telemetry.addData("Angle", Robot.getTurretAngle()); - telemetry.addData("Set Power", Robot.getTurretPower()); + telemetry.addData("Angle", Turret.getTurretAngle()); + telemetry.addData("Set Power", Turret.getTurretPower()); telemetry.addData("Status", "Run Time: " + runtime.toString()); telemetry.addData("Version: ", "11/4/25"); From 0a746a0dbd15c8eeb2709f334691c29a5c2754c5 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Wed, 5 Nov 2025 08:28:48 -0500 Subject: [PATCH 047/152] Commented a bunch of stuff in LoadHardwareClass & Teleop_Main_, and moved all previous experimentation into it's own package. --- .../LOADCode/Main_/LoadHardwareClass.java | 106 +++++++++++++++--- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 23 ++-- .../{ => Testing_}/Autos/TestAutoR1.java | 2 +- .../TeleOps/PedroDriveToAprilTag.java | 2 +- .../{ => Testing_}/TeleOps/TeleopTest_V1.java | 2 +- .../TeleOps/TurretAprilTagTracking.java | 2 +- .../TeleOps/TurretLocalization.java | 2 +- .../{ => Testing_}/Tests/ServoTest.java | 2 +- 8 files changed, 113 insertions(+), 28 deletions(-) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => Testing_}/Autos/TestAutoR1.java (98%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => Testing_}/TeleOps/PedroDriveToAprilTag.java (99%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => Testing_}/TeleOps/TeleopTest_V1.java (97%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => Testing_}/TeleOps/TurretAprilTagTracking.java (99%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => Testing_}/TeleOps/TurretLocalization.java (99%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/{ => Testing_}/Tests/ServoTest.java (98%) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 09ae45a7d8be..9edbc6a8abf6 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -71,17 +71,23 @@ public class LoadHardwareClass { // Misc Constants public Follower follower = null; - public Pose initialPose = null; + public Pose initialPose = new Pose(0,0, 0); // Public drive constants - public final double maxSpeed = 1.0; // make this slower for outreaches + public double speedMultiplier = 1.0; // make this slower for outreaches - // Constructor that allows the OpMode to pass a reference to itself. - public LoadHardwareClass(LinearOpMode opmode, Pose pose) { + /** + * Constructor that allows the OpMode to pass a reference to itself. + * @param opmode The input for this parameter should almost always be "this". + */ + public LoadHardwareClass(LinearOpMode opmode) { myOpMode = opmode; - initialPose = pose; } + /** + * Initializes all hardware for the robot. + * Must be called once at the start of each op-mode. + */ public void init() { // Define and initialize motors (note: need to use reference to actual OpMode). frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "FL"); @@ -113,7 +119,19 @@ public void init() { } public class Drivetrain { - public void mecanumDrive(double forward, double strafe, double rotate) { + /** + * Implements a custom mecanum drive controller. + * Must be called every loop to function properly. + * @param Forward The joystick value for driving forward/backward + * @param Strafe The joystick value for strafing + * @param Rotate The joystick value to turn left/right + */ + public void mecanumDrive(double Forward, double Strafe, double Rotate) { + // Puts the inputted joystick values into their own variable to allow for modification. + double forward = Forward * speedMultiplier; + double strafe = Strafe * speedMultiplier; + double rotate = Rotate * speedMultiplier; + // This calculates the power needed for each wheel based on the amount of forward, // strafe right, and rotate double frontLeftPower = -forward + strafe + rotate; @@ -135,16 +153,33 @@ public void mecanumDrive(double forward, double strafe, double rotate) { // When a young child is driving the robot, we may not want to allow full // speed. setDrivePower( - maxSpeed * (frontLeftPower / maxPower), - maxSpeed * (frontRightPower / maxPower), - maxSpeed * (backLeftPower / maxPower), - maxSpeed * (backRightPower / maxPower) + (frontLeftPower / maxPower), + (frontRightPower / maxPower), + (backLeftPower / maxPower), + (backRightPower / maxPower) ); } - public void pedroMecanumDrive(double forward, double strafe, double rotate, boolean robotCentricEnabled){ - follower.setTeleOpDrive(forward, strafe, rotate, robotCentricEnabled); + + /** + * Uses PedroPathing's follower class to implement a mecanum drive controller. + * Must be called every loop to function properly. + * @param forward The joystick value for driving forward/backward + * @param strafe The joystick value for strafing + * @param rotate The joystick value to turn left/right + * @param robotCentric If true, enables robot centric. If false, enables field centric. + */ + public void pedroMecanumDrive(double forward, double strafe, double rotate, boolean robotCentric){ + follower.setTeleOpDrive( + forward * speedMultiplier, + strafe * speedMultiplier, + rotate * speedMultiplier, + robotCentric); follower.update(); } + + /** + * Sets the output power of all four drivetrain motors. + */ public void setDrivePower(double flPower, double frPower, double blPower, double brPower) { // Output the values to the motor drives. frontLeft.setPower(flPower); @@ -159,32 +194,73 @@ public class Turret { // PID coefficients PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); // Encoder ticks/rotation - // 1620rpm - 103.8 + // 1620rpm - 103.8 ticks at the motor shaft double ticksPerRotation = 103.8; + /** + * @return The current position of the motor in encoder ticks. Can be any value. + */ public double getTurretEncoderTicks(){ return turretMotor.getCurrentPosition(); } + /** + * @return The resolution of the turret's encoder in ticks/rotation. + */ + public double getTurretEncoderResolution(){ + return ticksPerRotation; + } + + /** + * @param power A value between -1 and 1 to set the turret motor's power to. + */ public void setTurretPower(double power){ turretMotor.setPower(power); } + /** + * @return The angle of the turret in degrees. Can be any value. + */ + public double getTurretAngleAbsolute(){ + return (getTurretEncoderTicks()/ticksPerRotation*360); + } + + /** + * @return The angle of the turret in degrees. Can be any value between 0 and 360. + */ public double getTurretAngle(){ - return (turretMotor.getCurrentPosition()/ticksPerRotation*360); + return getTurretAngleAbsolute()%360; } + /** + * @return The velocity of the turret in encoder ticks/second. + */ public double getTurretVelocity(){ return turretMotor.getVelocity(); } + /** + * @return The velocity of the turret in degrees/second. + */ + public double getTurretVelocityDegrees(){ + return (getTurretVelocity()/ticksPerRotation*360); + } + + /** + * @return The power that the motor has been set to. + */ public double getTurretPower(){ return turretMotor.getPower(); } + /** + * Uses a PID controller to move the turret to the desired position. + * Must be called every loop to function properly. + * @param angle The angle to move the turret to. + */ public void setTurretAngle(double angle){ ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getTurretAngle(), getTurretVelocity()); + KineticState currentKineticState = new KineticState(getTurretAngleAbsolute(), getTurretVelocity()); turretPID.setGoal(new KineticState(angle)); setTurretPower(turretPID.calculate(currentKineticState)); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 78650ccfed99..c1b4cd34aadd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -39,7 +39,6 @@ //TODO, implement all our external libraries and functionality. @TeleOp(name="Teleop_Main_", group="TestTeleOp") -//@Disabled public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. @@ -53,20 +52,30 @@ public void runOpMode() { telemetry.addData("Status", "Initialized"); telemetry.update(); - LoadHardwareClass Robot = new LoadHardwareClass(this, startPose); + // Create a new instance of our Robot class + LoadHardwareClass Robot = new LoadHardwareClass(this); + + // Instantiate the various hardware classes of the robot LoadHardwareClass.Drivetrain Drivetrain = Robot.new Drivetrain(); LoadHardwareClass.Turret Turret = Robot.new Turret(); + // Pass the starting pose of the robot to the Robot class + Robot.initialPose = startPose; + // Wait for the game to start (driver presses START) waitForStart(); runtime.reset(); + // This variable contains the target position for the turret. double target = 0; + // Initialize all hardware of the robot Robot.init(); + // run until the end of the match (driver presses STOP) while (opModeIsActive()) { + // Pass the joystick positions to our mecanum drive controller Drivetrain.pedroMecanumDrive( gamepad1.left_stick_y, gamepad1.left_stick_x, @@ -74,20 +83,20 @@ public void runOpMode() { true ); - if (gamepad1.b){ + if (gamepad1.bWasPressed()){ target = 90; - }else if (gamepad1.y){ + }else if (gamepad1.yWasPressed()){ target = 0; - }else if (gamepad1.a){ + }else if (gamepad1.aWasPressed()){ target = 180; - }else if (gamepad1.x){ + }else if (gamepad1.xWasPressed()){ target = 270; } Turret.setTurretAngle(target); telemetry.addData("Target:", target); - telemetry.addData("Angle", Turret.getTurretAngle()); + telemetry.addData("Angle", Turret.getTurretAngleAbsolute()); telemetry.addData("Set Power", Turret.getTurretPower()); telemetry.addData("Status", "Run Time: " + runtime.toString()); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java similarity index 98% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java index e0bd2fa7b7d0..22eac797483c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Autos/TestAutoR1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Autos; // make sure this aligns with class location +package org.firstinspires.ftc.teamcode.LOADCode.Testing_.Autos; // make sure this aligns with class location import com.pedropathing.follower.Follower; import com.pedropathing.geometry.BezierCurve; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/PedroDriveToAprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/PedroDriveToAprilTag.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java index 5e9218db9662..85e5dfa4834c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/PedroDriveToAprilTag.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java similarity index 97% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TeleopTest_V1.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java index 42d2ecd02a76..2bf6850f09be 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TeleopTest_V1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java index 780d8b6ef778..1f5245473418 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretAprilTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java index 3a0a8d473813..35012485bdec 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.TeleOps; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; import com.bylazar.configurables.annotations.Configurable; import com.bylazar.configurables.annotations.IgnoreConfigurable; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ServoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java similarity index 98% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ServoTest.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java index 07439e713cf5..7ecb5011e141 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Tests/ServoTest.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.Tests; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_.Tests; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; From a546fd3210fde3ff937c0901d552371dd5c82d56 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Wed, 5 Nov 2025 11:24:02 -0500 Subject: [PATCH 048/152] Added Intake hardware class and added it to Teleop_Main_ --- .../LOADCode/Main_/LoadHardwareClass.java | 69 +++++++++++++++---- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 17 ++++- 2 files changed, 71 insertions(+), 15 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 9edbc6a8abf6..0453bfa2082f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -68,6 +68,7 @@ public class LoadHardwareClass { private DcMotor backRight = null; // Other private DcMotorEx turretMotor = null; + private DcMotorEx intakeMotor = null; // Misc Constants public Follower follower = null; @@ -95,7 +96,8 @@ public void init() { backLeft = myOpMode.hardwareMap.get(DcMotor.class, "BL"); backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); - turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turretMotor"); + turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turret"); + intakeMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "intake"); // Set motor directions frontLeft.setDirection(DcMotor.Direction.REVERSE); @@ -118,6 +120,42 @@ public void init() { myOpMode.telemetry.update(); } + public class Intake { + // Intake Constants + // Encoder ticks/rotation + // 1620rpm - 103.8 ticks at the motor shaft + double ticksPerRotation = 103.8; + + + /** + * @param power A value between -1 and 1 that the intake motor's power will be set to. + */ + public void setPower(double power){ + intakeMotor.setPower(power); + } + + /** + * @return The power that the intake motor has been set to. + */ + public double getPower(){ + return intakeMotor.getPower(); + } + + /** + * @return The velocity of the turret in encoder ticks/second. + */ + public double getTurretVelocity(){ + return intakeMotor.getVelocity(); + } + + /** + * @return The velocity of the intake in RPM. + */ + public double getTurretVelocityRPM(){ + return ((getTurretVelocity()*60)/ticksPerRotation); + } + } + public class Drivetrain { /** * Implements a custom mecanum drive controller. @@ -198,38 +236,38 @@ public class Turret { double ticksPerRotation = 103.8; /** - * @return The current position of the motor in encoder ticks. Can be any value. + * @return The current position of the turret motor in encoder ticks. Can be any value. */ - public double getTurretEncoderTicks(){ + public double getEncoderTicks(){ return turretMotor.getCurrentPosition(); } /** * @return The resolution of the turret's encoder in ticks/rotation. */ - public double getTurretEncoderResolution(){ + public double getEncoderResolution(){ return ticksPerRotation; } /** - * @param power A value between -1 and 1 to set the turret motor's power to. + * @param power A value between -1 and 1 that the turret motor's power will be set to. */ - public void setTurretPower(double power){ + public void setPower(double power){ turretMotor.setPower(power); } /** * @return The angle of the turret in degrees. Can be any value. */ - public double getTurretAngleAbsolute(){ - return (getTurretEncoderTicks()/ticksPerRotation*360); + public double getAngleAbsolute(){ + return (getEncoderTicks()/ticksPerRotation*360); } /** * @return The angle of the turret in degrees. Can be any value between 0 and 360. */ public double getTurretAngle(){ - return getTurretAngleAbsolute()%360; + return getAngleAbsolute()%360; } /** @@ -247,7 +285,14 @@ public double getTurretVelocityDegrees(){ } /** - * @return The power that the motor has been set to. + * @return The velocity of the turret in RPM. + */ + public double getTurretVelocityRPM(){ + return ((getTurretVelocity()*60)/ticksPerRotation); + } + + /** + * @return The power that the turret motor has been set to. */ public double getTurretPower(){ return turretMotor.getPower(); @@ -260,9 +305,9 @@ public double getTurretPower(){ */ public void setTurretAngle(double angle){ ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getTurretAngleAbsolute(), getTurretVelocity()); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getTurretVelocity()); turretPID.setGoal(new KineticState(angle)); - setTurretPower(turretPID.calculate(currentKineticState)); + setPower(turretPID.calculate(currentKineticState)); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index c1b4cd34aadd..f237ce3c11fe 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -58,6 +58,7 @@ public void runOpMode() { // Instantiate the various hardware classes of the robot LoadHardwareClass.Drivetrain Drivetrain = Robot.new Drivetrain(); LoadHardwareClass.Turret Turret = Robot.new Turret(); + LoadHardwareClass.Intake Intake = Robot.new Intake(); // Pass the starting pose of the robot to the Robot class Robot.initialPose = startPose; @@ -95,10 +96,20 @@ public void runOpMode() { Turret.setTurretAngle(target); - telemetry.addData("Target:", target); - telemetry.addData("Angle", Turret.getTurretAngleAbsolute()); - telemetry.addData("Set Power", Turret.getTurretPower()); + Intake.setPower(gamepad1.left_trigger); + // Turret-related Telemetry + telemetry.addData("Turret Target Angle:", target); + telemetry.addData("Turret Actual Angle", Turret.getAngleAbsolute()); + telemetry.addData("Turret Set Power", Turret.getTurretPower()); + + // Intake-related Telemetry + telemetry.addLine(); + telemetry.addData("Intake Set Power", Intake.getPower()); + telemetry.addData("Intake RPM", Intake.getTurretVelocityRPM()); + + // System-related Telemetry + telemetry.addLine(); telemetry.addData("Status", "Run Time: " + runtime.toString()); telemetry.addData("Version: ", "11/4/25"); telemetry.update(); From 5fd2663f12badde0ffa3de263f2c8c52503577b1 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Wed, 5 Nov 2025 13:31:43 -0500 Subject: [PATCH 049/152] Changed hardware subclasses to be members of parent Robot class --- .../LOADCode/Main_/LoadHardwareClass.java | 81 ++++++++++--------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 19 ++--- 2 files changed, 51 insertions(+), 49 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 0453bfa2082f..38e27d801dc9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -56,7 +56,6 @@ etc etc */ public class LoadHardwareClass { - /* Declare OpMode members. */ private LinearOpMode myOpMode = null; // gain access to methods in the calling OpMode. @@ -77,12 +76,20 @@ public class LoadHardwareClass { // Public drive constants public double speedMultiplier = 1.0; // make this slower for outreaches + // Declare subclasses + public final Drivetrain drivetrain; + public final Turret turret; + public final Intake intake; + /** * Constructor that allows the OpMode to pass a reference to itself. * @param opmode The input for this parameter should almost always be "this". */ public LoadHardwareClass(LinearOpMode opmode) { myOpMode = opmode; + this.turret = new Turret(); + this.intake = new Intake(); + this.drivetrain = new Drivetrain(); } /** @@ -120,42 +127,6 @@ public void init() { myOpMode.telemetry.update(); } - public class Intake { - // Intake Constants - // Encoder ticks/rotation - // 1620rpm - 103.8 ticks at the motor shaft - double ticksPerRotation = 103.8; - - - /** - * @param power A value between -1 and 1 that the intake motor's power will be set to. - */ - public void setPower(double power){ - intakeMotor.setPower(power); - } - - /** - * @return The power that the intake motor has been set to. - */ - public double getPower(){ - return intakeMotor.getPower(); - } - - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getTurretVelocity(){ - return intakeMotor.getVelocity(); - } - - /** - * @return The velocity of the intake in RPM. - */ - public double getTurretVelocityRPM(){ - return ((getTurretVelocity()*60)/ticksPerRotation); - } - } - public class Drivetrain { /** * Implements a custom mecanum drive controller. @@ -311,4 +282,40 @@ public void setTurretAngle(double angle){ } } + public class Intake { + // Intake Constants + // Encoder ticks/rotation + // 1620rpm - 103.8 ticks at the motor shaft + double ticksPerRotation = 103.8; + + + /** + * @param power A value between -1 and 1 that the intake motor's power will be set to. + */ + public void setPower(double power){ + intakeMotor.setPower(power); + } + + /** + * @return The power that the intake motor has been set to. + */ + public double getPower(){ + return intakeMotor.getPower(); + } + + /** + * @return The velocity of the turret in encoder ticks/second. + */ + public double getTurretVelocity(){ + return intakeMotor.getVelocity(); + } + + /** + * @return The velocity of the intake in RPM. + */ + public double getTurretVelocityRPM(){ + return ((getTurretVelocity()*60)/ticksPerRotation); + } + } + } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index f237ce3c11fe..de7ffe22b7ef 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -55,11 +55,6 @@ public void runOpMode() { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - // Instantiate the various hardware classes of the robot - LoadHardwareClass.Drivetrain Drivetrain = Robot.new Drivetrain(); - LoadHardwareClass.Turret Turret = Robot.new Turret(); - LoadHardwareClass.Intake Intake = Robot.new Intake(); - // Pass the starting pose of the robot to the Robot class Robot.initialPose = startPose; @@ -77,7 +72,7 @@ public void runOpMode() { while (opModeIsActive()) { // Pass the joystick positions to our mecanum drive controller - Drivetrain.pedroMecanumDrive( + Robot.drivetrain.pedroMecanumDrive( gamepad1.left_stick_y, gamepad1.left_stick_x, gamepad1.right_stick_x, @@ -94,19 +89,19 @@ public void runOpMode() { target = 270; } - Turret.setTurretAngle(target); + Robot.turret.setTurretAngle(target); - Intake.setPower(gamepad1.left_trigger); + Robot.intake.setPower(gamepad1.left_trigger); // Turret-related Telemetry telemetry.addData("Turret Target Angle:", target); - telemetry.addData("Turret Actual Angle", Turret.getAngleAbsolute()); - telemetry.addData("Turret Set Power", Turret.getTurretPower()); + telemetry.addData("Turret Actual Angle", Robot.turret.getAngleAbsolute()); + telemetry.addData("Turret Set Power", Robot.turret.getTurretPower()); // Intake-related Telemetry telemetry.addLine(); - telemetry.addData("Intake Set Power", Intake.getPower()); - telemetry.addData("Intake RPM", Intake.getTurretVelocityRPM()); + telemetry.addData("Intake Set Power", Robot.intake.getPower()); + telemetry.addData("Intake RPM", Robot.intake.getTurretVelocityRPM()); // System-related Telemetry telemetry.addLine(); From 34939345c950986a76a1750f7e516c1f33c8d319 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Wed, 5 Nov 2025 16:13:02 -0500 Subject: [PATCH 050/152] Began setting up to add the other turret actuation classes (hood, flywheel) --- .../LOADCode/Main_/LoadHardwareClass.java | 203 +++++++++--------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 6 +- 2 files changed, 106 insertions(+), 103 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 38e27d801dc9..ae3e488a2541 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -34,6 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.Servo; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -65,12 +66,15 @@ public class LoadHardwareClass { private DcMotor frontRight = null; private DcMotor backLeft = null; private DcMotor backRight = null; + // Turret + private DcMotorEx turretRotationMotor = null; + private DcMotorEx turretFlywheel = null; + private Servo turretHoodServo = null; // Other - private DcMotorEx turretMotor = null; private DcMotorEx intakeMotor = null; // Misc Constants - public Follower follower = null; + private Follower follower = null; public Pose initialPose = new Pose(0,0, 0); // Public drive constants @@ -97,34 +101,36 @@ public LoadHardwareClass(LinearOpMode opmode) { * Must be called once at the start of each op-mode. */ public void init() { - // Define and initialize motors (note: need to use reference to actual OpMode). - frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "FL"); - frontRight = myOpMode.hardwareMap.get(DcMotor.class, "FR"); - backLeft = myOpMode.hardwareMap.get(DcMotor.class, "BL"); - backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); - - turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turret"); - intakeMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "intake"); - - // Set motor directions - frontLeft.setDirection(DcMotor.Direction.REVERSE); - frontRight.setDirection(DcMotor.Direction.FORWARD); - backLeft.setDirection(DcMotor.Direction.REVERSE); - backRight.setDirection(DcMotor.Direction.FORWARD); + // Define and initialize motors & servos (note: need to use reference to actual OpMode). + // Drivetrain + frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "FL"); + frontRight = myOpMode.hardwareMap.get(DcMotor.class, "FR"); + backLeft = myOpMode.hardwareMap.get(DcMotor.class, "BL"); + backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); + // Turret + turretRotationMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turretRotation"); + turretFlywheel = myOpMode.hardwareMap.get(DcMotorEx.class, "turretFlywheel"); + turretHoodServo = myOpMode.hardwareMap.get(Servo.class, "turretHood"); + // Intake + intakeMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "intake"); + + // Set motor/servo directions + // Drivetrain + frontLeft.setDirection(DcMotor.Direction.REVERSE); + frontRight.setDirection(DcMotor.Direction.FORWARD); + backLeft.setDirection(DcMotor.Direction.REVERSE); + backRight.setDirection(DcMotor.Direction.FORWARD); // If the motors have encoders, handle all that here - // Define and initialize servos here - - // Set servo directions - // PedroPathing initialization - follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower - follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field - follower.update(); // Applies the initialization + follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower + follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization - myOpMode.telemetry.addData(">", "Hardware Initialized"); - myOpMode.telemetry.update(); + // Misc telemetry + myOpMode.telemetry.addData(">", "Hardware Initialized"); + myOpMode.telemetry.update(); } public class Drivetrain { @@ -199,86 +205,83 @@ public void setDrivePower(double flPower, double frPower, double blPower, double } public class Turret { - // Turret Constants + public final TurretHeading heading = new TurretHeading(); + + /** + * This class contains the controls and functions for the heading of the turret + */ + public class TurretHeading { + // Turret Constants // PID coefficients PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); // Encoder ticks/rotation // 1620rpm - 103.8 ticks at the motor shaft double ticksPerRotation = 103.8; - - /** - * @return The current position of the turret motor in encoder ticks. Can be any value. - */ - public double getEncoderTicks(){ - return turretMotor.getCurrentPosition(); - } - - /** - * @return The resolution of the turret's encoder in ticks/rotation. - */ - public double getEncoderResolution(){ - return ticksPerRotation; - } - - /** - * @param power A value between -1 and 1 that the turret motor's power will be set to. - */ - public void setPower(double power){ - turretMotor.setPower(power); - } - - /** - * @return The angle of the turret in degrees. Can be any value. - */ - public double getAngleAbsolute(){ - return (getEncoderTicks()/ticksPerRotation*360); - } - - /** - * @return The angle of the turret in degrees. Can be any value between 0 and 360. - */ - public double getTurretAngle(){ - return getAngleAbsolute()%360; - } - - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getTurretVelocity(){ - return turretMotor.getVelocity(); - } - - /** - * @return The velocity of the turret in degrees/second. - */ - public double getTurretVelocityDegrees(){ - return (getTurretVelocity()/ticksPerRotation*360); - } - - /** - * @return The velocity of the turret in RPM. - */ - public double getTurretVelocityRPM(){ - return ((getTurretVelocity()*60)/ticksPerRotation); - } - - /** - * @return The power that the turret motor has been set to. - */ - public double getTurretPower(){ - return turretMotor.getPower(); - } - - /** - * Uses a PID controller to move the turret to the desired position. - * Must be called every loop to function properly. - * @param angle The angle to move the turret to. - */ - public void setTurretAngle(double angle){ - ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getTurretVelocity()); - turretPID.setGoal(new KineticState(angle)); - setPower(turretPID.calculate(currentKineticState)); + /** + * @return The current position of the turret motor in encoder ticks. Can be any value. + */ + public double getEncoderTicks(){ + return turretRotationMotor.getCurrentPosition(); + } + /** + * @return The resolution of the turret's encoder in ticks/rotation. + */ + public double getEncoderResolution(){ + return ticksPerRotation; + } + /** + * @param power A value between -1 and 1 that the turret motor's power will be set to. + */ + public void setPower(double power){ + turretRotationMotor.setPower(power); + } + /** + * @return The angle of the turret in degrees. Can be any value. + */ + public double getAngleAbsolute(){ + return (getEncoderTicks()/ticksPerRotation*360); + } + /** + * @return The angle of the turret in degrees. Can be any value between 0 and 360. + */ + public double getAngle(){ + return getAngleAbsolute()%360; + } + /** + * @return The velocity of the turret in encoder ticks/second. + */ + public double getVelocity(){ + return turretRotationMotor.getVelocity(); + } + /** + * @return The velocity of the turret in degrees/second. + */ + public double getVelocityDegrees(){ + return (getVelocity()/ticksPerRotation*360); + } + /** + * @return The velocity of the turret in RPM. + */ + public double getVelocityRPM(){ + return ((getVelocity()*60)/ticksPerRotation); + } + /** + * @return The power that the turret motor has been set to. + */ + public double getPower(){ + return turretRotationMotor.getPower(); + } + /** + * Uses a PID controller to move the turret to the desired position. + * Must be called every loop to function properly. + * @param angle The angle to move the turret to. + */ + public void setTargetAngle(double angle){ + ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getVelocity()); + turretPID.setGoal(new KineticState(angle)); + setPower(turretPID.calculate(currentKineticState)); + } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index de7ffe22b7ef..847deee80d5b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -89,14 +89,14 @@ public void runOpMode() { target = 270; } - Robot.turret.setTurretAngle(target); + Robot.turret.heading.setTargetAngle(target); Robot.intake.setPower(gamepad1.left_trigger); // Turret-related Telemetry telemetry.addData("Turret Target Angle:", target); - telemetry.addData("Turret Actual Angle", Robot.turret.getAngleAbsolute()); - telemetry.addData("Turret Set Power", Robot.turret.getTurretPower()); + telemetry.addData("Turret Actual Angle", Robot.turret.heading.getAngleAbsolute()); + telemetry.addData("Turret Set Power", Robot.turret.heading.getPower()); // Intake-related Telemetry telemetry.addLine(); From 6946198b326d7a1b8638b34e5f7514d0275b2182 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Wed, 5 Nov 2025 22:24:33 -0500 Subject: [PATCH 051/152] Moved all motor functionality to an external DcMotorExClass for easier development --- .../Hardware_Classes/DcMotorExClass.java | 109 ++++++++++++++ .../LOADCode/Main_/LoadHardwareClass.java | 134 ++---------------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 4 +- 3 files changed, 120 insertions(+), 127 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java new file mode 100644 index 000000000000..dac4ee981174 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -0,0 +1,109 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes; + +import com.qualcomm.robotcore.hardware.DcMotorEx; + +import dev.nextftc.control.ControlSystem; +import dev.nextftc.control.KineticState; +import dev.nextftc.control.feedback.PIDCoefficients; + +public class DcMotorExClass { + // Turret Constants + // PID coefficients + PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); + // Encoder ticks/rotation + // 1620rpm - 103.8 ticks at the motor shaft + double ticksPerRotation = 103.8; + + private DcMotorEx motorObject = null; + + public DcMotorExClass(DcMotorEx motor){ + motorObject = motor; + } + + /** + * @return The current position of the turret motor in encoder ticks. Can be any value. + */ + public double getEncoderTicks(){ + return motorObject.getCurrentPosition(); + } + + /** + * @return The resolution of the turret's encoder in ticks/rotation. + */ + public double getEncoderResolution(){ + return ticksPerRotation; + } + + /** + * @param power A value between -1 and 1 that the turret motor's power will be set to. + */ + public void setPower(double power){ + motorObject.setPower(power); + } + + /** + * @return The angle of the turret in degrees. Can be any value. + */ + public double getAngleAbsolute(){ + return (getEncoderTicks()/ticksPerRotation*360); + } + + /** + * @return The angle of the turret in degrees. Can be any value between 0 and 360. + */ + public double getAngle(){ + return getAngleAbsolute()%360; + } + + /** + * @return The velocity of the turret in encoder ticks/second. + */ + public double getVelocity(){ + return motorObject.getVelocity(); + } + + /** + * @return The velocity of the turret in degrees/second. + */ + public double getDegreesPerSecond(){ + return (getVelocity()/ticksPerRotation*360); + } + + /** + * @return The velocity of the turret in RPM. + */ + public double getRPM(){ + return ((getVelocity()*60)/ticksPerRotation); + } + + /** + * @return The power that the turret motor has been set to. + */ + public double getPower(){ + return motorObject.getPower(); + } + + /** + * Uses a PID controller to move the motor to the desired position. + * Must be called every loop to function properly. + * @param angle The angle to move the motor to. + */ + public void setAngle(double angle){ + ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getVelocity()); + turretPID.setGoal(new KineticState(angle)); + setPower(turretPID.calculate(currentKineticState)); + } + + /** + * Uses a PID controller to accelerate the motor to the desired RPM + * Must be called every loop to function properly. + * @param rpm The RPM to accelerate the motor to + */ + public void setTurretAngle(double rpm){ + ControlSystem PID = ControlSystem.builder().velPid(turretCoefficients).build(); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getVelocity()); + PID.setGoal(new KineticState(0, rpm)); + setPower(PID.calculate(currentKineticState)); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 38e27d801dc9..4a1f4ecfa8fc 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -35,6 +35,7 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.DcMotorExClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import dev.nextftc.control.ControlSystem; @@ -67,6 +68,7 @@ public class LoadHardwareClass { private DcMotor backRight = null; // Other private DcMotorEx turretMotor = null; + private DcMotorEx flywheelMotor = null; private DcMotorEx intakeMotor = null; // Misc Constants @@ -78,8 +80,9 @@ public class LoadHardwareClass { // Declare subclasses public final Drivetrain drivetrain; - public final Turret turret; - public final Intake intake; + public final DcMotorExClass turret; + public final DcMotorExClass flywheel; + public final DcMotorExClass intake; /** * Constructor that allows the OpMode to pass a reference to itself. @@ -87,8 +90,9 @@ public class LoadHardwareClass { */ public LoadHardwareClass(LinearOpMode opmode) { myOpMode = opmode; - this.turret = new Turret(); - this.intake = new Intake(); + this.turret = new DcMotorExClass(turretMotor); + this.flywheel = new DcMotorExClass(flywheelMotor); + this.intake = new DcMotorExClass(intakeMotor); this.drivetrain = new Drivetrain(); } @@ -104,6 +108,7 @@ public void init() { backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turret"); + turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "flywheel"); intakeMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "intake"); // Set motor directions @@ -197,125 +202,4 @@ public void setDrivePower(double flPower, double frPower, double blPower, double backRight.setPower(brPower); } } - - public class Turret { - // Turret Constants - // PID coefficients - PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); - // Encoder ticks/rotation - // 1620rpm - 103.8 ticks at the motor shaft - double ticksPerRotation = 103.8; - - /** - * @return The current position of the turret motor in encoder ticks. Can be any value. - */ - public double getEncoderTicks(){ - return turretMotor.getCurrentPosition(); - } - - /** - * @return The resolution of the turret's encoder in ticks/rotation. - */ - public double getEncoderResolution(){ - return ticksPerRotation; - } - - /** - * @param power A value between -1 and 1 that the turret motor's power will be set to. - */ - public void setPower(double power){ - turretMotor.setPower(power); - } - - /** - * @return The angle of the turret in degrees. Can be any value. - */ - public double getAngleAbsolute(){ - return (getEncoderTicks()/ticksPerRotation*360); - } - - /** - * @return The angle of the turret in degrees. Can be any value between 0 and 360. - */ - public double getTurretAngle(){ - return getAngleAbsolute()%360; - } - - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getTurretVelocity(){ - return turretMotor.getVelocity(); - } - - /** - * @return The velocity of the turret in degrees/second. - */ - public double getTurretVelocityDegrees(){ - return (getTurretVelocity()/ticksPerRotation*360); - } - - /** - * @return The velocity of the turret in RPM. - */ - public double getTurretVelocityRPM(){ - return ((getTurretVelocity()*60)/ticksPerRotation); - } - - /** - * @return The power that the turret motor has been set to. - */ - public double getTurretPower(){ - return turretMotor.getPower(); - } - - /** - * Uses a PID controller to move the turret to the desired position. - * Must be called every loop to function properly. - * @param angle The angle to move the turret to. - */ - public void setTurretAngle(double angle){ - ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getTurretVelocity()); - turretPID.setGoal(new KineticState(angle)); - setPower(turretPID.calculate(currentKineticState)); - } - } - - public class Intake { - // Intake Constants - // Encoder ticks/rotation - // 1620rpm - 103.8 ticks at the motor shaft - double ticksPerRotation = 103.8; - - - /** - * @param power A value between -1 and 1 that the intake motor's power will be set to. - */ - public void setPower(double power){ - intakeMotor.setPower(power); - } - - /** - * @return The power that the intake motor has been set to. - */ - public double getPower(){ - return intakeMotor.getPower(); - } - - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getTurretVelocity(){ - return intakeMotor.getVelocity(); - } - - /** - * @return The velocity of the intake in RPM. - */ - public double getTurretVelocityRPM(){ - return ((getTurretVelocity()*60)/ticksPerRotation); - } - } - } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index de7ffe22b7ef..ed12998113f1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -96,12 +96,12 @@ public void runOpMode() { // Turret-related Telemetry telemetry.addData("Turret Target Angle:", target); telemetry.addData("Turret Actual Angle", Robot.turret.getAngleAbsolute()); - telemetry.addData("Turret Set Power", Robot.turret.getTurretPower()); + telemetry.addData("Turret Set Power", Robot.turret.getPower()); // Intake-related Telemetry telemetry.addLine(); telemetry.addData("Intake Set Power", Robot.intake.getPower()); - telemetry.addData("Intake RPM", Robot.intake.getTurretVelocityRPM()); + telemetry.addData("Intake RPM", Robot.intake.getRPM()); // System-related Telemetry telemetry.addLine(); From 1c690177a022f6860b6c9308179d0220713e55e4 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Wed, 5 Nov 2025 22:30:21 -0500 Subject: [PATCH 052/152] Bugfixed some merge issues --- .../LOADCode/Main_/LoadHardwareClass.java | 125 +----------------- 1 file changed, 3 insertions(+), 122 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 39c8c75b6e8f..69bfe2065ed1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -68,11 +68,10 @@ public class LoadHardwareClass { private DcMotor backLeft = null; private DcMotor backRight = null; // Turret - private DcMotorEx turretRotationMotor = null; - private DcMotorEx turretFlywheel = null; - private Servo turretHoodServo = null; - // Other private DcMotorEx turretMotor = null; + private DcMotorEx flywheelMotor = null; + private Servo hoodServo = null; + // Other private DcMotorEx intakeMotor = null; // Misc Constants @@ -204,122 +203,4 @@ public void setDrivePower(double flPower, double frPower, double blPower, double backRight.setPower(brPower); } } - - public class Turret { - public final TurretHeading heading = new TurretHeading(); - - /** - * This class contains the controls and functions for the heading of the turret - */ - public class TurretHeading { - // Turret Constants - // PID coefficients - PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); - // Encoder ticks/rotation - // 1620rpm - 103.8 ticks at the motor shaft - double ticksPerRotation = 103.8; - /** - * @return The current position of the turret motor in encoder ticks. Can be any value. - */ - public double getEncoderTicks(){ - return turretRotationMotor.getCurrentPosition(); - } - /** - * @return The resolution of the turret's encoder in ticks/rotation. - */ - public double getEncoderResolution(){ - return ticksPerRotation; - } - /** - * @param power A value between -1 and 1 that the turret motor's power will be set to. - */ - public void setPower(double power){ - turretRotationMotor.setPower(power); - } - /** - * @return The angle of the turret in degrees. Can be any value. - */ - public double getAngleAbsolute(){ - return (getEncoderTicks()/ticksPerRotation*360); - } - /** - * @return The angle of the turret in degrees. Can be any value between 0 and 360. - */ - public double getAngle(){ - return getAngleAbsolute()%360; - } - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getVelocity(){ - return turretRotationMotor.getVelocity(); - } - /** - * @return The velocity of the turret in degrees/second. - */ - public double getVelocityDegrees(){ - return (getVelocity()/ticksPerRotation*360); - } - /** - * @return The velocity of the turret in RPM. - */ - public double getVelocityRPM(){ - return ((getVelocity()*60)/ticksPerRotation); - } - /** - * @return The power that the turret motor has been set to. - */ - public double getPower(){ - return turretRotationMotor.getPower(); - } - /** - * Uses a PID controller to move the turret to the desired position. - * Must be called every loop to function properly. - * @param angle The angle to move the turret to. - */ - public void setTargetAngle(double angle){ - ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getVelocity()); - turretPID.setGoal(new KineticState(angle)); - setPower(turretPID.calculate(currentKineticState)); - } - } - } - - public class Intake { - // Intake Constants - // Encoder ticks/rotation - // 1620rpm - 103.8 ticks at the motor shaft - double ticksPerRotation = 103.8; - - - /** - * @param power A value between -1 and 1 that the intake motor's power will be set to. - */ - public void setPower(double power){ - intakeMotor.setPower(power); - } - - /** - * @return The power that the intake motor has been set to. - */ - public double getPower(){ - return intakeMotor.getPower(); - } - - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getTurretVelocity(){ - return intakeMotor.getVelocity(); - } - - /** - * @return The velocity of the intake in RPM. - */ - public double getTurretVelocityRPM(){ - return ((getTurretVelocity()*60)/ticksPerRotation); - } - } - } From 9e6d0ea4acbb91ff12fc4830b5dfc29f25a87455 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Thu, 6 Nov 2025 08:37:10 -0500 Subject: [PATCH 053/152] Finished creating a generic DcMotorExClass and MecanumDrivetrainClass for abstraction purposes. --- .../Hardware_Classes/DcMotorExClass.java | 58 ++++--- .../MecanumDrivetrainClass.java | 55 ++++++ .../LOADCode/Main_/LoadHardwareClass.java | 156 ++---------------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 7 +- 4 files changed, 107 insertions(+), 169 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java index dac4ee981174..c308138f4cdc 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -1,5 +1,8 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes; +import androidx.annotation.NonNull; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotorEx; import dev.nextftc.control.ControlSystem; @@ -7,17 +10,35 @@ import dev.nextftc.control.feedback.PIDCoefficients; public class DcMotorExClass { - // Turret Constants // PID coefficients PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); // Encoder ticks/rotation - // 1620rpm - 103.8 ticks at the motor shaft + // 1620rpm Gobilda - 103.8 ticks at the motor shaft double ticksPerRotation = 103.8; - + // Motor object private DcMotorEx motorObject = null; - public DcMotorExClass(DcMotorEx motor){ - motorObject = motor; + /** + * Initializes the motor hardware + * @param opmode Allows this class to access the robot hardware objects. + * @param motorName The name of the motor in the robot's configuration. + * @param encoderResolution The resolution of the motor's encoder in ticks/rotation. + */ + public void init (@NonNull OpMode opmode, String motorName, double encoderResolution){ + // Initialize the motor object + motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); + ticksPerRotation = encoderResolution; + } + /** + * Initializes the motor hardware. + * The resolution of the motor encoder will default to + * 103.8 ticks/rotation, the value for a 1620RPM Gobilda motor. + * @param opmode Allows this class to access the robot hardware objects. + * @param motorName The name of the motor in the robot's configuration. + */ + public void init (@NonNull OpMode opmode, String motorName){ + // Initialize the motor object + motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); } /** @@ -26,84 +47,75 @@ public DcMotorExClass(DcMotorEx motor){ public double getEncoderTicks(){ return motorObject.getCurrentPosition(); } - /** * @return The resolution of the turret's encoder in ticks/rotation. */ public double getEncoderResolution(){ return ticksPerRotation; } - /** * @param power A value between -1 and 1 that the turret motor's power will be set to. */ public void setPower(double power){ motorObject.setPower(power); } - /** * @return The angle of the turret in degrees. Can be any value. */ public double getAngleAbsolute(){ return (getEncoderTicks()/ticksPerRotation*360); } - /** * @return The angle of the turret in degrees. Can be any value between 0 and 360. */ public double getAngle(){ return getAngleAbsolute()%360; } - /** * @return The velocity of the turret in encoder ticks/second. */ public double getVelocity(){ return motorObject.getVelocity(); } - /** * @return The velocity of the turret in degrees/second. */ public double getDegreesPerSecond(){ - return (getVelocity()/ticksPerRotation*360); + return (getVelocity()/ticksPerRotation)*360; } - /** * @return The velocity of the turret in RPM. */ public double getRPM(){ - return ((getVelocity()*60)/ticksPerRotation); + return (getVelocity()/ticksPerRotation)*60; } - /** * @return The power that the turret motor has been set to. */ public double getPower(){ return motorObject.getPower(); } - /** * Uses a PID controller to move the motor to the desired position. * Must be called every loop to function properly. - * @param angle The angle to move the motor to. + * @param angle The angle in degrees to move the motor to. Can be any number. */ public void setAngle(double angle){ ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getVelocity()); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); turretPID.setGoal(new KineticState(angle)); setPower(turretPID.calculate(currentKineticState)); } - /** * Uses a PID controller to accelerate the motor to the desired RPM * Must be called every loop to function properly. - * @param rpm The RPM to accelerate the motor to + * @param rpm The RPM to accelerate the motor to. Can be any number */ - public void setTurretAngle(double rpm){ + public void setRPM(double rpm){ + double degreesPerSecond = rpm*6; ControlSystem PID = ControlSystem.builder().velPid(turretCoefficients).build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getVelocity()); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); PID.setGoal(new KineticState(0, rpm)); setPower(PID.calculate(currentKineticState)); } -} +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java new file mode 100644 index 000000000000..d5ac68e19fea --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java @@ -0,0 +1,55 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes; + +import androidx.annotation.NonNull; + +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; + +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; + +public class MecanumDrivetrainClass { + // Controls the speed of the robot + public double speedMultiplier = 1.0; // make this slower for outreaches + + // Misc Constants + private Follower follower = null; + private Pose initialPose = new Pose(0,0, 0); + + /** + * @param pose The position and heading that the robot starts at on the field. + */ + public void setInitialPose (Pose pose){ + initialPose = pose; + } + + /** + * Initializes the PedroPathing follower. + * Needs to be run once after all hardware is initialized. + * Does not need to be run if not using PedroPathing. + * @param myOpMode Allows the follower access to the robot hardware. + */ + public void init (@NonNull OpMode myOpMode){ + // PedroPathing initialization + follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower + follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization + } + + /** + * Uses PedroPathing's follower class to implement a mecanum drive controller. + * Must be called every loop to function properly. + * @param forward The joystick value for driving forward/backward + * @param strafe The joystick value for strafing + * @param rotate The joystick value to turn left/right + * @param robotCentric If true, enables robot centric. If false, enables field centric. + */ + public void pedroMecanumDrive(double forward, double strafe, double rotate, boolean robotCentric){ + follower.setTeleOpDrive( + forward * speedMultiplier, + strafe * speedMultiplier, + rotate * speedMultiplier, + robotCentric); + follower.update(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 69bfe2065ed1..ad37dd4db95a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -28,20 +28,9 @@ */ package org.firstinspires.ftc.teamcode.LOADCode.Main_; - -import com.pedropathing.follower.Follower; -import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.hardware.DcMotorEx; -import com.qualcomm.robotcore.hardware.Servo; - import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.DcMotorExClass; -import org.firstinspires.ftc.teamcode.pedroPathing.Constants; - -import dev.nextftc.control.ControlSystem; -import dev.nextftc.control.KineticState; -import dev.nextftc.control.feedback.PIDCoefficients; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.MecanumDrivetrainClass; /* * This file is designed to work with our OpModes to handle all our hardware functionality to de-clutter our main scripts @@ -49,40 +38,12 @@ * The logic goes in the OpModes and the hardware control is handled here. */ -//TODO Abstract all the individual systems rather than the entire hardware -/* -Example: Abstract class for drivetrain, Turret, intake, etc -They could be all individually referenced in the main OpMode -Drivetrain.doThing(args); -Turret.doOtherThing(args); -etc etc -*/ public class LoadHardwareClass { /* Declare OpMode members. */ private LinearOpMode myOpMode = null; // gain access to methods in the calling OpMode. - // Motors and servos go here - // Drivetrain - private DcMotor frontLeft = null; - private DcMotor frontRight = null; - private DcMotor backLeft = null; - private DcMotor backRight = null; - // Turret - private DcMotorEx turretMotor = null; - private DcMotorEx flywheelMotor = null; - private Servo hoodServo = null; - // Other - private DcMotorEx intakeMotor = null; - - // Misc Constants - private Follower follower = null; - public Pose initialPose = new Pose(0,0, 0); - - // Public drive constants - public double speedMultiplier = 1.0; // make this slower for outreaches - // Declare subclasses - public final Drivetrain drivetrain; + public final MecanumDrivetrainClass drivetrain; public final DcMotorExClass turret; public final DcMotorExClass flywheel; public final DcMotorExClass intake; @@ -93,114 +54,23 @@ public class LoadHardwareClass { */ public LoadHardwareClass(LinearOpMode opmode) { myOpMode = opmode; - this.turret = new DcMotorExClass(turretMotor); - this.flywheel = new DcMotorExClass(flywheelMotor); - this.intake = new DcMotorExClass(intakeMotor); - this.drivetrain = new Drivetrain(); + this.drivetrain = new MecanumDrivetrainClass(); + this.turret = new DcMotorExClass(); + this.flywheel = new DcMotorExClass(); + this.intake = new DcMotorExClass(); } - /** * Initializes all hardware for the robot. * Must be called once at the start of each op-mode. */ public void init() { - // Define and initialize motors (note: need to use reference to actual OpMode). - frontLeft = myOpMode.hardwareMap.get(DcMotor.class, "FL"); - frontRight = myOpMode.hardwareMap.get(DcMotor.class, "FR"); - backLeft = myOpMode.hardwareMap.get(DcMotor.class, "BL"); - backRight = myOpMode.hardwareMap.get(DcMotor.class, "BR"); - - turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "turret"); - turretMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "flywheel"); - intakeMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "intake"); - - // Set motor/servo directions - // Drivetrain - frontLeft.setDirection(DcMotor.Direction.REVERSE); - frontRight.setDirection(DcMotor.Direction.FORWARD); - backLeft.setDirection(DcMotor.Direction.REVERSE); - backRight.setDirection(DcMotor.Direction.FORWARD); - - // If the motors have encoders, handle all that here - - // PedroPathing initialization - follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower - follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field - follower.update(); // Applies the initialization - + // Initialize all subclasses + drivetrain.init(myOpMode); + turret.init(myOpMode, "turret"); + flywheel.init(myOpMode, "flywheel"); + intake.init(myOpMode, "intake"); // Misc telemetry - myOpMode.telemetry.addData(">", "Hardware Initialized"); - myOpMode.telemetry.update(); - } - - public class Drivetrain { - /** - * Implements a custom mecanum drive controller. - * Must be called every loop to function properly. - * @param Forward The joystick value for driving forward/backward - * @param Strafe The joystick value for strafing - * @param Rotate The joystick value to turn left/right - */ - public void mecanumDrive(double Forward, double Strafe, double Rotate) { - // Puts the inputted joystick values into their own variable to allow for modification. - double forward = Forward * speedMultiplier; - double strafe = Strafe * speedMultiplier; - double rotate = Rotate * speedMultiplier; - - // This calculates the power needed for each wheel based on the amount of forward, - // strafe right, and rotate - double frontLeftPower = -forward + strafe + rotate; - double frontRightPower = -forward - strafe - rotate; - double backRightPower = -forward + strafe - rotate; - double backLeftPower = -forward - strafe + rotate; - - double maxPower = 1.0; - - // This is needed to make sure we don't pass > 1.0 to any wheel - // It allows us to keep all of the motors in proportion to what they should - // be and not get clipped - maxPower = Math.max(maxPower, Math.abs(frontLeftPower)); - maxPower = Math.max(maxPower, Math.abs(frontRightPower)); - maxPower = Math.max(maxPower, Math.abs(backRightPower)); - maxPower = Math.max(maxPower, Math.abs(backLeftPower)); - - // We multiply by maxSpeed so that it can be set lower for outreaches - // When a young child is driving the robot, we may not want to allow full - // speed. - setDrivePower( - (frontLeftPower / maxPower), - (frontRightPower / maxPower), - (backLeftPower / maxPower), - (backRightPower / maxPower) - ); - } - - /** - * Uses PedroPathing's follower class to implement a mecanum drive controller. - * Must be called every loop to function properly. - * @param forward The joystick value for driving forward/backward - * @param strafe The joystick value for strafing - * @param rotate The joystick value to turn left/right - * @param robotCentric If true, enables robot centric. If false, enables field centric. - */ - public void pedroMecanumDrive(double forward, double strafe, double rotate, boolean robotCentric){ - follower.setTeleOpDrive( - forward * speedMultiplier, - strafe * speedMultiplier, - rotate * speedMultiplier, - robotCentric); - follower.update(); - } - - /** - * Sets the output power of all four drivetrain motors. - */ - public void setDrivePower(double flPower, double frPower, double blPower, double brPower) { - // Output the values to the motor drives. - frontLeft.setPower(flPower); - frontRight.setPower(frPower); - backLeft.setPower(blPower); - backRight.setPower(brPower); - } + myOpMode.telemetry.addData(">", "Hardware Initialized"); + myOpMode.telemetry.update(); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index ed12998113f1..5029cfa87e12 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -55,8 +55,8 @@ public void runOpMode() { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - // Pass the starting pose of the robot to the Robot class - Robot.initialPose = startPose; + // Pass the starting pose of the robot to the drivetrain subclass + Robot.drivetrain.setInitialPose(startPose); // Wait for the game to start (driver presses START) waitForStart(); @@ -89,9 +89,10 @@ public void runOpMode() { target = 270; } - Robot.turret.setTurretAngle(target); + Robot.turret.setAngle(target); Robot.intake.setPower(gamepad1.left_trigger); + Robot.flywheel.setPower(gamepad1.right_trigger); // Turret-related Telemetry telemetry.addData("Turret Target Angle:", target); From 7513d7cd0305503a912aadcb02e3257d69c1b0e8 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Thu, 6 Nov 2025 08:46:26 -0500 Subject: [PATCH 054/152] Added a way to set the PID coefficients for a motor object --- .../LOADCode/Main_/Hardware_Classes/DcMotorExClass.java | 6 +++--- .../Main_/Hardware_Classes/MecanumDrivetrainClass.java | 4 +++- .../ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java | 5 +++++ 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java index c308138f4cdc..188b5056f497 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -11,7 +11,7 @@ public class DcMotorExClass { // PID coefficients - PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); + PIDCoefficients coefficients = new PIDCoefficients(0.005, 0, 0); // Encoder ticks/rotation // 1620rpm Gobilda - 103.8 ticks at the motor shaft double ticksPerRotation = 103.8; @@ -101,7 +101,7 @@ public double getPower(){ * @param angle The angle in degrees to move the motor to. Can be any number. */ public void setAngle(double angle){ - ControlSystem turretPID = ControlSystem.builder().posPid(turretCoefficients).build(); + ControlSystem turretPID = ControlSystem.builder().posPid(coefficients).build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); turretPID.setGoal(new KineticState(angle)); setPower(turretPID.calculate(currentKineticState)); @@ -113,7 +113,7 @@ public void setAngle(double angle){ */ public void setRPM(double rpm){ double degreesPerSecond = rpm*6; - ControlSystem PID = ControlSystem.builder().velPid(turretCoefficients).build(); + ControlSystem PID = ControlSystem.builder().velPid(coefficients).build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); PID.setGoal(new KineticState(0, rpm)); setPower(PID.calculate(currentKineticState)); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java index d5ac68e19fea..8a08068b850a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java @@ -17,6 +17,9 @@ public class MecanumDrivetrainClass { private Pose initialPose = new Pose(0,0, 0); /** + * Sets the initial position & heading of the robot. + * Must be run BEFORE the robot is intialized. + * Otherwise, it will default to (0,0,0). * @param pose The position and heading that the robot starts at on the field. */ public void setInitialPose (Pose pose){ @@ -26,7 +29,6 @@ public void setInitialPose (Pose pose){ /** * Initializes the PedroPathing follower. * Needs to be run once after all hardware is initialized. - * Does not need to be run if not using PedroPathing. * @param myOpMode Allows the follower access to the robot hardware. */ public void init (@NonNull OpMode myOpMode){ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index ad37dd4db95a..c4ed680f5f20 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -32,6 +32,8 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.DcMotorExClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.MecanumDrivetrainClass; +import dev.nextftc.control.feedback.PIDCoefficients; + /* * This file is designed to work with our OpModes to handle all our hardware functionality to de-clutter our main scripts * @@ -48,6 +50,9 @@ public class LoadHardwareClass { public final DcMotorExClass flywheel; public final DcMotorExClass intake; + // Subsystem configuration + PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); + /** * Constructor that allows the OpMode to pass a reference to itself. * @param opmode The input for this parameter should almost always be "this". From 25684686f468e398e19ec49fa28cfd9980bfe894 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Thu, 6 Nov 2025 08:56:52 -0500 Subject: [PATCH 055/152] Implemented the setting of the PID coefficients for the turret and flywheel in LoadHardwareClass --- .../Main_/Hardware_Classes/DcMotorExClass.java | 15 +++++++++++---- .../LOADCode/Main_/LoadHardwareClass.java | 8 +++++++- .../Testing_/TeleOps/TurretLocalization.java | 4 +--- 3 files changed, 19 insertions(+), 8 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java index 188b5056f497..d77e5b3faf8b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -10,8 +10,8 @@ import dev.nextftc.control.feedback.PIDCoefficients; public class DcMotorExClass { - // PID coefficients - PIDCoefficients coefficients = new PIDCoefficients(0.005, 0, 0); + // PID pidCoefficients + PIDCoefficients pidCoefficients = new PIDCoefficients(0.005, 0, 0); // Encoder ticks/rotation // 1620rpm Gobilda - 103.8 ticks at the motor shaft double ticksPerRotation = 103.8; @@ -41,6 +41,13 @@ public void init (@NonNull OpMode opmode, String motorName){ motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); } + /** + * Sets the value of the PID coefficients of the motor. + * @param coefficients The values to set the coefficients to. + */ + public void setPidCoefficients(PIDCoefficients coefficients) { + pidCoefficients = coefficients; + } /** * @return The current position of the turret motor in encoder ticks. Can be any value. */ @@ -101,7 +108,7 @@ public double getPower(){ * @param angle The angle in degrees to move the motor to. Can be any number. */ public void setAngle(double angle){ - ControlSystem turretPID = ControlSystem.builder().posPid(coefficients).build(); + ControlSystem turretPID = ControlSystem.builder().posPid(pidCoefficients).build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); turretPID.setGoal(new KineticState(angle)); setPower(turretPID.calculate(currentKineticState)); @@ -113,7 +120,7 @@ public void setAngle(double angle){ */ public void setRPM(double rpm){ double degreesPerSecond = rpm*6; - ControlSystem PID = ControlSystem.builder().velPid(coefficients).build(); + ControlSystem PID = ControlSystem.builder().velPid(pidCoefficients).build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); PID.setGoal(new KineticState(0, rpm)); setPower(PID.calculate(currentKineticState)); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index c4ed680f5f20..164982c25219 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -52,6 +52,7 @@ public class LoadHardwareClass { // Subsystem configuration PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); + PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); /** * Constructor that allows the OpMode to pass a reference to itself. @@ -71,9 +72,14 @@ public LoadHardwareClass(LinearOpMode opmode) { public void init() { // Initialize all subclasses drivetrain.init(myOpMode); - turret.init(myOpMode, "turret"); + turret.init(myOpMode, "turret", 103.8); flywheel.init(myOpMode, "flywheel"); intake.init(myOpMode, "intake"); + + // Pass PID pidCoefficients to motor classes + turret.setPidCoefficients(turretCoefficients); + flywheel.setPidCoefficients(flywheelCoefficients); + // Misc telemetry myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java index 35012485bdec..542bb87d0d0f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java @@ -30,7 +30,6 @@ package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; import com.bylazar.configurables.annotations.Configurable; -import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; @@ -54,7 +53,6 @@ import dev.nextftc.control.ControlSystem; import dev.nextftc.control.KineticState; import dev.nextftc.control.feedback.PIDCoefficients; -import kotlin.jvm.JvmField; /* * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. @@ -103,7 +101,7 @@ public class TurretLocalization extends LinearOpMode public static Follower follower; // Used for managing the PedroPathing path follower public TelemetryManager telemetryM; // Used for putting telemetry data on Panels - //Turret PID coefficients + //Turret PID pidCoefficients public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.75, 0.005, 200); public static int turretDeadZoneSize = 5; From 18fb1c80eb85ddea4e4891949332a8ded4323e01 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Thu, 6 Nov 2025 09:44:26 -0500 Subject: [PATCH 056/152] Reworked how the initial robot pose is passed to MecanumDrivetrainClass to be more intuitive --- .../Hardware_Classes/MecanumDrivetrainClass.java | 14 ++------------ .../teamcode/LOADCode/Main_/LoadHardwareClass.java | 5 +++-- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 5 +---- 3 files changed, 6 insertions(+), 18 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java index 8a08068b850a..d571ebae3124 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java @@ -14,24 +14,14 @@ public class MecanumDrivetrainClass { // Misc Constants private Follower follower = null; - private Pose initialPose = new Pose(0,0, 0); - - /** - * Sets the initial position & heading of the robot. - * Must be run BEFORE the robot is intialized. - * Otherwise, it will default to (0,0,0). - * @param pose The position and heading that the robot starts at on the field. - */ - public void setInitialPose (Pose pose){ - initialPose = pose; - } /** * Initializes the PedroPathing follower. * Needs to be run once after all hardware is initialized. * @param myOpMode Allows the follower access to the robot hardware. + * @param initialPose The starting pose of the robot. */ - public void init (@NonNull OpMode myOpMode){ + public void init (@NonNull OpMode myOpMode, Pose initialPose){ // PedroPathing initialization follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 164982c25219..828861f39762 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -28,6 +28,7 @@ */ package org.firstinspires.ftc.teamcode.LOADCode.Main_; +import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.DcMotorExClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.MecanumDrivetrainClass; @@ -69,9 +70,9 @@ public LoadHardwareClass(LinearOpMode opmode) { * Initializes all hardware for the robot. * Must be called once at the start of each op-mode. */ - public void init() { + public void init(Pose initialPose) { // Initialize all subclasses - drivetrain.init(myOpMode); + drivetrain.init(myOpMode, initialPose); turret.init(myOpMode, "turret", 103.8); flywheel.init(myOpMode, "flywheel"); intake.init(myOpMode, "intake"); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 5029cfa87e12..f24a739dd506 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -55,9 +55,6 @@ public void runOpMode() { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - // Pass the starting pose of the robot to the drivetrain subclass - Robot.drivetrain.setInitialPose(startPose); - // Wait for the game to start (driver presses START) waitForStart(); runtime.reset(); @@ -66,7 +63,7 @@ public void runOpMode() { double target = 0; // Initialize all hardware of the robot - Robot.init(); + Robot.init(startPose); // run until the end of the match (driver presses STOP) while (opModeIsActive()) { From 9ef1d23a5b8679943a80cab26d4aced2b088aa7f Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Thu, 6 Nov 2025 10:38:54 -0500 Subject: [PATCH 057/152] Worked on the velocity PID for the flywheel --- .../Calculation_Classes/Turret_Heading.java | 34 +++++++++++++++++++ .../Hardware_Classes/DcMotorExClass.java | 16 +++++++-- .../LOADCode/Main_/LoadHardwareClass.java | 3 ++ build.dependencies.gradle | 2 ++ 4 files changed, 53 insertions(+), 2 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java new file mode 100644 index 000000000000..53d28124967f --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java @@ -0,0 +1,34 @@ +/* Copyright (c) 2022 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes; + +public class Turret_Heading { + +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java index d77e5b3faf8b..19689018e1ce 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -8,10 +8,12 @@ import dev.nextftc.control.ControlSystem; import dev.nextftc.control.KineticState; import dev.nextftc.control.feedback.PIDCoefficients; +import dev.nextftc.control.feedforward.BasicFeedforwardParameters; public class DcMotorExClass { // PID pidCoefficients - PIDCoefficients pidCoefficients = new PIDCoefficients(0.005, 0, 0); + PIDCoefficients pidCoefficients = new PIDCoefficients(0, 0, 0); + BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); // Encoder ticks/rotation // 1620rpm Gobilda - 103.8 ticks at the motor shaft double ticksPerRotation = 103.8; @@ -48,6 +50,13 @@ public void init (@NonNull OpMode opmode, String motorName){ public void setPidCoefficients(PIDCoefficients coefficients) { pidCoefficients = coefficients; } + /** + * Sets the value of the FeedForward coefficients of the motor. + * @param coefficients The values to set the coefficients to. + */ + public void setFFCoefficients(BasicFeedforwardParameters coefficients) { + ffCoefficients = coefficients; + } /** * @return The current position of the turret motor in encoder ticks. Can be any value. */ @@ -120,7 +129,10 @@ public void setAngle(double angle){ */ public void setRPM(double rpm){ double degreesPerSecond = rpm*6; - ControlSystem PID = ControlSystem.builder().velPid(pidCoefficients).build(); + ControlSystem PID = ControlSystem.builder() + .velPid(pidCoefficients) + .basicFF(ffCoefficients) + .build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); PID.setGoal(new KineticState(0, rpm)); setPower(PID.calculate(currentKineticState)); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 828861f39762..4a9b55d1699a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -34,6 +34,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.MecanumDrivetrainClass; import dev.nextftc.control.feedback.PIDCoefficients; +import dev.nextftc.control.feedforward.BasicFeedforwardParameters; /* * This file is designed to work with our OpModes to handle all our hardware functionality to de-clutter our main scripts @@ -54,6 +55,7 @@ public class LoadHardwareClass { // Subsystem configuration PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); + BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); /** * Constructor that allows the OpMode to pass a reference to itself. @@ -80,6 +82,7 @@ public void init(Pose initialPose) { // Pass PID pidCoefficients to motor classes turret.setPidCoefficients(turretCoefficients); flywheel.setPidCoefficients(flywheelCoefficients); + flywheel.setFFCoefficients(ffCoefficients); // Misc telemetry myOpMode.telemetry.addData(">", "Hardware Initialized"); diff --git a/build.dependencies.gradle b/build.dependencies.gradle index 6c3f16adbefb..9325e95d3af9 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -18,5 +18,7 @@ dependencies { implementation 'com.pedropathing:ftc:2.0.3' implementation 'com.pedropathing:telemetry:1.0.0' implementation 'com.bylazar:fullpanels:1.0.9' + + implementation 'dev.nextftc:control:1.0.0' } From fefe9a4c7a9dd853e0579e743907a952a7d89232 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Thu, 6 Nov 2025 14:07:24 -0500 Subject: [PATCH 058/152] Created Turret_Heading class to store our heading calculations for the turret, and added it to testing system for turret. --- .../Calculation_Classes/Turret_Heading.java | 26 +++++++++++++++++++ .../Hardware_Classes/DcMotorExClass.java | 2 +- .../MecanumDrivetrainClass.java | 2 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 6 +++++ 4 files changed, 34 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java index 53d28124967f..a0a7b68995af 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java @@ -29,6 +29,32 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes; +import com.pedropathing.geometry.Pose; + public class Turret_Heading { + /** + * @param robotPose The pose of the robot, gotten from PedroPathing's localization + * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. + * @return The angle to set the turret to in degrees. + */ + public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ + Pose goalPose = new Pose(0,144,0); + if (targetRedGoal) {goalPose = new Pose(144, 144, 0);} + + + return Math.toDegrees(Math.atan2( + goalPose.getY()-robotPose.getY(), + goalPose.getX()-robotPose.getX() + ) + ) - Math.toDegrees(robotPose.getHeading()) + 180; + } + /** + * @param robotPose The pose of the robot, gotten from PedroPathing's localization + * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. + * @return The angle to set the turret to in degrees. + */ + public double calcAprilTag (Pose robotPose, boolean targetRedGoal){ + return 0; + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java index 19689018e1ce..8936b60ef094 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -134,7 +134,7 @@ public void setRPM(double rpm){ .basicFF(ffCoefficients) .build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); - PID.setGoal(new KineticState(0, rpm)); + PID.setGoal(new KineticState(0, degreesPerSecond)); setPower(PID.calculate(currentKineticState)); } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java index d571ebae3124..d32c61ca47c2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java @@ -13,7 +13,7 @@ public class MecanumDrivetrainClass { public double speedMultiplier = 1.0; // make this slower for outreaches // Misc Constants - private Follower follower = null; + public Follower follower = null; /** * Initializes the PedroPathing follower. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index f24a739dd506..5f56e5dd8e34 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -34,6 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.ElapsedTime; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes.Turret_Heading; import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; //TODO, implement all our external libraries and functionality. @@ -54,6 +55,7 @@ public void runOpMode() { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); + Turret_Heading targeting = new Turret_Heading(); // Wait for the game to start (driver presses START) waitForStart(); @@ -84,6 +86,10 @@ public void runOpMode() { target = 180; }else if (gamepad1.xWasPressed()){ target = 270; + }else if (gamepad1.guide){ + target = targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), true); + }else if (gamepad1.back){ + target = targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), false); } Robot.turret.setAngle(target); From 301f3d56566f242ab07b06268ede9a8ed5a6487a Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 10 Nov 2025 18:17:56 -0500 Subject: [PATCH 059/152] Bugfixes with Pedropathing mecanum drive & turret aimbot calculation work --- .../Calculation_Classes/Turret_Heading.java | 4 +--- .../Hardware_Classes/DcMotorExClass.java | 8 +++++++ .../MecanumDrivetrainClass.java | 9 ++++--- .../LOADCode/Main_/LoadHardwareClass.java | 16 +++++++++---- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 24 ++++++++++++------- .../TeleOps/PedroDriveToAprilTag.java | 3 ++- .../Testing_/TeleOps/TeleopTest_V1.java | 2 ++ .../TeleOps/TurretAprilTagTracking.java | 3 ++- .../Testing_/TeleOps/TurretLocalization.java | 2 ++ 9 files changed, 50 insertions(+), 21 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java index a0a7b68995af..10056d53d64b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java @@ -41,11 +41,9 @@ public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ Pose goalPose = new Pose(0,144,0); if (targetRedGoal) {goalPose = new Pose(144, 144, 0);} - return Math.toDegrees(Math.atan2( goalPose.getY()-robotPose.getY(), - goalPose.getX()-robotPose.getX() - ) + goalPose.getX()-robotPose.getX()) ) - Math.toDegrees(robotPose.getHeading()) + 180; } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java index 8936b60ef094..47bfdb94e31b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java @@ -3,6 +3,7 @@ import androidx.annotation.NonNull; import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; import dev.nextftc.control.ControlSystem; @@ -57,6 +58,13 @@ public void setPidCoefficients(PIDCoefficients coefficients) { public void setFFCoefficients(BasicFeedforwardParameters coefficients) { ffCoefficients = coefficients; } + /** + * Resets the internal encoder of the motor to zero. + */ + public void resetEncoder(){ + motorObject.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + motorObject.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + } /** * @return The current position of the turret motor in encoder ticks. Can be any value. */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java index d32c61ca47c2..41026b5cbc50 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java @@ -26,6 +26,9 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field follower.update(); // Applies the initialization + + follower.startTeleopDrive(); + follower.update(); } /** @@ -38,9 +41,9 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ */ public void pedroMecanumDrive(double forward, double strafe, double rotate, boolean robotCentric){ follower.setTeleOpDrive( - forward * speedMultiplier, - strafe * speedMultiplier, - rotate * speedMultiplier, + -forward * speedMultiplier, + -strafe * speedMultiplier, + -rotate * speedMultiplier, robotCentric); follower.update(); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index 4a9b55d1699a..ea1aa2890c6a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -28,6 +28,7 @@ */ package org.firstinspires.ftc.teamcode.LOADCode.Main_; +import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.DcMotorExClass; @@ -41,7 +42,7 @@ * * The logic goes in the OpModes and the hardware control is handled here. */ - +@Configurable public class LoadHardwareClass { /* Declare OpMode members. */ private LinearOpMode myOpMode = null; // gain access to methods in the calling OpMode. @@ -53,9 +54,9 @@ public class LoadHardwareClass { public final DcMotorExClass intake; // Subsystem configuration - PIDCoefficients turretCoefficients = new PIDCoefficients(0.005, 0, 0); - PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); - BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); + public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); + public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); + public static BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); /** * Constructor that allows the OpMode to pass a reference to itself. @@ -88,4 +89,11 @@ public void init(Pose initialPose) { myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); } + + public void updatePIDs(){ + // Pass PID pidCoefficients to motor classes + turret.setPidCoefficients(turretCoefficients); + flywheel.setPidCoefficients(flywheelCoefficients); + flywheel.setFFCoefficients(ffCoefficients); + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 5f56e5dd8e34..403f124a4800 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -74,22 +74,24 @@ public void runOpMode() { Robot.drivetrain.pedroMecanumDrive( gamepad1.left_stick_y, gamepad1.left_stick_x, - gamepad1.right_stick_x, + gamepad1.right_stick_x/2, true ); - if (gamepad1.bWasPressed()){ + if (gamepad2.bWasPressed()){ target = 90; - }else if (gamepad1.yWasPressed()){ + }else if (gamepad2.yWasPressed()){ target = 0; - }else if (gamepad1.aWasPressed()){ + }else if (gamepad2.aWasPressed()){ target = 180; - }else if (gamepad1.xWasPressed()){ + }else if (gamepad2.xWasPressed()){ target = 270; - }else if (gamepad1.guide){ - target = targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), true); - }else if (gamepad1.back){ - target = targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), false); + }else if (gamepad2.guide){ + target = Math.abs(targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), true)-540); + }else if (gamepad2.back){ + target = Math.abs(targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), false)-540); + }else if (Math.abs(gamepad2.left_stick_x)>0.2 || Math.abs(gamepad2.left_stick_y)>0.2) { + target = Math.toDegrees(Math.atan2(gamepad2.left_stick_y, gamepad2.left_stick_x)); } Robot.turret.setAngle(target); @@ -97,10 +99,14 @@ public void runOpMode() { Robot.intake.setPower(gamepad1.left_trigger); Robot.flywheel.setPower(gamepad1.right_trigger); + Robot.updatePIDs(); + // Turret-related Telemetry + telemetry.addData("Turret PIDs", LoadHardwareClass.turretCoefficients); telemetry.addData("Turret Target Angle:", target); telemetry.addData("Turret Actual Angle", Robot.turret.getAngleAbsolute()); telemetry.addData("Turret Set Power", Robot.turret.getPower()); + telemetry.addData("Turret RPM", Robot.turret.getRPM()); // Intake-related Telemetry telemetry.addLine(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java index 85e5dfa4834c..33e9ad0a2e2d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java @@ -33,6 +33,7 @@ import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +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.Range; @@ -88,7 +89,7 @@ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list. * */ - +@Disabled @TeleOp(name="Follow AprilTag", group = "TestTeleOp") public class PedroDriveToAprilTag extends LinearOpMode { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java index 2bf6850f09be..bf3e7448b693 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java @@ -4,11 +4,13 @@ import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +@Disabled @TeleOp(name = "Example Robot-Centric TeleOp", group = "TestTeleOp") public class TeleopTest_V1 extends OpMode { public static Follower follower; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java index 1f5245473418..360f4fe39b98 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java @@ -33,6 +33,7 @@ import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +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.AnalogInput; @@ -86,7 +87,7 @@ * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. * */ - +@Disabled @TeleOp(name="Turret April-Tag Tracking", group = "TestTeleOp") public class TurretAprilTagTracking extends LinearOpMode { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java index 542bb87d0d0f..379931b378d7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java @@ -33,6 +33,7 @@ import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +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.AnalogInput; @@ -90,6 +91,7 @@ * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. * */ +@Disabled @Configurable @TeleOp(name="Turret Localization", group = "TestTeleOp") public class TurretLocalization extends LinearOpMode From 9424c3935085e1397ce089cee4694107432408d9 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 11 Nov 2025 18:29:28 -0500 Subject: [PATCH 060/152] Made outreach TeleOp & began auto work --- .../LOADCode/Main_/Auto_/TestAuto.java | 233 ++++++++++++++++++ .../LOADCode/Main_/LoadHardwareClass.java | 2 + .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 2 +- .../Main_/Teleop_/Teleop_Outreach_.java | 85 +++++++ 4 files changed, 321 insertions(+), 1 deletion(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java new file mode 100644 index 000000000000..a92d6a81c116 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java @@ -0,0 +1,233 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; // make sure this aligns with class location + +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.BezierCurve; +import com.pedropathing.geometry.BezierLine; +import com.pedropathing.geometry.Pose; +import com.pedropathing.paths.PathChain; +import com.pedropathing.util.Timer; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; + +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; + +@Autonomous(name = "TestAutoR1", group = "TestAuto") +public class TestAuto extends OpMode { + + private Follower follower; + private Timer pathTimer, actionTimer, opmodeTimer; + + private int pathState; + private boolean shooting; + + private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. + private final Pose scorePose = new Pose(86, 22, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. + private final Pose leavePose = new Pose(97, 30, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. + private final Pose pickupR3PoseA = new Pose(110.4, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. + private final Pose pickupR3PoseB = new Pose(121.9, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. + private final Pose pickupR2PoseA = new Pose(110.4, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. + private final Pose pickupR2PoseB = new Pose(121.9, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. + private final Pose pickupR1PoseA = new Pose(110.4, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. + private final Pose pickupR1PoseB = new Pose(121.9, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. + + private PathChain grabPickup1, scorePickup, grabPickup2, grabPickup3, leave; + + public void buildPaths() { + + grabPickup1 = follower.pathBuilder() + .addPath(new BezierCurve( + startPose, + new Pose(91.100, 35.700), + pickupR1PoseA + )) + .setLinearHeadingInterpolation(startPose.getHeading(), pickupR1PoseA.getHeading()) + .addPath(new BezierLine( + pickupR1PoseA, + pickupR1PoseB + )) + .setLinearHeadingInterpolation(pickupR1PoseA.getHeading(), pickupR1PoseA.getHeading()) + .build(); + + grabPickup2 = follower.pathBuilder() + .addPath(new BezierCurve( + scorePose, + new Pose(91.100, 60.5), + pickupR2PoseA + )) + .setLinearHeadingInterpolation(scorePose.getHeading(), pickupR2PoseA.getHeading()) + .addPath(new BezierLine( + pickupR2PoseA, + pickupR2PoseB + )) + .setLinearHeadingInterpolation(pickupR2PoseA.getHeading(), pickupR2PoseA.getHeading()) + .build(); + + grabPickup3 = follower.pathBuilder() + .addPath(new BezierCurve( + scorePose, + new Pose(91.100, 84.6), + pickupR3PoseA + )) + .setLinearHeadingInterpolation(scorePose.getHeading(), pickupR3PoseA.getHeading()) + .addPath(new BezierLine( + pickupR3PoseA, + pickupR3PoseB + )) + .setLinearHeadingInterpolation(pickupR3PoseA.getHeading(), pickupR3PoseA.getHeading()) + .build(); + + scorePickup = follower.pathBuilder() + .addPath(new BezierLine( + follower.getPose(), + scorePose + )) + .setLinearHeadingInterpolation(follower.getHeading(), scorePose.getHeading()) + .build(); + leave = follower.pathBuilder() + .addPath(new BezierLine( + follower.getPose(), + leavePose + )) + .setLinearHeadingInterpolation(follower.getHeading(), leavePose.getHeading()) + .build(); + } + + public void delay(int time){ + Timer wait = new Timer(); + wait.resetTimer(); + while (wait.getElapsedTime() < time){} + } + + public void autonomousPathUpdate() { + switch (pathState) { + case 0: + + /* You could check for + - Follower State: "if(!follower.isBusy()) {}" + - Time: "if(pathTimer.getElapsedTimeSeconds() > 1) {}" + - Robot Position: "if(follower.getPose().getX() > 36) {}" + */ + + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ + follower.followPath(grabPickup1,true); + setPathState(1); + } + break; + case 1: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup1Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(scorePickup,true); + setPathState(2); + } + break; + case 2: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ + follower.followPath(grabPickup2,true); + setPathState(3); + } + break; + case 3: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup2Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(scorePickup,true); + setPathState(4); + } + break; + case 4: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ + follower.followPath(grabPickup3,true); + setPathState(5); + } + break; + case 5: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(scorePickup, true); + setPathState(6); + } + break; + case 6: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ + if(!follower.isBusy()) { + /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ + follower.followPath(leave, true); + setPathState(7); + } + break; + case 7: + /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ + if(!follower.isBusy()) { + /* Set the state to a Case we won't use or define, so it just stops running an new paths */ + setPathState(-1); + } + break; + } + } + + /** These change the states of the paths and actions. It will also reset the timers of the individual switches **/ + public void setPathState(int pState) { + pathState = pState; + pathTimer.resetTimer(); + } + + /** This method is called once at the init of the OpMode. **/ + @Override + public void init() { + pathTimer = new Timer(); + opmodeTimer = new Timer(); + opmodeTimer.resetTimer(); + + follower = Constants.createFollower(hardwareMap); + buildPaths(); + follower.setStartingPose(startPose); + + } + + /** This method is called continuously after Init while waiting for "play". **/ + @Override + public void init_loop() {} + + /** This method is called once at the start of the OpMode. + * It runs all the setup actions, including building paths and starting the path system **/ + @Override + public void start() { + opmodeTimer.resetTimer(); + setPathState(0); + } + + /** This is the main loop of the OpMode, it will run repeatedly after clicking "Play". **/ + @Override + public void loop() { + + // These loop the movements of the robot, these must be called continuously in order to work + follower.update(); + autonomousPathUpdate(); + + // Feedback to Driver Hub for debugging + telemetry.addData("path state", pathState); + telemetry.addData("x", follower.getPose().getX()); + telemetry.addData("y", follower.getPose().getY()); + telemetry.addData("heading", follower.getPose().getHeading()); + telemetry.update(); + + if (gamepad1.left_stick_y < -10){ + + }else if (gamepad1.left_stick_y > 10){ + + } + } + + /** We do not use this because everything should automatically disable **/ + @Override + public void stop() { + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java index ea1aa2890c6a..271ab9a0ec4e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java @@ -96,4 +96,6 @@ public void updatePIDs(){ flywheel.setPidCoefficients(flywheelCoefficients); flywheel.setFFCoefficients(ffCoefficients); } + + } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 403f124a4800..4bbd0ea8792f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -39,7 +39,7 @@ //TODO, implement all our external libraries and functionality. -@TeleOp(name="Teleop_Main_", group="TestTeleOp") +@TeleOp(name="Teleop_Main_", group="TeleOp") public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java new file mode 100644 index 000000000000..6cda9ec4f013 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -0,0 +1,85 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; + +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes.Turret_Heading; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; + +//TODO, implement all our external libraries and functionality. + +@TeleOp(name="Teleop_Outreach_", group="TeleOp") +public class Teleop_Outreach_ extends LinearOpMode { + + // Declare OpMode members. + private ElapsedTime runtime = new ElapsedTime(); + + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. + private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); + + @Override + public void runOpMode() { + telemetry.addData("Status", "Initialized"); + telemetry.update(); + + // Create a new instance of our Robot class + LoadHardwareClass Robot = new LoadHardwareClass(this); + + // Wait for the game to start (driver presses START) + waitForStart(); + runtime.reset(); + + // Initialize all hardware of the robot + Robot.init(startPose); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // Pass the joystick positions to our mecanum drive controller + Robot.drivetrain.pedroMecanumDrive( + gamepad1.left_stick_y/2, + gamepad1.left_stick_x/2, + gamepad1.right_stick_x/2, + true + ); + + // System-related Telemetry + telemetry.addLine(); + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Version: ", "11/4/25"); + telemetry.update(); + //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging + } + } +} From f06c7c90f8e33e1191095a86fde978e8f6753abc Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 11 Nov 2025 19:05:27 -0500 Subject: [PATCH 061/152] Installed Marrow and got Prompter working --- TeamCode/build.gradle | 1 + .../LOADCode/Main_/Auto_/TestAuto.java | 33 ++++++++++++++----- 2 files changed, 26 insertions(+), 8 deletions(-) diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index 878287a7c712..d077f69030f6 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -25,4 +25,5 @@ android { dependencies { implementation project(':FtcRobotController') + implementation 'io.github.skeleton-army.marrow:core:0.1.2' } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java index a92d6a81c116..eb95bfceaec8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java @@ -8,6 +8,8 @@ import com.pedropathing.util.Timer; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.skeletonarmy.marrow.prompts.OptionPrompt; +import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -20,6 +22,15 @@ public class TestAuto extends OpMode { private int pathState; private boolean shooting; + Prompter prompter = null; + + enum Alliance { + RED, + BLUE + } + + Alliance alliance = null; + private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. private final Pose scorePose = new Pose(86, 22, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. private final Pose leavePose = new Pose(97, 30, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. @@ -190,11 +201,21 @@ public void init() { buildPaths(); follower.setStartingPose(startPose); + prompter = new Prompter(this); + prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", Alliance.RED, Alliance.BLUE)); + prompter.onComplete(() -> { + alliance = prompter.get("alliance"); + telemetry.addData("Selection", "Complete"); + } + ); + } /** This method is called continuously after Init while waiting for "play". **/ @Override - public void init_loop() {} + public void init_loop() { + prompter.run(); + } /** This method is called once at the start of the OpMode. * It runs all the setup actions, including building paths and starting the path system **/ @@ -210,7 +231,9 @@ public void loop() { // These loop the movements of the robot, these must be called continuously in order to work follower.update(); - autonomousPathUpdate(); + //autonomousPathUpdate(); + + telemetry.addData("Alliance", alliance); // Feedback to Driver Hub for debugging telemetry.addData("path state", pathState); @@ -218,12 +241,6 @@ public void loop() { telemetry.addData("y", follower.getPose().getY()); telemetry.addData("heading", follower.getPose().getHeading()); telemetry.update(); - - if (gamepad1.left_stick_y < -10){ - - }else if (gamepad1.left_stick_y > 10){ - - } } /** We do not use this because everything should automatically disable **/ From d731254c128de517ff62f0e3c231416ee66aa1a0 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Wed, 12 Nov 2025 09:07:04 -0500 Subject: [PATCH 062/152] Updated file system to reflect flowchart plan & removed some old test files. --- .../Actuators_}/DcMotorExClass.java | 2 +- .../Calculation_}/Turret_Heading.java | 2 +- .../Drivetrain_}/MecanumDrivetrainClass.java | 2 +- .../{ => Hardware_}/LoadHardwareClass.java | 9 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 4 +- .../Main_/Teleop_/Teleop_Outreach_.java | 3 +- .../LOADCode/Testing_/Autos/TestAutoR1.java | 233 ------------ .../{TeleOps => }/PedroDriveToAprilTag.java | 6 +- .../Testing_/TeleOps/TeleopTest_V1.java | 63 ---- .../Testing_/TeleOps/TurretLocalization.java | 357 ------------------ .../LOADCode/Testing_/Tests/ServoTest.java | 102 ----- .../{TeleOps => }/TurretAprilTagTracking.java | 2 +- 12 files changed, 14 insertions(+), 771 deletions(-) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/{Hardware_Classes => Hardware_/Actuators_}/DcMotorExClass.java (98%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/{Calculation_Classes => Hardware_/Calculation_}/Turret_Heading.java (97%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/{Hardware_Classes => Hardware_/Drivetrain_}/MecanumDrivetrainClass.java (96%) rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/{ => Hardware_}/LoadHardwareClass.java (92%) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/{TeleOps => }/PedroDriveToAprilTag.java (98%) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/{TeleOps => }/TurretAprilTagTracking.java (99%) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/DcMotorExClass.java similarity index 98% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/DcMotorExClass.java index 47bfdb94e31b..e44843ceb5c2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/DcMotorExClass.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes; +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; import androidx.annotation.NonNull; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java similarity index 97% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java index 10056d53d64b..4bb74bd4ad1c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Calculation_Classes/Turret_Heading.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes; +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_; import com.pedropathing.geometry.Pose; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java similarity index 96% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index 41026b5cbc50..eb11d98f8bdd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_Classes/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes; +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_; import androidx.annotation.NonNull; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java similarity index 92% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 271ab9a0ec4e..b05e3c66b750 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -27,12 +27,13 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.Main_; +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.DcMotorExClass; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_Classes.MecanumDrivetrainClass; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.DcMotorExClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; @@ -45,7 +46,7 @@ @Configurable public class LoadHardwareClass { /* Declare OpMode members. */ - private LinearOpMode myOpMode = null; // gain access to methods in the calling OpMode. + private final LinearOpMode myOpMode; // gain access to methods in the calling OpMode. // Declare subclasses public final MecanumDrivetrainClass drivetrain; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 4bbd0ea8792f..efd5b28aba2b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -34,8 +34,8 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.ElapsedTime; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes.Turret_Heading; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; //TODO, implement all our external libraries and functionality. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 6cda9ec4f013..9eac8bfc9745 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -34,8 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.ElapsedTime; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Calculation_Classes.Turret_Heading; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.LoadHardwareClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; //TODO, implement all our external libraries and functionality. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java deleted file mode 100644 index 22eac797483c..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Autos/TestAutoR1.java +++ /dev/null @@ -1,233 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Testing_.Autos; // make sure this aligns with class location - -import com.pedropathing.follower.Follower; -import com.pedropathing.geometry.BezierCurve; -import com.pedropathing.geometry.BezierLine; -import com.pedropathing.geometry.Pose; -import com.pedropathing.paths.PathChain; -import com.pedropathing.util.Timer; -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; - -import org.firstinspires.ftc.teamcode.pedroPathing.Constants; - -@Autonomous(name = "TestAutoR1", group = "TestAuto") -public class TestAutoR1 extends OpMode { - - private Follower follower; - private Timer pathTimer, actionTimer, opmodeTimer; - - private int pathState; - private boolean shooting; - - private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. - private final Pose scorePose = new Pose(86, 22, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. - private final Pose leavePose = new Pose(97, 30, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. - private final Pose pickupR3PoseA = new Pose(110.4, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. - private final Pose pickupR3PoseB = new Pose(121.9, 83.6, Math.toRadians(0)); // Highest (First Set) of Artifacts from the Spike Mark. - private final Pose pickupR2PoseA = new Pose(110.4, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. - private final Pose pickupR2PoseB = new Pose(121.9, 59.5, Math.toRadians(0)); // Middle (Second Set) of Artifacts from the Spike Mark. - private final Pose pickupR1PoseA = new Pose(110.4, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. - private final Pose pickupR1PoseB = new Pose(121.9, 35.5, Math.toRadians(0)); // Lowest (Third Set) of Artifacts from the Spike Mark. - - private PathChain grabPickup1, scorePickup, grabPickup2, grabPickup3, leave; - - public void buildPaths() { - - grabPickup1 = follower.pathBuilder() - .addPath(new BezierCurve( - startPose, - new Pose(91.100, 35.700), - pickupR1PoseA - )) - .setLinearHeadingInterpolation(startPose.getHeading(), pickupR1PoseA.getHeading()) - .addPath(new BezierLine( - pickupR1PoseA, - pickupR1PoseB - )) - .setLinearHeadingInterpolation(pickupR1PoseA.getHeading(), pickupR1PoseA.getHeading()) - .build(); - - grabPickup2 = follower.pathBuilder() - .addPath(new BezierCurve( - scorePose, - new Pose(91.100, 60.5), - pickupR2PoseA - )) - .setLinearHeadingInterpolation(scorePose.getHeading(), pickupR2PoseA.getHeading()) - .addPath(new BezierLine( - pickupR2PoseA, - pickupR2PoseB - )) - .setLinearHeadingInterpolation(pickupR2PoseA.getHeading(), pickupR2PoseA.getHeading()) - .build(); - - grabPickup3 = follower.pathBuilder() - .addPath(new BezierCurve( - scorePose, - new Pose(91.100, 84.6), - pickupR3PoseA - )) - .setLinearHeadingInterpolation(scorePose.getHeading(), pickupR3PoseA.getHeading()) - .addPath(new BezierLine( - pickupR3PoseA, - pickupR3PoseB - )) - .setLinearHeadingInterpolation(pickupR3PoseA.getHeading(), pickupR3PoseA.getHeading()) - .build(); - - scorePickup = follower.pathBuilder() - .addPath(new BezierLine( - follower.getPose(), - scorePose - )) - .setLinearHeadingInterpolation(follower.getHeading(), scorePose.getHeading()) - .build(); - leave = follower.pathBuilder() - .addPath(new BezierLine( - follower.getPose(), - leavePose - )) - .setLinearHeadingInterpolation(follower.getHeading(), leavePose.getHeading()) - .build(); - } - - public void delay(int time){ - Timer wait = new Timer(); - wait.resetTimer(); - while (wait.getElapsedTime() < time){} - } - - public void autonomousPathUpdate() { - switch (pathState) { - case 0: - - /* You could check for - - Follower State: "if(!follower.isBusy()) {}" - - Time: "if(pathTimer.getElapsedTimeSeconds() > 1) {}" - - Robot Position: "if(follower.getPose().getX() > 36) {}" - */ - - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ - follower.followPath(grabPickup1,true); - setPathState(1); - } - break; - case 1: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup1Pose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ - follower.followPath(scorePickup,true); - setPathState(2); - } - break; - case 2: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ - follower.followPath(grabPickup2,true); - setPathState(3); - } - break; - case 3: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup2Pose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ - follower.followPath(scorePickup,true); - setPathState(4); - } - break; - case 4: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are grabbing the sample */ - follower.followPath(grabPickup3,true); - setPathState(5); - } - break; - case 5: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ - follower.followPath(scorePickup, true); - setPathState(6); - } - break; - case 6: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the pickup3Pose's position */ - if(!follower.isBusy()) { - /* Since this is a pathChain, we can have Pedro hold the end point while we are scoring the sample */ - follower.followPath(leave, true); - setPathState(7); - } - break; - case 7: - /* This case checks the robot's position and will wait until the robot position is close (1 inch away) from the scorePose's position */ - if(!follower.isBusy()) { - /* Set the state to a Case we won't use or define, so it just stops running an new paths */ - setPathState(-1); - } - break; - } - } - - /** These change the states of the paths and actions. It will also reset the timers of the individual switches **/ - public void setPathState(int pState) { - pathState = pState; - pathTimer.resetTimer(); - } - - /** This method is called once at the init of the OpMode. **/ - @Override - public void init() { - pathTimer = new Timer(); - opmodeTimer = new Timer(); - opmodeTimer.resetTimer(); - - follower = Constants.createFollower(hardwareMap); - buildPaths(); - follower.setStartingPose(startPose); - - } - - /** This method is called continuously after Init while waiting for "play". **/ - @Override - public void init_loop() {} - - /** This method is called once at the start of the OpMode. - * It runs all the setup actions, including building paths and starting the path system **/ - @Override - public void start() { - opmodeTimer.resetTimer(); - setPathState(0); - } - - /** This is the main loop of the OpMode, it will run repeatedly after clicking "Play". **/ - @Override - public void loop() { - - // These loop the movements of the robot, these must be called continuously in order to work - follower.update(); - autonomousPathUpdate(); - - // Feedback to Driver Hub for debugging - telemetry.addData("path state", pathState); - telemetry.addData("x", follower.getPose().getX()); - telemetry.addData("y", follower.getPose().getY()); - telemetry.addData("heading", follower.getPose().getHeading()); - telemetry.update(); - - if (gamepad1.left_stick_y < -10){ - - }else if (gamepad1.left_stick_y > 10){ - - } - } - - /** We do not use this because everything should automatically disable **/ - @Override - public void stop() { - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/PedroDriveToAprilTag.java similarity index 98% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/PedroDriveToAprilTag.java index 33e9ad0a2e2d..8f3c7cb0f91c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/PedroDriveToAprilTag.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/PedroDriveToAprilTag.java @@ -27,13 +27,12 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; -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.Range; @@ -89,7 +88,6 @@ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list. * */ -@Disabled @TeleOp(name="Follow AprilTag", group = "TestTeleOp") public class PedroDriveToAprilTag extends LinearOpMode { @@ -120,7 +118,7 @@ public class PedroDriveToAprilTag extends LinearOpMode @IgnoreConfigurable static TelemetryManager telemetryM; /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ - private final Pose startPose = new Pose(60,96, Math.toRadians(0)); + private final Pose startPose = new Pose(0,0, Math.toRadians(0)); @Override public void runOpMode() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java deleted file mode 100644 index bf3e7448b693..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TeleopTest_V1.java +++ /dev/null @@ -1,63 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; - -import com.bylazar.configurables.annotations.IgnoreConfigurable; -import com.bylazar.telemetry.TelemetryManager; -import com.pedropathing.follower.Follower; -import com.pedropathing.geometry.Pose; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; - -import org.firstinspires.ftc.teamcode.pedroPathing.Constants; - -@Disabled -@TeleOp(name = "Example Robot-Centric TeleOp", group = "TestTeleOp") -public class TeleopTest_V1 extends OpMode { - public static Follower follower; - @IgnoreConfigurable - static TelemetryManager telemetryM; - /** Start Pose of our robot. This can be changed or saved from the autonomous period. */ - private final Pose startPose = new Pose(60,96, Math.toRadians(0)); - - /** This method is called once when init is pressed and initializes the follower **/ - @Override - public void init() { - // Initializing the follower and setting its starting position. - follower = Constants.createFollower(hardwareMap); - follower.setStartingPose(startPose); - follower.update(); - } - - /** This method is called once at the start of the OpMode. **/ - @Override - public void start() { - // Calling this method is necessary at the start of your TeleOp OpMode. - follower.startTeleopDrive(); - follower.update(); - } - - /** This is the main loop of the OpMode and runs continuously after pressing play **/ - @Override - public void loop() { - // Update robot movement based on gamepad inputs - /* Update Pedro to move the robot based on: - * Forward/Backward Movement: -gamepad1.left_stick_y - * Left/Right Movement: -gamepad1.left_stick_x - * Turn Left/Right Movement: -gamepad1.right_stick_x - * Robot-Centric Mode: true - */ - follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, false); - // Loop robot movement and odometry values - follower.update(); - - // Telemetry Outputs of the Follower - telemetry.addData("X", follower.getPose().getX()); - telemetry.addData("Y", follower.getPose().getY()); - telemetry.addData("Heading in Degrees", Math.toDegrees(1)); - - // Update Telemetry to the Driver Hub - telemetry.update(); - - // Updating the status of the gamepad buttons - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java deleted file mode 100644 index 379931b378d7..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretLocalization.java +++ /dev/null @@ -1,357 +0,0 @@ -/* Copyright (c) 2023 FIRST. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted (subject to the limitations in the disclaimer below) provided that - * the following conditions are met: - * - * Redistributions of source code must retain the above copyright notice, this list - * of conditions and the following disclaimer. - * - * Redistributions in binary form must reproduce the above copyright notice, this - * list of conditions and the following disclaimer in the documentation and/or - * other materials provided with the distribution. - * - * Neither the name of FIRST nor the names of its contributors may be used to endorse or - * promote products derived from this software without specific prior written permission. - * - * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS - * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; - -import com.bylazar.configurables.annotations.Configurable; -import com.bylazar.telemetry.TelemetryManager; -import com.pedropathing.follower.Follower; -import com.pedropathing.geometry.Pose; -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.AnalogInput; -import com.qualcomm.robotcore.hardware.CRServo; - -import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection; -import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName; -import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl; -import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl; -import org.firstinspires.ftc.teamcode.pedroPathing.Constants; -import org.firstinspires.ftc.vision.VisionPortal; -import org.firstinspires.ftc.vision.apriltag.AprilTagDetection; -import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor; - -import java.util.List; -import java.util.concurrent.TimeUnit; - -import dev.nextftc.control.ControlSystem; -import dev.nextftc.control.KineticState; -import dev.nextftc.control.feedback.PIDCoefficients; - -/* - * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag. - * The code assumes a Holonomic (Mecanum or X Drive) Robot. - * - * For an introduction to AprilTags, see the ftc-docs link below: - * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html - * - * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera. - * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below. - * https://ftc-docs.firstinspires.org/apriltag-detection-values - * - * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and - * driving towards the tag to achieve the desired distance. - * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS) - * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder. - * - * The code assumes a Robot Configuration with motors named: front_left_drive and front_right_drive, back_left_drive and back_right_drive. - * The motor directions must be set so a positive power goes forward on all wheels. - * This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default, - * so you should choose to approach a valid tag ID. - * - * Under manual control, the left stick will move forward/back & left/right. The right stick will rotate the robot. - * Manually drive the robot until it displays Target data on the Driver Station. - * - * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode. - * Release the Left Bumper to return to manual driving mode. - * - * Under "Drive To Target" mode, the robot has three goals: - * 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.) - * 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front of the tag. (Use the Target Yaw to strafe the robot) - * 3) Drive towards the Tag to get to the desired distance. (Use Tag Range to drive the robot forward/backward) - * - * Use DESIRED_DISTANCE to set how close you want the robot to get to the target. - * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants. - * - */ -@Disabled -@Configurable -@TeleOp(name="Turret Localization", group = "TestTeleOp") -public class TurretLocalization extends LinearOpMode -{ - private static final boolean USE_WEBCAM = true; // Set true to use a webcam, or false for a phone camera - int DESIRED_TAG_ID = 24; // Choose the tag you want to approach or set to -1 for ANY tag. - private VisionPortal visionPortal; // Used to manage the video source. - private AprilTagProcessor aprilTag; // Used for managing the AprilTag detection process. - public static Follower follower; // Used for managing the PedroPathing path follower - public TelemetryManager telemetryM; // Used for putting telemetry data on Panels - - //Turret PID pidCoefficients - public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.75, 0.005, 200); - - public static int turretDeadZoneSize = 5; - - // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. - private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); - - @Override public void runOpMode() - { - boolean targetFound; // Set to true when an AprilTag target is detected - double headingError = 0; // The error in degrees in the turret's angle - - // Used to store the hardware objects for the robot - CRServo turret; - AnalogInput turretEncoder; - - double turretPos; // Used to store the current angle of the turret - double turretPower; // Used to store the calculated power to output to the turret servo - boolean runTurret = true; - boolean useTurretPID = false; - double targetAngle; - double lastTurretPos; - int wraparoundTrigger = 0; - int[] goalCoords = new int[2]; - - ControlSystem turretPID = ControlSystem.builder() - .posPid(new PIDCoefficients(turretCoefficients.kP/100000000, turretCoefficients.kI/100000000, turretCoefficients.kD/100000000)) - .build(); - - initAprilTag(); // Initialize the Apriltag Detection process - - if (USE_WEBCAM) - setManualExposure(6, 250); // Use low exposure time to reduce motion blur - - follower = Constants.createFollower(hardwareMap); // Initializes the PedroPathing path follower - follower.setStartingPose(startPose); // Sets the initial position of the robot on the field - follower.update(); // Applies the initialization - - telemetry.addData("Camera preview on/off", "3 dots, Camera Stream"); - telemetry.addData(">", "Touch START to start OpMode"); - telemetry.update(); - - waitForStart(); // Wait for driver to press start - - follower.startTeleopDrive(); // Activate the manual drive function for the drivetrain - follower.update(); // Apply the activation - - // Fetch the actual hardware objects and store them in their respective variables - turret = hardwareMap.get(CRServo.class, "turret"); - turretEncoder = hardwareMap.get(AnalogInput.class,"turretEncoder"); - lastTurretPos = Math.abs(((turretEncoder.getVoltage() / 3.3) * 360) - 360); - - while (opModeIsActive()) - { - - if (gamepad1.yWasPressed()){ - if (DESIRED_TAG_ID == 24){ - DESIRED_TAG_ID = 20; - } else { - DESIRED_TAG_ID = 24; - } - } - - if (DESIRED_TAG_ID == 24){ - goalCoords[0] = 144; - goalCoords[1] = 144; - }else if (DESIRED_TAG_ID == 20){ - goalCoords[0] = 0; - goalCoords[1] = 144; - } - - // Used to indicate whether or not a valid AprilTag has been detected - targetFound = false; - // Used to hold the data for a detected AprilTag - AprilTagDetection desiredTag = null; - - // Read the Axon servo encoder position and convert it from a voltage to an angle in degrees - turretPos = Math.abs(((turretEncoder.getVoltage() / 3.3) * 360) - 360); - - // Step through the list of detected tags and look for a matching tag - List currentDetections = aprilTag.getDetections(); - for (AprilTagDetection detection : currentDetections) { - // Look to see if we have size info on this tag. - if (detection.metadata != null) { - // Check to see if we want to track towards this tag. - if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) { - // Yes, we want to use this tag. - targetFound = true; - desiredTag = detection; - // Determine heading error so we can use them to control the robot automatically. - headingError = -desiredTag.ftcPose.bearing; - break; // don't look any further. - } else { - // This tag is in the library, but we do not want to track it right now. - telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id); - } - } else { - // This tag is NOT in the library, so we don't have enough information to track to it. - telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id); - } - } - - // Tell the driver what we see, and what to do. - if (DESIRED_TAG_ID == 24){ - telemetry.addData("Goal Selected: ","Red"); - } else { - telemetry.addData("Goal Selected: ","Blue"); - } - if (targetFound) { - telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name); - telemetry.addData("Range", "%5.1f inches", desiredTag.ftcPose.range); - telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing); - telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw); - } else { - telemetry.addData("\n>","Drive using joysticks to find a valid target\n"); - } - - // This block finds the robot position from it's odometry data and calculates the angle between the selected goal and the robot, adjusting the camera to match that angle - - double[] robotPose = {follower.getPose().getX(), follower.getPose().getY()}; - targetAngle = Math.toDegrees(Math.atan2(goalCoords[1]-robotPose[1], goalCoords[0]-robotPose[0])) - Math.toDegrees(follower.getPose().getHeading()); - targetAngle = (180 + targetAngle) % 360; - targetAngle = Math.min(Math.max(targetAngle, turretDeadZoneSize), 360-turretDeadZoneSize); - double angleDiff = (targetAngle - turretPos); - turretPower = -Math.pow(Math.min(Math.abs(angleDiff/60),1), (4f/3f)) * Math.signum(angleDiff); - - if (gamepad1.aWasPressed()){ - useTurretPID = !useTurretPID; - } - if (useTurretPID){ - turretPID.setGoal(new KineticState(targetAngle)); - turretPower = -turretPID.calculate(new KineticState(turretPos)); - telemetry.addData("Turret Control System:", "PID"); - }else{ - telemetry.addData("Turret Control System:", "Non-PID"); - } - - if (gamepad1.dpad_left){ - turretPower = 0.4; - }else if (gamepad1.dpad_right){ - turretPower = -0.4; - } - - if ((Math.abs(turretPos-lastTurretPos) >= 120) && (turretPos<350 || turretPos>10)){ - wraparoundTrigger += (int)Math.signum(turretPos - 180); - } - if (wraparoundTrigger != 0) { - turretPower = Math.max(Math.min(-wraparoundTrigger, 0.2), -0.2); - } - - if (gamepad1.bWasPressed()){ - runTurret = !runTurret; - } - if(runTurret){ - turret.setPower(turretPower); - }else{ - turret.setPower(0); - } - - // TODO We will work on Daniel's deadzone method next meeting, If that does not work, we will work on Ari's! - - - // Apply desired axes motions to the drivetrain - follower.setTeleOpDrive(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x, true); - follower.update(); - - lastTurretPos = turretPos; - - telemetry.addData("Target Angle", targetAngle); - telemetry.addData("Turret Angle", turretPos); - telemetry.addData("Turret Error", angleDiff); - telemetry.addData("Turret Power", turretPower); - telemetry.addData("Robot Heading", Math.toDegrees(follower.getPose().getHeading())); - telemetry.addData("Wraparound Trigger This Time: ", wraparoundTrigger); - telemetry.addData("-", "---------------------------------------------"); - telemetry.addData("kP", turretCoefficients.kP); - telemetry.addData("kI", turretCoefficients.kI); - telemetry.addData("kD", turretCoefficients.kD); - - telemetry.update(); - } - } - - /** - * Initialize the AprilTag processor. - */ - private void initAprilTag() { - // Create the AprilTag processor by using a builder. - aprilTag = new AprilTagProcessor.Builder().build(); - - // Adjust Image Decimation to trade-off detection-range for detection-rate. - // e.g. Some typical detection data using a Logitech C920 WebCam - // Decimation = 1 .. Detect 2" Tag from 10 feet away at 10 Frames per second - // Decimation = 2 .. Detect 2" Tag from 6 feet away at 22 Frames per second - // Decimation = 3 .. Detect 2" Tag from 4 feet away at 30 Frames Per Second - // Decimation = 3 .. Detect 5" Tag from 10 feet away at 30 Frames Per Second - // Note: Decimation can be changed on-the-fly to adapt during a match. - aprilTag.setDecimation(3); - - // Create the vision portal by using a builder. - if (USE_WEBCAM) { - visionPortal = new VisionPortal.Builder() - .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1")) - .addProcessor(aprilTag) - .build(); - } else { - visionPortal = new VisionPortal.Builder() - .setCamera(BuiltinCameraDirection.BACK) - .addProcessor(aprilTag) - .build(); - } - } - - /* - Manually set the camera gain and exposure. - This can only be called AFTER calling initAprilTag(), and only works for Webcams; - */ - private void setManualExposure(int exposureMS, int gain) { - // Wait for the camera to be open, then use the controls - - if (visionPortal == null) { - return; - } - - // Make sure camera is streaming before we try to set the exposure controls - if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) { - telemetry.addData("Camera", "Waiting"); - telemetry.update(); - while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) { - sleep(20); - } - telemetry.addData("Camera", "Ready"); - telemetry.update(); - } - - // Set camera controls unless we are stopping. - if (!isStopRequested()) - { - ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class); - if (exposureControl.getMode() != ExposureControl.Mode.Manual) { - exposureControl.setMode(ExposureControl.Mode.Manual); - sleep(50); - } - exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS); - sleep(20); - GainControl gainControl = visionPortal.getCameraControl(GainControl.class); - gainControl.setGain(gain); - sleep(20); - } - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java deleted file mode 100644 index 7ecb5011e141..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/Tests/ServoTest.java +++ /dev/null @@ -1,102 +0,0 @@ -/* Copyright (c) 2017 FIRST. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted (subject to the limitations in the disclaimer below) provided that - * the following conditions are met: - * - * Redistributions of source code must retain the above copyright notice, this list - * of conditions and the following disclaimer. - * - * Redistributions in binary form must reproduce the above copyright notice, this - * list of conditions and the following disclaimer in the documentation and/or - * other materials provided with the distribution. - * - * Neither the name of FIRST nor the names of its contributors may be used to endorse or - * promote products derived from this software without specific prior written permission. - * - * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS - * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -package org.firstinspires.ftc.teamcode.LOADCode.Testing_.Tests; - -import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.hardware.AnalogInput; -import com.qualcomm.robotcore.hardware.CRServo; - -/* - * This OpMode scans a single servo back and forward until Stop is pressed. - * The code is structured as a LinearOpMode - * INCREMENT sets how much to increase/decrease the servo position each cycle - * CYCLE_MS sets the update period. - * - * This code assumes a Servo configured with the name "left_hand" as is found on a Robot. - * - * NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other - * connected servos are able to move freely before running this test. - * - * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. - * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list - */ -@TeleOp(name = "Servo Test", group = "TestHardware") - -public class ServoTest extends LinearOpMode { - - static final double INCREMENT = 0.01; // amount to slew servo each CYCLE_MS cycle - static final int CYCLE_MS = 10; // period of each cycle - static final double MAX_POS = 1.0; // Maximum rotational position - static final double MIN_POS = 0.0; // Minimum rotational position - - // Define class members - CRServo servo; - AnalogInput turretEncoder; - double axonPos = 0; // Start at halfway position - boolean rampUp = true; - - - @Override - public void runOpMode() { - - // Connect to servo (Assume Robot Left Hand) - // Change the text in quotes to match any servo name on your robot. - servo = hardwareMap.get(CRServo.class, "turret"); - turretEncoder = hardwareMap.get(AnalogInput.class,"AxonTurret"); - - - // Wait for the start button - telemetry.addData(">", "Press Start to scan Servo." ); - telemetry.update(); - waitForStart(); - - - // Scan servo till stop pressed. - while(opModeIsActive()){ - - axonPos = (turretEncoder.getVoltage() / 3.3) * 360; - - // Display the current value - telemetry.addData("Encoder Position", axonPos); - telemetry.addData("Servo Position", "%5.2f", gamepad1.right_stick_x); - telemetry.addData(">", "Press Stop to end test." ); - telemetry.update(); - - // Set the servo to the new position and pause; - servo.setPower(gamepad1.right_stick_x); - sleep(CYCLE_MS); - } - - // Signal done; - telemetry.addData(">", "Done"); - telemetry.update(); - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TurretAprilTagTracking.java similarity index 99% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TurretAprilTagTracking.java index 360f4fe39b98..0b39aaea7655 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TeleOps/TurretAprilTagTracking.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Testing_/TurretAprilTagTracking.java @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -package org.firstinspires.ftc.teamcode.LOADCode.Testing_.TeleOps; +package org.firstinspires.ftc.teamcode.LOADCode.Testing_; import com.bylazar.configurables.annotations.IgnoreConfigurable; import com.bylazar.telemetry.TelemetryManager; From 15477124140bab6ca3a5f1ad54ae03f91c53b6e3 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Wed, 12 Nov 2025 10:17:07 -0500 Subject: [PATCH 063/152] began work on auto pathing class --- .../Drivetrain_/MecanumDrivetrainClass.java | 7 ++++ .../Hardware_/Drivetrain_/Pedro_Paths.java | 32 +++++++++++++++++++ 2 files changed, 39 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index eb11d98f8bdd..0e15affd4ccc 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -31,6 +31,13 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ follower.update(); } + /** + * @return Pedropathing's follower object + */ + public Follower getFollower() { + return follower; + } + /** * Uses PedroPathing's follower class to implement a mecanum drive controller. * Must be called every loop to function properly. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java new file mode 100644 index 000000000000..de15b2f716a1 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -0,0 +1,32 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_; + +import com.pedropathing.follower.Follower; +import com.pedropathing.geometry.BezierCurve; +import com.pedropathing.geometry.Pose; +import com.pedropathing.paths.PathChain; + +public class Pedro_Paths { + // The variable to store PedroPathing's follower object for path building + private Follower follower; + + /** + * Must be called after MecanumDrivetrainClass is initialized. + * @param follow PedroPathing's follower object, gotten from MecanumDrivetrainClass + */ + public void init(Follower follow){ + follower = follow; + } + + // Define primary poses to be used in paths + public final Pose startPose1 = new Pose(87, 8.8, Math.toRadians(90)); + public final Pose scorePose1 = new Pose(86, 22, Math.toRadians(80)); + + // Define paths to be used by PedroPathing + public final PathChain gotoScorePose1 = follower.pathBuilder() + .addPath(new BezierCurve( + follower.getPose(), + scorePose1 + )) + .setLinearHeadingInterpolation(follower.getPose().getHeading(), scorePose1.getHeading()) + .build(); +} From c553d78e4b96e3123d49cffea88aab67e343c337 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Sat, 15 Nov 2025 08:54:15 -0500 Subject: [PATCH 064/152] Added Servo control classes --- .../Actuators_/Generic_/CRServoClass.java | 36 ++++++++++++++++++ .../{ => Generic_}/DcMotorExClass.java | 23 +++++++++++- .../Actuators_/Generic_/ServoClass.java | 37 +++++++++++++++++++ .../Main_/Hardware_/Actuators_/Intake.java | 26 +++++++++++++ .../Main_/Hardware_/LoadHardwareClass.java | 19 +++++++--- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 36 +++++++++++------- 6 files changed, 157 insertions(+), 20 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/{ => Generic_}/DcMotorExClass.java (88%) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java new file mode 100644 index 000000000000..8580b1521929 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java @@ -0,0 +1,36 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_; + +import androidx.annotation.NonNull; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.CRServo; +import com.qualcomm.robotcore.hardware.DcMotorSimple; + +public class CRServoClass{ + private CRServo servo; + + public void init(@NonNull OpMode opmode, String servoName){ + servo = opmode.hardwareMap.get(CRServo.class, servoName); + } + + /** + * @param power The power to set the servo to. Must be a value between -1 and 1. + */ + public void setPower(double power){ + servo.setPower(power); + } + + /** + * @param direction The direction to set the servo to. + */ + public void setDirection(DcMotorSimple.Direction direction){ + servo.setDirection(direction); + } + + /** + * @return The power the servo has been set to. + */ + public double getPower(){ + return servo.getPower(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java similarity index 88% rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/DcMotorExClass.java rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java index e44843ceb5c2..0448e93f37b3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java @@ -1,10 +1,11 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_; import androidx.annotation.NonNull; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.DcMotorSimple; import dev.nextftc.control.ControlSystem; import dev.nextftc.control.KineticState; @@ -65,6 +66,26 @@ public void resetEncoder(){ motorObject.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); motorObject.setMode(DcMotor.RunMode.RUN_USING_ENCODER); } + /** + * Sets the runMode of the motor. + * @param runMode The mode to set the motor to. + */ + public void setRunMode(DcMotor.RunMode runMode){ + motorObject.setMode(runMode); + } + /** + * Sets the zeroPowerBehaviour of the motor. + * @param behaviour The behaviour to apply to the motor. + */ + public void setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior behaviour){ + motorObject.setZeroPowerBehavior(behaviour); + } + /** + * @param direction The direction to set the motor to. + */ + public void setDirection(DcMotorSimple.Direction direction){ + motorObject.setDirection(direction); + } /** * @return The current position of the turret motor in encoder ticks. Can be any value. */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java new file mode 100644 index 000000000000..ac65228e8b7f --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java @@ -0,0 +1,37 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_; + +import androidx.annotation.NonNull; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.Servo; + +public class ServoClass { + private Servo servo; + + public void init(@NonNull OpMode opmode, String servoName){ + servo = opmode.hardwareMap.get(Servo.class, servoName); + } + + /** + * @param angle The angle to set the servo to. Must be a value between 0 and 1, + * representing the endpoints of it's movement. + */ + public void setAngle(double angle){ + servo.setPosition(angle); + } + + /** + * @param direction The direction to set the servo to. + */ + public void setDirection(Servo.Direction direction){ + servo.setDirection(direction); + } + + /** + * @return A value between 0 and 1 that the servo has been set to. + */ + public double getAngle(){ + return servo.getPosition(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java new file mode 100644 index 000000000000..f20e23ba0312 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -0,0 +1,26 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; + +import androidx.annotation.NonNull; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.CRServoClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; + +public class Intake { + private final OpMode opMode; + + private final DcMotorExClass intake; + private final CRServoClass belt; + + public Intake(OpMode opmode){ + opMode = opmode; + this.intake = new DcMotorExClass(); + this.belt = new CRServoClass(); + } + + public void init(){ + intake.init(opMode, "intake"); + + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index b05e3c66b750..608a13ce0256 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -28,11 +28,14 @@ */ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; + import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; -import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.DcMotor; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.DcMotorExClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.CRServoClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import dev.nextftc.control.feedback.PIDCoefficients; @@ -46,13 +49,14 @@ @Configurable public class LoadHardwareClass { /* Declare OpMode members. */ - private final LinearOpMode myOpMode; // gain access to methods in the calling OpMode. + private final OpMode myOpMode; // gain access to methods in the calling OpMode. // Declare subclasses public final MecanumDrivetrainClass drivetrain; public final DcMotorExClass turret; public final DcMotorExClass flywheel; public final DcMotorExClass intake; + public final CRServoClass belt; // Subsystem configuration public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); @@ -63,12 +67,13 @@ public class LoadHardwareClass { * Constructor that allows the OpMode to pass a reference to itself. * @param opmode The input for this parameter should almost always be "this". */ - public LoadHardwareClass(LinearOpMode opmode) { + public LoadHardwareClass(OpMode opmode) { myOpMode = opmode; this.drivetrain = new MecanumDrivetrainClass(); this.turret = new DcMotorExClass(); this.flywheel = new DcMotorExClass(); this.intake = new DcMotorExClass(); + this.belt = new CRServoClass(); } /** * Initializes all hardware for the robot. @@ -80,6 +85,10 @@ public void init(Pose initialPose) { turret.init(myOpMode, "turret", 103.8); flywheel.init(myOpMode, "flywheel"); intake.init(myOpMode, "intake"); + belt.init(myOpMode, "belt"); + + // Misc configuration + intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); // Pass PID pidCoefficients to motor classes turret.setPidCoefficients(turretCoefficients); @@ -97,6 +106,4 @@ public void updatePIDs(){ flywheel.setPidCoefficients(flywheelCoefficients); flywheel.setFFCoefficients(ffCoefficients); } - - } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index efd5b28aba2b..d50d6823af6e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -70,6 +70,12 @@ public void runOpMode() { // run until the end of the match (driver presses STOP) while (opModeIsActive()) { + if (gamepad1.left_trigger > 0.5){ + Robot.drivetrain.speedMultiplier = 0.2; + }else{ + Robot.drivetrain.speedMultiplier = 1; + } + // Pass the joystick positions to our mecanum drive controller Robot.drivetrain.pedroMecanumDrive( gamepad1.left_stick_y, @@ -78,15 +84,7 @@ public void runOpMode() { true ); - if (gamepad2.bWasPressed()){ - target = 90; - }else if (gamepad2.yWasPressed()){ - target = 0; - }else if (gamepad2.aWasPressed()){ - target = 180; - }else if (gamepad2.xWasPressed()){ - target = 270; - }else if (gamepad2.guide){ + if (gamepad2.guide){ target = Math.abs(targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), true)-540); }else if (gamepad2.back){ target = Math.abs(targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), false)-540); @@ -96,8 +94,13 @@ public void runOpMode() { Robot.turret.setAngle(target); - Robot.intake.setPower(gamepad1.left_trigger); - Robot.flywheel.setPower(gamepad1.right_trigger); + if (gamepad2.a){ + Robot.intake.setPower(-1); + }else if (gamepad2.x){ + Robot.intake.setPower(1); + } + + Robot.belt.setPower(gamepad2.left_trigger); Robot.updatePIDs(); @@ -106,11 +109,18 @@ public void runOpMode() { telemetry.addData("Turret Target Angle:", target); telemetry.addData("Turret Actual Angle", Robot.turret.getAngleAbsolute()); telemetry.addData("Turret Set Power", Robot.turret.getPower()); - telemetry.addData("Turret RPM", Robot.turret.getRPM()); // Intake-related Telemetry telemetry.addLine(); - telemetry.addData("Intake Set Power", Robot.intake.getPower()); + telemetry.addData("Intake Status", () -> { + if(Robot.intake.getPower() == 1){ + return "Outtaking"; + }else if (Robot.intake.getPower() == -1){ + return "Intaking"; + }else{ + return "Off"; + } + }); telemetry.addData("Intake RPM", Robot.intake.getRPM()); // System-related Telemetry From f87c29ce71e8e69be3470bf60e0a53d4231f65ba Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Sat, 15 Nov 2025 09:53:41 -0500 Subject: [PATCH 065/152] Put the intake motor and servo into it's own class for ease of use. --- .../Main_/Hardware_/Actuators_/Intake.java | 55 +++++++++++++++---- .../Main_/Hardware_/LoadHardwareClass.java | 15 ++--- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 22 +++----- 3 files changed, 57 insertions(+), 35 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index f20e23ba0312..99ef43a791f9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -1,26 +1,61 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; -import androidx.annotation.NonNull; - import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorSimple; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.CRServoClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; public class Intake { - private final OpMode opMode; + private static OpMode opMode; - private final DcMotorExClass intake; - private final CRServoClass belt; + private final DcMotorExClass intake = new DcMotorExClass(); + private final CRServoClass belt = new CRServoClass(); - public Intake(OpMode opmode){ - opMode = opmode; - this.intake = new DcMotorExClass(); - this.belt = new CRServoClass(); + public enum Mode { + INTAKE, + SHOOTING, + REVERSE, + OFF } - public void init(){ + public void init(OpMode opmode){ + opMode = opmode; intake.init(opMode, "intake"); + belt.init(opMode, "belt"); + + intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + intake.setDirection(DcMotorSimple.Direction.REVERSE); + } + + public void setMode(Mode direction){ + if (direction == Mode.INTAKE){ + intake.setPower(1); + belt.setPower(1); + }else if (direction == Mode.SHOOTING){ + intake.setPower(0); + belt.setPower(1); + }else if (direction == Mode.REVERSE){ + intake.setPower(-1); + belt.setPower(-1); + }else{ + intake.setPower(0); + belt.setPower(0); + } + } + public Mode getMode(){ + double intakePower = intake.getPower(); + double beltPower = belt.getPower(); + if (intakePower == 1 && beltPower == 1){ + return Mode.INTAKE; + }else if (intakePower == 0 && beltPower == 1){ + return Mode.SHOOTING; + }else if (intakePower == -1 && beltPower == -1){ + return Mode.REVERSE; + }else{ + return Mode.OFF; + } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 608a13ce0256..cb838a5d0b85 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -32,10 +32,9 @@ import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.hardware.DcMotor; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.CRServoClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import dev.nextftc.control.feedback.PIDCoefficients; @@ -55,8 +54,7 @@ public class LoadHardwareClass { public final MecanumDrivetrainClass drivetrain; public final DcMotorExClass turret; public final DcMotorExClass flywheel; - public final DcMotorExClass intake; - public final CRServoClass belt; + public final Intake intake; // Subsystem configuration public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); @@ -72,8 +70,7 @@ public LoadHardwareClass(OpMode opmode) { this.drivetrain = new MecanumDrivetrainClass(); this.turret = new DcMotorExClass(); this.flywheel = new DcMotorExClass(); - this.intake = new DcMotorExClass(); - this.belt = new CRServoClass(); + this.intake = new Intake(); } /** * Initializes all hardware for the robot. @@ -84,11 +81,7 @@ public void init(Pose initialPose) { drivetrain.init(myOpMode, initialPose); turret.init(myOpMode, "turret", 103.8); flywheel.init(myOpMode, "flywheel"); - intake.init(myOpMode, "intake"); - belt.init(myOpMode, "belt"); - - // Misc configuration - intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + intake.init(myOpMode); // Pass PID pidCoefficients to motor classes turret.setPidCoefficients(turretCoefficients); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index d50d6823af6e..c38afdf1b2ad 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -34,6 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.ElapsedTime; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @@ -95,13 +96,15 @@ public void runOpMode() { Robot.turret.setAngle(target); if (gamepad2.a){ - Robot.intake.setPower(-1); + Robot.intake.setMode(Intake.Mode.INTAKE); + }else if (gamepad2.b){ + Robot.intake.setMode(Intake.Mode.SHOOTING); }else if (gamepad2.x){ - Robot.intake.setPower(1); + Robot.intake.setMode(Intake.Mode.REVERSE); + }else{ + Robot.intake.setMode(Intake.Mode.OFF); } - Robot.belt.setPower(gamepad2.left_trigger); - Robot.updatePIDs(); // Turret-related Telemetry @@ -112,16 +115,7 @@ public void runOpMode() { // Intake-related Telemetry telemetry.addLine(); - telemetry.addData("Intake Status", () -> { - if(Robot.intake.getPower() == 1){ - return "Outtaking"; - }else if (Robot.intake.getPower() == -1){ - return "Intaking"; - }else{ - return "Off"; - } - }); - telemetry.addData("Intake RPM", Robot.intake.getRPM()); + telemetry.addData("Intake Status", Robot.intake.getMode()); // System-related Telemetry telemetry.addLine(); From 5bf1dd93cf2ea0e33426cd0830341c2d0568ec23 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Sat, 15 Nov 2025 13:05:32 -0500 Subject: [PATCH 066/152] Created a turret class that contains the heading motor, flywheel, and hood servo --- .../LOADCode/Main_/Auto_/TestAuto.java | 18 +++---- .../Actuators_/Generic_/DcMotorExClass.java | 16 +++---- .../Main_/Hardware_/Actuators_/Intake.java | 7 +-- .../Main_/Hardware_/Actuators_/Turret.java | 48 +++++++++++++++++++ .../Main_/Hardware_/LoadHardwareClass.java | 36 ++++---------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 43 +++++++++++------ 6 files changed, 102 insertions(+), 66 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java index eb95bfceaec8..7f4b23dde48e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java @@ -11,9 +11,10 @@ import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; -@Autonomous(name = "TestAutoR1", group = "TestAuto") +@Autonomous(name = "TestAutoR1", group = "TestAuto", preselectTeleOp="Teleop_Main_") public class TestAuto extends OpMode { private Follower follower; @@ -24,12 +25,8 @@ public class TestAuto extends OpMode { Prompter prompter = null; - enum Alliance { - RED, - BLUE - } - - Alliance alliance = null; + // Create a new instance of our Robot class + LoadHardwareClass Robot = new LoadHardwareClass(this); private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. private final Pose scorePose = new Pose(86, 22, Math.toRadians(80)); // Scoring Pose of our robot. It is facing the goal at a 135 degree angle. @@ -202,13 +199,12 @@ public void init() { follower.setStartingPose(startPose); prompter = new Prompter(this); - prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", Alliance.RED, Alliance.BLUE)); + prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE)); prompter.onComplete(() -> { - alliance = prompter.get("alliance"); + LoadHardwareClass.selectedAlliance = prompter.get("alliance"); telemetry.addData("Selection", "Complete"); } ); - } /** This method is called continuously after Init while waiting for "play". **/ @@ -233,7 +229,7 @@ public void loop() { follower.update(); //autonomousPathUpdate(); - telemetry.addData("Alliance", alliance); + telemetry.addData("Alliance", LoadHardwareClass.selectedAlliance); // Feedback to Driver Hub for debugging telemetry.addData("path state", pathState); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java index 0448e93f37b3..b8ee4836ce7c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java @@ -18,7 +18,9 @@ public class DcMotorExClass { BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); // Encoder ticks/rotation // 1620rpm Gobilda - 103.8 ticks at the motor shaft - double ticksPerRotation = 103.8; + public double ticksPerRotation = 103.8; + // Target position/velocity of the motor + public double target = 0; // Motor object private DcMotorEx motorObject = null; @@ -92,12 +94,6 @@ public void setDirection(DcMotorSimple.Direction direction){ public double getEncoderTicks(){ return motorObject.getCurrentPosition(); } - /** - * @return The resolution of the turret's encoder in ticks/rotation. - */ - public double getEncoderResolution(){ - return ticksPerRotation; - } /** * @param power A value between -1 and 1 that the turret motor's power will be set to. */ @@ -146,9 +142,10 @@ public double getPower(){ * @param angle The angle in degrees to move the motor to. Can be any number. */ public void setAngle(double angle){ + target = angle; ControlSystem turretPID = ControlSystem.builder().posPid(pidCoefficients).build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); - turretPID.setGoal(new KineticState(angle)); + turretPID.setGoal(new KineticState(target)); setPower(turretPID.calculate(currentKineticState)); } /** @@ -157,7 +154,8 @@ public void setAngle(double angle){ * @param rpm The RPM to accelerate the motor to. Can be any number */ public void setRPM(double rpm){ - double degreesPerSecond = rpm*6; + target = rpm; + double degreesPerSecond = target*6; ControlSystem PID = ControlSystem.builder() .velPid(pidCoefficients) .basicFF(ffCoefficients) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 99ef43a791f9..fc1aca065390 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -8,8 +8,6 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; public class Intake { - private static OpMode opMode; - private final DcMotorExClass intake = new DcMotorExClass(); private final CRServoClass belt = new CRServoClass(); @@ -21,9 +19,8 @@ public enum Mode { } public void init(OpMode opmode){ - opMode = opmode; - intake.init(opMode, "intake"); - belt.init(opMode, "belt"); + intake.init(opmode, "intake"); + belt.init(opmode, "belt"); intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); intake.setDirection(DcMotorSimple.Direction.REVERSE); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java new file mode 100644 index 000000000000..000cc97c205f --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -0,0 +1,48 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; + +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.DcMotor; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.ServoClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; + +import dev.nextftc.control.feedback.PIDCoefficients; +import dev.nextftc.control.feedforward.BasicFeedforwardParameters; + +public class Turret { + public final DcMotorExClass rotation = new DcMotorExClass(); + public final DcMotorExClass flywheel = new DcMotorExClass(); + public final ServoClass hood = new ServoClass(); + + Turret_Heading targeting = new Turret_Heading(); + + public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); + public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); + public static BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); + + public void init(OpMode opmode){ + rotation.init(opmode, "turret", 103.8); + flywheel.init(opmode, "flywheel"); + hood.init(opmode, "hood"); + + rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + + // Pass PID pidCoefficients to motor classes + rotation.setPidCoefficients(turretCoefficients); + flywheel.setPidCoefficients(flywheelCoefficients); + flywheel.setFFCoefficients(ffCoefficients); + } + + public void updatePIDs(){ + // Pass PID pidCoefficients to motor classes + rotation.setPidCoefficients(turretCoefficients); + flywheel.setPidCoefficients(flywheelCoefficients); + flywheel.setFFCoefficients(ffCoefficients); + } + + public void updateAimbot(Pose robotPose, boolean goal){ + rotation.setAngle(targeting.calcLocalizer(robotPose, goal)); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index cb838a5d0b85..6765b1c7788c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -33,13 +33,10 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; -import dev.nextftc.control.feedback.PIDCoefficients; -import dev.nextftc.control.feedforward.BasicFeedforwardParameters; - /* * This file is designed to work with our OpModes to handle all our hardware functionality to de-clutter our main scripts * @@ -52,14 +49,15 @@ public class LoadHardwareClass { // Declare subclasses public final MecanumDrivetrainClass drivetrain; - public final DcMotorExClass turret; - public final DcMotorExClass flywheel; + public final Turret turret; public final Intake intake; - // Subsystem configuration - public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); - public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); - public static BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); + // Declare various enums & other variables that are useful across files + public static Alliance selectedAlliance = null; + public enum Alliance { + RED, + BLUE + } /** * Constructor that allows the OpMode to pass a reference to itself. @@ -68,8 +66,7 @@ public class LoadHardwareClass { public LoadHardwareClass(OpMode opmode) { myOpMode = opmode; this.drivetrain = new MecanumDrivetrainClass(); - this.turret = new DcMotorExClass(); - this.flywheel = new DcMotorExClass(); + this.turret = new Turret(); this.intake = new Intake(); } /** @@ -79,24 +76,11 @@ public LoadHardwareClass(OpMode opmode) { public void init(Pose initialPose) { // Initialize all subclasses drivetrain.init(myOpMode, initialPose); - turret.init(myOpMode, "turret", 103.8); - flywheel.init(myOpMode, "flywheel"); + turret.init(myOpMode); intake.init(myOpMode); - // Pass PID pidCoefficients to motor classes - turret.setPidCoefficients(turretCoefficients); - flywheel.setPidCoefficients(flywheelCoefficients); - flywheel.setFFCoefficients(ffCoefficients); - // Misc telemetry myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); } - - public void updatePIDs(){ - // Pass PID pidCoefficients to motor classes - turret.setPidCoefficients(turretCoefficients); - flywheel.setPidCoefficients(flywheelCoefficients); - flywheel.setFFCoefficients(ffCoefficients); - } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index c38afdf1b2ad..229181a49dab 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -33,9 +33,10 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.ElapsedTime; +import com.skeletonarmy.marrow.prompts.OptionPrompt; +import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; //TODO, implement all our external libraries and functionality. @@ -46,6 +47,8 @@ public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); + Prompter prompter = null; + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); @@ -56,15 +59,28 @@ public void runOpMode() { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - Turret_Heading targeting = new Turret_Heading(); + + // Create a new prompter for selecting alliance + prompter = new Prompter(this); + prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE)); + prompter.onComplete(() -> { + LoadHardwareClass.selectedAlliance = prompter.get("alliance"); + telemetry.addData("Selection", "Complete"); + } + ); + + // Runs repeatedly while in init + while (opModeInInit()){ + // If an auto was not run, run the prompter to select the correct alliance + if (LoadHardwareClass.selectedAlliance == null){ + prompter.run(); + } + } // Wait for the game to start (driver presses START) waitForStart(); runtime.reset(); - // This variable contains the target position for the turret. - double target = 0; - // Initialize all hardware of the robot Robot.init(startPose); @@ -86,15 +102,14 @@ public void runOpMode() { ); if (gamepad2.guide){ - target = Math.abs(targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), true)-540); + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); }else if (gamepad2.back){ - target = Math.abs(targeting.calcLocalizer(Robot.drivetrain.follower.getPose(), false)-540); + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); }else if (Math.abs(gamepad2.left_stick_x)>0.2 || Math.abs(gamepad2.left_stick_y)>0.2) { - target = Math.toDegrees(Math.atan2(gamepad2.left_stick_y, gamepad2.left_stick_x)); + Robot.turret.rotation.setAngle( + Math.toDegrees(Math.atan2(gamepad2.left_stick_y, gamepad2.left_stick_x))); } - Robot.turret.setAngle(target); - if (gamepad2.a){ Robot.intake.setMode(Intake.Mode.INTAKE); }else if (gamepad2.b){ @@ -105,13 +120,11 @@ public void runOpMode() { Robot.intake.setMode(Intake.Mode.OFF); } - Robot.updatePIDs(); + Robot.turret.updatePIDs(); // Turret-related Telemetry - telemetry.addData("Turret PIDs", LoadHardwareClass.turretCoefficients); - telemetry.addData("Turret Target Angle:", target); - telemetry.addData("Turret Actual Angle", Robot.turret.getAngleAbsolute()); - telemetry.addData("Turret Set Power", Robot.turret.getPower()); + telemetry.addData("Turret Target Angle:", Robot.turret.rotation.target); + telemetry.addData("Turret Actual Angle", Robot.turret.rotation.getAngleAbsolute()); // Intake-related Telemetry telemetry.addLine(); From e406f6caf39834beaab37d41dd7ad0be4e769685 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 17 Nov 2025 09:56:52 -0500 Subject: [PATCH 067/152] Added function in Turret.java to control the flywheel. --- .../teamcode/LOADCode/Main_/Auto_/TestAuto.java | 14 ++++++++++---- .../Main_/Hardware_/Actuators_/Intake.java | 12 ++++++------ .../Main_/Hardware_/Actuators_/Turret.java | 6 +++++- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 4 ++-- 4 files changed, 23 insertions(+), 13 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java index 7f4b23dde48e..0beef87c1783 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java @@ -100,10 +100,16 @@ public void buildPaths() { .build(); } - public void delay(int time){ - Timer wait = new Timer(); - wait.resetTimer(); - while (wait.getElapsedTime() < time){} + /** + * Copied over from LinearOpMode. + * @param milliseconds The number of milliseconds to sleep. + */ + public final void sleep(long milliseconds) { + try { + Thread.sleep(milliseconds); + } catch (InterruptedException e) { + Thread.currentThread().interrupt(); + } } public void autonomousPathUpdate() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index fc1aca065390..606b4857d3e8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -12,9 +12,9 @@ public class Intake { private final CRServoClass belt = new CRServoClass(); public enum Mode { - INTAKE, + INTAKING, SHOOTING, - REVERSE, + REVERSING, OFF } @@ -27,13 +27,13 @@ public void init(OpMode opmode){ } public void setMode(Mode direction){ - if (direction == Mode.INTAKE){ + if (direction == Mode.INTAKING){ intake.setPower(1); belt.setPower(1); }else if (direction == Mode.SHOOTING){ intake.setPower(0); belt.setPower(1); - }else if (direction == Mode.REVERSE){ + }else if (direction == Mode.REVERSING){ intake.setPower(-1); belt.setPower(-1); }else{ @@ -46,11 +46,11 @@ public Mode getMode(){ double intakePower = intake.getPower(); double beltPower = belt.getPower(); if (intakePower == 1 && beltPower == 1){ - return Mode.INTAKE; + return Mode.INTAKING; }else if (intakePower == 0 && beltPower == 1){ return Mode.SHOOTING; }else if (intakePower == -1 && beltPower == -1){ - return Mode.REVERSE; + return Mode.REVERSING; }else{ return Mode.OFF; } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 000cc97c205f..2bcd289d9f35 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -16,7 +16,7 @@ public class Turret { public final DcMotorExClass flywheel = new DcMotorExClass(); public final ServoClass hood = new ServoClass(); - Turret_Heading targeting = new Turret_Heading(); + private final Turret_Heading targeting = new Turret_Heading(); public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); @@ -45,4 +45,8 @@ public void updatePIDs(){ public void updateAimbot(Pose robotPose, boolean goal){ rotation.setAngle(targeting.calcLocalizer(robotPose, goal)); } + + public void setFlywheelRPM(double rpm){ + flywheel.setRPM(rpm); + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 229181a49dab..6b9f8af92f75 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -111,11 +111,11 @@ public void runOpMode() { } if (gamepad2.a){ - Robot.intake.setMode(Intake.Mode.INTAKE); + Robot.intake.setMode(Intake.Mode.INTAKING); }else if (gamepad2.b){ Robot.intake.setMode(Intake.Mode.SHOOTING); }else if (gamepad2.x){ - Robot.intake.setMode(Intake.Mode.REVERSE); + Robot.intake.setMode(Intake.Mode.REVERSING); }else{ Robot.intake.setMode(Intake.Mode.OFF); } From 680d9b73e6a2555170affdefb4b4efbee0b27dfa Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 17 Nov 2025 19:22:55 -0500 Subject: [PATCH 068/152] TeleOp controls tweaks --- .../Main_/Hardware_/Actuators_/Intake.java | 2 ++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 17 +++++++++-------- 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 606b4857d3e8..10ea7fc3a2e9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -24,6 +24,8 @@ public void init(OpMode opmode){ intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); intake.setDirection(DcMotorSimple.Direction.REVERSE); + + belt.setDirection(DcMotorSimple.Direction.REVERSE); } public void setMode(Mode direction){ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 6b9f8af92f75..11c6dcc3a72e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -86,18 +86,19 @@ public void runOpMode() { // run until the end of the match (driver presses STOP) while (opModeIsActive()) { - - if (gamepad1.left_trigger > 0.5){ - Robot.drivetrain.speedMultiplier = 0.2; - }else{ - Robot.drivetrain.speedMultiplier = 1; + Robot.drivetrain.speedMultiplier = 0.75; + if (gamepad1.left_trigger >= 0.5) { + Robot.drivetrain.speedMultiplier -= 0.25; + } + if (gamepad1.right_trigger >= 0.5){ + Robot.drivetrain.speedMultiplier += 0.25; } // Pass the joystick positions to our mecanum drive controller Robot.drivetrain.pedroMecanumDrive( - gamepad1.left_stick_y, - gamepad1.left_stick_x, - gamepad1.right_stick_x/2, + Math.pow(gamepad1.left_stick_y,2), + Math.pow(gamepad1.left_stick_x,2), + Math.pow(gamepad1.right_stick_x/2,2), true ); From 836532b61df0ed157cb0e8c4c7a6d882aa4b8b56 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 18 Nov 2025 19:10:27 -0500 Subject: [PATCH 069/152] Began work on auto path modules --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 85 +++++++++++ .../Drivetrain_/MecanumDrivetrainClass.java | 11 ++ .../Hardware_/Drivetrain_/Pedro_Paths.java | 143 ++++++++++++++++-- .../Main_/Hardware_/LoadHardwareClass.java | 12 ++ 4 files changed, 236 insertions(+), 15 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java new file mode 100644 index 000000000000..d2649e2975c7 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -0,0 +1,85 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; + +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.skeletonarmy.marrow.prompts.OptionPrompt; +import com.skeletonarmy.marrow.prompts.Prompter; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; + +public class Auto_Main_ extends OpMode { + + // Define other PedroPathing constants + private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. + + private enum Auto { + LOAD_ROBOTICS_A, + LOAD_ROBOTICS_B, + MOE_A, + } + + private int autoState = 0; + + private Auto selectedAuto = null; + + // Create the prompter object for selecting Alliance and Auto + Prompter prompter = null; + + // Create a new instance of our Robot class + LoadHardwareClass Robot = new LoadHardwareClass(this); + + @Override + public void init() { + // Initialize all hardware of the robot + Robot.init(startPose); + + prompter = new Prompter(this); + prompter.prompt("alliance", + new OptionPrompt<>("Select Alliance", + LoadHardwareClass.Alliance.RED, + LoadHardwareClass.Alliance.BLUE + )); + prompter.prompt("auto", + new OptionPrompt<>("Select Auto", + Auto.LOAD_ROBOTICS_A, + Auto.MOE_A, + Auto.LOAD_ROBOTICS_B + )); + prompter.onComplete(() -> { + LoadHardwareClass.selectedAlliance = prompter.get("alliance"); + selectedAuto = prompter.get("auto"); + telemetry.addData("Selection", "Complete"); + } + ); + } + + @Override + public void loop() { + switch (selectedAuto) { + case LOAD_ROBOTICS_A: + return; + case LOAD_ROBOTICS_B: + return; + default: + TEMPLATE_A(); + } + } + + private void waitForPathCompletion(){ + if (Robot.drivetrain.pathComplete()){autoState++;} + } + + private void TEMPLATE_A() { + switch (autoState){ + case 0: + Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); + waitForPathCompletion(); + case 1: + Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); + waitForPathCompletion(); + case 2: + Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); + waitForPathCompletion(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index 0e15affd4ccc..db11561f235d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -4,6 +4,7 @@ import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; +import com.pedropathing.paths.PathChain; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -14,6 +15,7 @@ public class MecanumDrivetrainClass { // Misc Constants public Follower follower = null; + public Pedro_Paths paths = null; /** * Initializes the PedroPathing follower. @@ -24,6 +26,7 @@ public class MecanumDrivetrainClass { public void init (@NonNull OpMode myOpMode, Pose initialPose){ // PedroPathing initialization follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower + paths = new Pedro_Paths(follower); follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field follower.update(); // Applies the initialization @@ -54,4 +57,12 @@ public void pedroMecanumDrive(double forward, double strafe, double rotate, bool robotCentric); follower.update(); } + + public void runPath(PathChain path, boolean holdEndpoint){ + follower.followPath(path, holdEndpoint); + } + + public boolean pathComplete(){ + return !follower.isBusy(); + } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index de15b2f716a1..e2c328a687be 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -2,31 +2,144 @@ import com.pedropathing.follower.Follower; import com.pedropathing.geometry.BezierCurve; +import com.pedropathing.geometry.BezierLine; import com.pedropathing.geometry.Pose; import com.pedropathing.paths.PathChain; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; + public class Pedro_Paths { // The variable to store PedroPathing's follower object for path building - private Follower follower; + public Follower follower; + + /** + * Define primary poses to be used in paths + */ + // Start Poses + public Pose startPose1 = new Pose(112, 136.6, Math.toRadians(270)); + public Pose startPose2 = new Pose(88, 7.4, Math.toRadians(90)); + + // Define all path variables + public PathChain startPose1_to_preload1, startPose1_to_preload2, startPose1_to_preload3; + public PathChain startPose2_to_preload1, startPose2_to_preload2, startPose2_to_preload3; + + public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ + int mult = 1; + if (alliance == LoadHardwareClass.Alliance.BLUE){ + mult = -1; + } + return new Pose( + 144 - pose.getX(), + 144 - pose.getY(), + Math.atan2(Math.sin(pose.getHeading()), mult * Math.cos(pose.getHeading())) + ); + } + + /** + * Builds all the paths, mirroring them to the other side of the field if necessary + */ + public void buildPaths(LoadHardwareClass.Alliance alliance){ + // All paths are for the RED side of the field. they will be mirrored if necessary. + + // Start Pose 1 to Preloads + startPose1_to_preload3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose1, alliance), + autoMirror(new Pose(89.000, 136.600), alliance), + autoMirror(new Pose(89.000, 30.000), alliance), + autoMirror(new Pose(95.000, 35.500), alliance), + autoMirror(new Pose(110.000, 35.500), alliance) + )) + .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .addPath(new BezierLine( + autoMirror(new Pose(110.000, 35.500), alliance), + autoMirror(new Pose(132.000, 35.500), alliance) + )) + .setTangentHeadingInterpolation() + .build(); + startPose1_to_preload2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose1, alliance), + autoMirror(new Pose(89.000, 136.600), alliance), + autoMirror(new Pose(89.000, 54.000), alliance), + autoMirror(new Pose(95.000, 59.500), alliance), + autoMirror(new Pose(110.000, 59.500), alliance) + )) + .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .addPath(new BezierLine( + autoMirror(new Pose(110.000, 59.500), alliance), + autoMirror(new Pose(132.000, 59.500), alliance) + )) + .setTangentHeadingInterpolation() + .build(); + startPose1_to_preload1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose1, alliance), + autoMirror(new Pose(89.000, 136.600), alliance), + autoMirror(new Pose(89.000, 78.000), alliance), + autoMirror(new Pose(95.000, 83.500), alliance), + autoMirror(new Pose(110.000, 83.500), alliance) + )) + .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .addPath(new BezierLine( + autoMirror(new Pose(110.000, 83.500), alliance), + autoMirror(new Pose(132.000, 83.500), alliance) + )) + .setTangentHeadingInterpolation() + .build(); + + // Start Pose 2 to Preloads + startPose2_to_preload3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose2, alliance), + autoMirror(new Pose(89.000, 136.600), alliance), + autoMirror(new Pose(89.000, 41.000), alliance), + autoMirror(new Pose(95.000, 35.500), alliance), + autoMirror(new Pose(110.000, 35.500), alliance) + )) + .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) + .addPath(new BezierLine( + autoMirror(new Pose(110.000, 35.500), alliance), + autoMirror(new Pose(132.000, 35.500), alliance) + )) + .setTangentHeadingInterpolation() + .build(); + startPose2_to_preload2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose2, alliance), + autoMirror(new Pose(89.000, 136.600), alliance), + autoMirror(new Pose(89.000, 65.000), alliance), + autoMirror(new Pose(95.000, 59.500), alliance), + autoMirror(new Pose(110.000, 59.500), alliance) + )) + .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .addPath(new BezierLine( + autoMirror(new Pose(110.000, 59.500), alliance), + autoMirror(new Pose(132.000, 59.500), alliance) + )) + .setTangentHeadingInterpolation() + .build(); + startPose2_to_preload1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose2, alliance), + autoMirror(new Pose(89.000, 89.000), alliance), + autoMirror(new Pose(95.000, 83.500), alliance), + autoMirror(new Pose(110.000, 83.500), alliance) + )) + .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) + .addPath(new BezierLine( + autoMirror(new Pose(110.000, 83.500), alliance), + autoMirror(new Pose(132.000, 83.500), alliance) + )) + .setTangentHeadingInterpolation() + .build(); + } /** * Must be called after MecanumDrivetrainClass is initialized. * @param follow PedroPathing's follower object, gotten from MecanumDrivetrainClass */ - public void init(Follower follow){ + public Pedro_Paths(Follower follow){ follower = follow; } - - // Define primary poses to be used in paths - public final Pose startPose1 = new Pose(87, 8.8, Math.toRadians(90)); - public final Pose scorePose1 = new Pose(86, 22, Math.toRadians(80)); - - // Define paths to be used by PedroPathing - public final PathChain gotoScorePose1 = follower.pathBuilder() - .addPath(new BezierCurve( - follower.getPose(), - scorePose1 - )) - .setLinearHeadingInterpolation(follower.getPose().getHeading(), scorePose1.getHeading()) - .build(); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 6765b1c7788c..be7c72f5b115 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -59,6 +59,18 @@ public enum Alliance { BLUE } + /** + * Copied from LinearOpMode. + * @param milliseconds The number of milliseconds to sleep. + */ + public final void sleep(long milliseconds) { + try { + Thread.sleep(milliseconds); + } catch (InterruptedException e) { + Thread.currentThread().interrupt(); + } + } + /** * Constructor that allows the OpMode to pass a reference to itself. * @param opmode The input for this parameter should almost always be "this". From e49fc51cbaf35f9825c3ea291df13f803c77a0a1 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Thu, 20 Nov 2025 13:18:50 -0500 Subject: [PATCH 070/152] Began adding new set of auto path modules: preloadX_to_shootingX --- .../Hardware_/Drivetrain_/Pedro_Paths.java | 65 ++++++++++++------- 1 file changed, 40 insertions(+), 25 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index e2c328a687be..cba4e3ba7dd8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -18,10 +18,15 @@ public class Pedro_Paths { // Start Poses public Pose startPose1 = new Pose(112, 136.6, Math.toRadians(270)); public Pose startPose2 = new Pose(88, 7.4, Math.toRadians(90)); + // Shooting Poses + public Pose shootingPose3 = new Pose(85, 15, Math.toRadians(60)); // Define all path variables public PathChain startPose1_to_preload1, startPose1_to_preload2, startPose1_to_preload3; public PathChain startPose2_to_preload1, startPose2_to_preload2, startPose2_to_preload3; + public PathChain preload1_to_shooting1, preload1_to_shooting2, preload1_to_shooting3; + public PathChain preload2_to_shooting1, preload2_to_shooting2, preload2_to_shooting3; + public PathChain preload3_to_shooting1, preload3_to_shooting2, preload3_to_shooting3; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ int mult = 1; @@ -42,18 +47,18 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ // All paths are for the RED side of the field. they will be mirrored if necessary. // Start Pose 1 to Preloads - startPose1_to_preload3 = follower.pathBuilder() + startPose1_to_preload1 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(startPose1, alliance), autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 30.000), alliance), - autoMirror(new Pose(95.000, 35.500), alliance), - autoMirror(new Pose(110.000, 35.500), alliance) + autoMirror(new Pose(89.000, 78.000), alliance), + autoMirror(new Pose(95.000, 83.500), alliance), + autoMirror(new Pose(110.000, 83.500), alliance) )) .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(new Pose(132.000, 35.500), alliance) + autoMirror(new Pose(110.000, 83.500), alliance), + autoMirror(new Pose(132.000, 83.500), alliance) )) .setTangentHeadingInterpolation() .build(); @@ -72,35 +77,34 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ )) .setTangentHeadingInterpolation() .build(); - startPose1_to_preload1 = follower.pathBuilder() + startPose1_to_preload3 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(startPose1, alliance), autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 78.000), alliance), - autoMirror(new Pose(95.000, 83.500), alliance), - autoMirror(new Pose(110.000, 83.500), alliance) + autoMirror(new Pose(89.000, 30.000), alliance), + autoMirror(new Pose(95.000, 35.500), alliance), + autoMirror(new Pose(110.000, 35.500), alliance) )) .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(new Pose(132.000, 83.500), alliance) + autoMirror(new Pose(110.000, 35.500), alliance), + autoMirror(new Pose(132.000, 35.500), alliance) )) .setTangentHeadingInterpolation() .build(); // Start Pose 2 to Preloads - startPose2_to_preload3 = follower.pathBuilder() + startPose2_to_preload1 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(startPose2, alliance), - autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 41.000), alliance), - autoMirror(new Pose(95.000, 35.500), alliance), - autoMirror(new Pose(110.000, 35.500), alliance) + autoMirror(new Pose(89.000, 89.000), alliance), + autoMirror(new Pose(95.000, 83.500), alliance), + autoMirror(new Pose(110.000, 83.500), alliance) )) .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(new Pose(132.000, 35.500), alliance) + autoMirror(new Pose(110.000, 83.500), alliance), + autoMirror(new Pose(132.000, 83.500), alliance) )) .setTangentHeadingInterpolation() .build(); @@ -119,20 +123,31 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ )) .setTangentHeadingInterpolation() .build(); - startPose2_to_preload1 = follower.pathBuilder() + startPose2_to_preload3 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(startPose2, alliance), - autoMirror(new Pose(89.000, 89.000), alliance), - autoMirror(new Pose(95.000, 83.500), alliance), - autoMirror(new Pose(110.000, 83.500), alliance) + autoMirror(new Pose(89.000, 136.600), alliance), + autoMirror(new Pose(89.000, 41.000), alliance), + autoMirror(new Pose(95.000, 35.500), alliance), + autoMirror(new Pose(110.000, 35.500), alliance) )) .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(new Pose(132.000, 83.500), alliance) + autoMirror(new Pose(110.000, 35.500), alliance), + autoMirror(new Pose(132.000, 35.500), alliance) )) .setTangentHeadingInterpolation() .build(); + + // Preload 1 to Shooting Pose 3 + preload1_to_shooting3 = follower.pathBuilder() + .addPath(new BezierCurve( + new Pose(132.000, 59.500), + new Pose(90.000, 59.500), + shootingPose3 + )) + .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(60)) + .build(); } /** From f8cf741073a265c2b0925eb4bf34269471ef37d3 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Fri, 21 Nov 2025 17:31:58 -0500 Subject: [PATCH 071/152] Added gate servo controls --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 6 ++++ .../Main_/Hardware_/Actuators_/Turret.java | 19 ++++++++++++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 30 ++++++++++++++----- 3 files changed, 48 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index d2649e2975c7..49e7effd75b2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -65,10 +65,16 @@ public void loop() { } } + /** + * Waits for the current stage of the auto to be done and then runs the next stage. + */ private void waitForPathCompletion(){ if (Robot.drivetrain.pathComplete()){autoState++;} } + /** + * Template auto + */ private void TEMPLATE_A() { switch (autoState){ case 0: diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 2bcd289d9f35..cb397b075a24 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -8,6 +8,8 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.ServoClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; +import java.util.Optional; + import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; @@ -15,6 +17,7 @@ public class Turret { public final DcMotorExClass rotation = new DcMotorExClass(); public final DcMotorExClass flywheel = new DcMotorExClass(); public final ServoClass hood = new ServoClass(); + public final ServoClass gate = new ServoClass(); private final Turret_Heading targeting = new Turret_Heading(); @@ -22,13 +25,21 @@ public class Turret { public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); public static BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); + public enum gatestate { + OPEN, + CLOSED, + } + public void init(OpMode opmode){ rotation.init(opmode, "turret", 103.8); flywheel.init(opmode, "flywheel"); hood.init(opmode, "hood"); + gate.init(opmode, "gate"); rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + gate.setAngle(0.5); + // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); flywheel.setPidCoefficients(flywheelCoefficients); @@ -46,6 +57,14 @@ public void updateAimbot(Pose robotPose, boolean goal){ rotation.setAngle(targeting.calcLocalizer(robotPose, goal)); } + public void setGate(gatestate state){ + if (state == gatestate.OPEN){ + gate.setAngle(0.5); + }else if (state == gatestate.CLOSED){ + gate.setAngle(0.25); + } + } + public void setFlywheelRPM(double rpm){ flywheel.setRPM(rpm); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 11c6dcc3a72e..69c72f279f10 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -29,6 +29,8 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; +import com.bylazar.configurables.annotations.Configurable; +import com.pedropathing.Drivetrain; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; @@ -37,16 +39,19 @@ import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; //TODO, implement all our external libraries and functionality. - +@Configurable @TeleOp(name="Teleop_Main_", group="TeleOp") public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); + public static double driveExponent = 2; + Prompter prompter = null; // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. @@ -86,19 +91,23 @@ public void runOpMode() { // run until the end of the match (driver presses STOP) while (opModeIsActive()) { - Robot.drivetrain.speedMultiplier = 0.75; + Robot.drivetrain.speedMultiplier = 0.66; if (gamepad1.left_trigger >= 0.5) { - Robot.drivetrain.speedMultiplier -= 0.25; + Robot.drivetrain.speedMultiplier -= 0.33; } if (gamepad1.right_trigger >= 0.5){ - Robot.drivetrain.speedMultiplier += 0.25; + Robot.drivetrain.speedMultiplier += 0.33; } // Pass the joystick positions to our mecanum drive controller + double turnMult = 2; + if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ + turnMult = 1; + } Robot.drivetrain.pedroMecanumDrive( - Math.pow(gamepad1.left_stick_y,2), - Math.pow(gamepad1.left_stick_x,2), - Math.pow(gamepad1.right_stick_x/2,2), + gamepad1.left_stick_y, + gamepad1.left_stick_x, + gamepad1.right_stick_x/turnMult, true ); @@ -121,8 +130,15 @@ public void runOpMode() { Robot.intake.setMode(Intake.Mode.OFF); } + if (gamepad2.b){ + Robot.turret.setGate(Turret.gatestate.OPEN); + }else{ + Robot.turret.setGate(Turret.gatestate.CLOSED); + } + Robot.turret.updatePIDs(); + telemetry.addData("SpeedMult", Robot.drivetrain.speedMultiplier); // Turret-related Telemetry telemetry.addData("Turret Target Angle:", Robot.turret.rotation.target); telemetry.addData("Turret Actual Angle", Robot.turret.rotation.getAngleAbsolute()); From e4563720edf2f870e7255f0331d2a3727083ac91 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 24 Nov 2025 16:51:35 -0500 Subject: [PATCH 072/152] Added some more auto paths --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 11 +- .../Main_/Hardware_/Actuators_/Turret.java | 8 +- .../Hardware_/Drivetrain_/Pedro_Paths.java | 120 +++++++++++++++--- 3 files changed, 115 insertions(+), 24 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 49e7effd75b2..2dd014ecef9a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -1,5 +1,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; +import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; + import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.skeletonarmy.marrow.prompts.OptionPrompt; @@ -46,7 +48,7 @@ public void init() { Auto.LOAD_ROBOTICS_B )); prompter.onComplete(() -> { - LoadHardwareClass.selectedAlliance = prompter.get("alliance"); + selectedAlliance = prompter.get("alliance"); selectedAuto = prompter.get("auto"); telemetry.addData("Selection", "Complete"); } @@ -63,6 +65,13 @@ public void loop() { default: TEMPLATE_A(); } + switch (selectedAlliance) { + case RED: + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + return; + case BLUE: + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); + } } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index cb397b075a24..8626e2fa2d47 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -53,8 +53,12 @@ public void updatePIDs(){ flywheel.setFFCoefficients(ffCoefficients); } - public void updateAimbot(Pose robotPose, boolean goal){ - rotation.setAngle(targeting.calcLocalizer(robotPose, goal)); + /** + * @param robotPose The pose of the robot, gotten from PedroPathing's localization + * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. + */ + public void updateAimbot(Pose robotPose, boolean targetRedGoal){ + rotation.setAngle(targeting.calcLocalizer(robotPose, targetRedGoal)); } public void setGate(gatestate state){ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index cba4e3ba7dd8..bd05480b4274 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -18,7 +18,13 @@ public class Pedro_Paths { // Start Poses public Pose startPose1 = new Pose(112, 136.6, Math.toRadians(270)); public Pose startPose2 = new Pose(88, 7.4, Math.toRadians(90)); + // Preload Poses + public Pose preloadPose1 = new Pose(130.000, 83.500, Math.toRadians(90)); + public Pose preloadPose2 = new Pose(132.000, 59.500, Math.toRadians(90)); + public Pose preloadPose3 = new Pose(132.000, 35.500, Math.toRadians(90)); // Shooting Poses + public Pose shootingPose1 = new Pose(115, 120, Math.toRadians(-35)); + public Pose shootingPose2 = new Pose(85, 85, Math.toRadians(-15)); public Pose shootingPose3 = new Pose(85, 15, Math.toRadians(60)); // Define all path variables @@ -40,13 +46,7 @@ public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ ); } - /** - * Builds all the paths, mirroring them to the other side of the field if necessary - */ - public void buildPaths(LoadHardwareClass.Alliance alliance){ - // All paths are for the RED side of the field. they will be mirrored if necessary. - - // Start Pose 1 to Preloads + public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { startPose1_to_preload1 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(startPose1, alliance), @@ -58,7 +58,7 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(new Pose(132.000, 83.500), alliance) + autoMirror(preloadPose1, alliance) )) .setTangentHeadingInterpolation() .build(); @@ -73,7 +73,7 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 59.500), alliance), - autoMirror(new Pose(132.000, 59.500), alliance) + autoMirror(preloadPose2, alliance) )) .setTangentHeadingInterpolation() .build(); @@ -88,12 +88,12 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(new Pose(132.000, 35.500), alliance) + autoMirror(preloadPose3, alliance) )) .setTangentHeadingInterpolation() .build(); - - // Start Pose 2 to Preloads + } + public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ startPose2_to_preload1 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(startPose2, alliance), @@ -104,7 +104,7 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(new Pose(132.000, 83.500), alliance) + autoMirror(preloadPose1, alliance) )) .setTangentHeadingInterpolation() .build(); @@ -119,7 +119,7 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 59.500), alliance), - autoMirror(new Pose(132.000, 59.500), alliance) + autoMirror(preloadPose2, alliance) )) .setTangentHeadingInterpolation() .build(); @@ -134,20 +134,98 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(new Pose(132.000, 35.500), alliance) + autoMirror(preloadPose3, alliance) )) .setTangentHeadingInterpolation() .build(); - - // Preload 1 to Shooting Pose 3 + } + public void buildPreload1ToShootings(LoadHardwareClass.Alliance alliance){ + preload1_to_shooting1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose1, alliance), + autoMirror(shootingPose1, alliance) + )) + .setLinearHeadingInterpolation(preloadPose1.getHeading(), shootingPose1.getHeading()) + .build(); + preload1_to_shooting2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose1, alliance), + autoMirror(shootingPose2, alliance) + )) + .setLinearHeadingInterpolation(preloadPose1.getHeading(), shootingPose2.getHeading()) + .build(); + preload1_to_shooting3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose1, alliance), + autoMirror(new Pose(80.000, 83.500), alliance), + autoMirror(shootingPose3, alliance) + )) + .setLinearHeadingInterpolation(preloadPose1.getHeading(), shootingPose3.getHeading()) + .build(); + } + public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ + preload1_to_shooting1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose2, alliance), + autoMirror(new Pose(65,59.5), alliance), + autoMirror(shootingPose1, alliance) + )) + .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose1.getHeading()) + .build(); + preload1_to_shooting2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose2, alliance), + autoMirror(new Pose(65,59.5), alliance), + autoMirror(shootingPose2, alliance) + )) + .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose2.getHeading()) + .build(); preload1_to_shooting3 = follower.pathBuilder() .addPath(new BezierCurve( - new Pose(132.000, 59.500), - new Pose(90.000, 59.500), - shootingPose3 + autoMirror(preloadPose2, alliance), + autoMirror(new Pose(90.000, 59.500), alliance), + autoMirror(shootingPose3, alliance) + )) + .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose3.getHeading()) + .build(); + } + public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ + preload1_to_shooting1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose2, alliance), + autoMirror(new Pose(65,59.5), alliance), + autoMirror(shootingPose1, alliance) + )) + .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose1.getHeading()) + .build(); + preload1_to_shooting2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose2, alliance), + autoMirror(new Pose(65,59.5), alliance), + autoMirror(shootingPose2, alliance) )) - .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(60)) + .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose2.getHeading()) .build(); + preload1_to_shooting3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(preloadPose2, alliance), + autoMirror(new Pose(90.000, 59.500), alliance), + autoMirror(shootingPose3, alliance) + )) + .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose3.getHeading()) + .build(); + } + + /** + * Builds all the paths, mirroring them to the other side of the field if necessary + */ + public void buildPaths(LoadHardwareClass.Alliance alliance){ + // All paths are for the RED side of the field. they will be mirrored if necessary. + + buildStart1ToPreloads(alliance); + buildStart2ToPreloads(alliance); + buildPreload1ToShootings(alliance); + buildPreload2ToShootings(alliance); } /** From 5af15608c88c0f0f04096f5e6ba933ab21857cd0 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 24 Nov 2025 16:52:37 -0500 Subject: [PATCH 073/152] Added some TODOs --- .../ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 69c72f279f10..089a4e98c05c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -43,6 +43,10 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; //TODO, implement all our external libraries and functionality. + +//TODO, add 2 generic autos for preloads and shooting and stuff + +//TODO, Implement controls graph @Configurable @TeleOp(name="Teleop_Main_", group="TeleOp") public class Teleop_Main_ extends LinearOpMode { From 5c56fe5395092f35a5087b8de76c69056bec43b5 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 24 Nov 2025 17:22:34 -0500 Subject: [PATCH 074/152] Moved all our TODOs into a separate notes file. I also consolidated all our actuator classes into a single "Devices" file. --- .../Main_/Hardware_/Actuators_/Devices.java | 231 ++++++++++++++++++ .../Actuators_/Generic_/CRServoClass.java | 36 --- .../Actuators_/Generic_/DcMotorExClass.java | 167 ------------- .../Actuators_/Generic_/ServoClass.java | 37 --- .../Main_/Hardware_/Actuators_/Intake.java | 6 +- .../Main_/Hardware_/Actuators_/Turret.java | 12 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 4 - .../ftc/teamcode/LOADCode/Notes and TODOs | 7 + 8 files changed, 244 insertions(+), 256 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java new file mode 100644 index 000000000000..0b096ee689c1 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -0,0 +1,231 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; + +import androidx.annotation.NonNull; + +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.CRServo; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.Servo; + +import dev.nextftc.control.ControlSystem; +import dev.nextftc.control.KineticState; +import dev.nextftc.control.feedback.PIDCoefficients; +import dev.nextftc.control.feedforward.BasicFeedforwardParameters; + +public class Devices { + + public static class CRServoClass { + private CRServo servo; + + public void init(@NonNull OpMode opmode, String servoName) { + servo = opmode.hardwareMap.get(CRServo.class, servoName); + } + + /** + * @param power The power to set the servo to. Must be a value between -1 and 1. + */ + public void setPower(double power) { + servo.setPower(power); + } + + /** + * @param direction The direction to set the servo to. + */ + public void setDirection(DcMotorSimple.Direction direction) { + servo.setDirection(direction); + } + + /** + * @return The power the servo has been set to. + */ + public double getPower() { + return servo.getPower(); + } + } + + public static class DcMotorExClass { + // PID pidCoefficients + PIDCoefficients pidCoefficients = new PIDCoefficients(0, 0, 0); + BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); + // Encoder ticks/rotation + // 1620rpm Gobilda - 103.8 ticks at the motor shaft + public double ticksPerRotation = 103.8; + // Target position/velocity of the motor + public double target = 0; + // Motor object + private DcMotorEx motorObject = null; + + /** + * Initializes the motor hardware + * @param opmode Allows this class to access the robot hardware objects. + * @param motorName The name of the motor in the robot's configuration. + * @param encoderResolution The resolution of the motor's encoder in ticks/rotation. + */ + public void init (@NonNull OpMode opmode, String motorName, double encoderResolution){ + // Initialize the motor object + motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); + ticksPerRotation = encoderResolution; + } + /** + * Initializes the motor hardware. + * The resolution of the motor encoder will default to + * 103.8 ticks/rotation, the value for a 1620RPM Gobilda motor. + * @param opmode Allows this class to access the robot hardware objects. + * @param motorName The name of the motor in the robot's configuration. + */ + public void init (@NonNull OpMode opmode, String motorName){ + // Initialize the motor object + motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); + } + + /** + * Sets the value of the PID coefficients of the motor. + * @param coefficients The values to set the coefficients to. + */ + public void setPidCoefficients(PIDCoefficients coefficients) { + pidCoefficients = coefficients; + } + /** + * Sets the value of the FeedForward coefficients of the motor. + * @param coefficients The values to set the coefficients to. + */ + public void setFFCoefficients(BasicFeedforwardParameters coefficients) { + ffCoefficients = coefficients; + } + /** + * Resets the internal encoder of the motor to zero. + */ + public void resetEncoder(){ + motorObject.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + motorObject.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + } + /** + * Sets the runMode of the motor. + * @param runMode The mode to set the motor to. + */ + public void setRunMode(DcMotor.RunMode runMode){ + motorObject.setMode(runMode); + } + /** + * Sets the zeroPowerBehaviour of the motor. + * @param behaviour The behaviour to apply to the motor. + */ + public void setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior behaviour){ + motorObject.setZeroPowerBehavior(behaviour); + } + /** + * @param direction The direction to set the motor to. + */ + public void setDirection(DcMotorSimple.Direction direction){ + motorObject.setDirection(direction); + } + /** + * @return The current position of the turret motor in encoder ticks. Can be any value. + */ + public double getEncoderTicks(){ + return motorObject.getCurrentPosition(); + } + /** + * @param power A value between -1 and 1 that the turret motor's power will be set to. + */ + public void setPower(double power){ + motorObject.setPower(power); + } + /** + * @return The angle of the turret in degrees. Can be any value. + */ + public double getAngleAbsolute(){ + return (getEncoderTicks()/ticksPerRotation*360); + } + /** + * @return The angle of the turret in degrees. Can be any value between 0 and 360. + */ + public double getAngle(){ + return getAngleAbsolute()%360; + } + /** + * @return The velocity of the turret in encoder ticks/second. + */ + public double getVelocity(){ + return motorObject.getVelocity(); + } + /** + * @return The velocity of the turret in degrees/second. + */ + public double getDegreesPerSecond(){ + return (getVelocity()/ticksPerRotation)*360; + } + /** + * @return The velocity of the turret in RPM. + */ + public double getRPM(){ + return (getVelocity()/ticksPerRotation)*60; + } + /** + * @return The power that the turret motor has been set to. + */ + public double getPower(){ + return motorObject.getPower(); + } + /** + * Uses a PID controller to move the motor to the desired position. + * Must be called every loop to function properly. + * @param angle The angle in degrees to move the motor to. Can be any number. + */ + public void setAngle(double angle){ + target = angle; + ControlSystem turretPID = ControlSystem.builder().posPid(pidCoefficients).build(); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); + turretPID.setGoal(new KineticState(target)); + setPower(turretPID.calculate(currentKineticState)); + } + /** + * Uses a PID controller to accelerate the motor to the desired RPM + * Must be called every loop to function properly. + * @param rpm The RPM to accelerate the motor to. Can be any number + */ + public void setRPM(double rpm){ + target = rpm; + double degreesPerSecond = target*6; + ControlSystem PID = ControlSystem.builder() + .velPid(pidCoefficients) + .basicFF(ffCoefficients) + .build(); + KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); + PID.setGoal(new KineticState(0, degreesPerSecond)); + setPower(PID.calculate(currentKineticState)); + } + } + + public static class ServoClass { + private Servo servo; + + public void init(@NonNull OpMode opmode, String servoName){ + servo = opmode.hardwareMap.get(Servo.class, servoName); + } + + /** + * @param angle The angle to set the servo to. Must be a value between 0 and 1, + * representing the endpoints of it's movement. + */ + public void setAngle(double angle){ + servo.setPosition(angle); + } + + /** + * @param direction The direction to set the servo to. + */ + public void setDirection(Servo.Direction direction){ + servo.setDirection(direction); + } + + /** + * @return A value between 0 and 1 that the servo has been set to. + */ + public double getAngle(){ + return servo.getPosition(); + } + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java deleted file mode 100644 index 8580b1521929..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/CRServoClass.java +++ /dev/null @@ -1,36 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_; - -import androidx.annotation.NonNull; - -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.hardware.CRServo; -import com.qualcomm.robotcore.hardware.DcMotorSimple; - -public class CRServoClass{ - private CRServo servo; - - public void init(@NonNull OpMode opmode, String servoName){ - servo = opmode.hardwareMap.get(CRServo.class, servoName); - } - - /** - * @param power The power to set the servo to. Must be a value between -1 and 1. - */ - public void setPower(double power){ - servo.setPower(power); - } - - /** - * @param direction The direction to set the servo to. - */ - public void setDirection(DcMotorSimple.Direction direction){ - servo.setDirection(direction); - } - - /** - * @return The power the servo has been set to. - */ - public double getPower(){ - return servo.getPower(); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java deleted file mode 100644 index b8ee4836ce7c..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/DcMotorExClass.java +++ /dev/null @@ -1,167 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_; - -import androidx.annotation.NonNull; - -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.hardware.DcMotorEx; -import com.qualcomm.robotcore.hardware.DcMotorSimple; - -import dev.nextftc.control.ControlSystem; -import dev.nextftc.control.KineticState; -import dev.nextftc.control.feedback.PIDCoefficients; -import dev.nextftc.control.feedforward.BasicFeedforwardParameters; - -public class DcMotorExClass { - // PID pidCoefficients - PIDCoefficients pidCoefficients = new PIDCoefficients(0, 0, 0); - BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); - // Encoder ticks/rotation - // 1620rpm Gobilda - 103.8 ticks at the motor shaft - public double ticksPerRotation = 103.8; - // Target position/velocity of the motor - public double target = 0; - // Motor object - private DcMotorEx motorObject = null; - - /** - * Initializes the motor hardware - * @param opmode Allows this class to access the robot hardware objects. - * @param motorName The name of the motor in the robot's configuration. - * @param encoderResolution The resolution of the motor's encoder in ticks/rotation. - */ - public void init (@NonNull OpMode opmode, String motorName, double encoderResolution){ - // Initialize the motor object - motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); - ticksPerRotation = encoderResolution; - } - /** - * Initializes the motor hardware. - * The resolution of the motor encoder will default to - * 103.8 ticks/rotation, the value for a 1620RPM Gobilda motor. - * @param opmode Allows this class to access the robot hardware objects. - * @param motorName The name of the motor in the robot's configuration. - */ - public void init (@NonNull OpMode opmode, String motorName){ - // Initialize the motor object - motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); - } - - /** - * Sets the value of the PID coefficients of the motor. - * @param coefficients The values to set the coefficients to. - */ - public void setPidCoefficients(PIDCoefficients coefficients) { - pidCoefficients = coefficients; - } - /** - * Sets the value of the FeedForward coefficients of the motor. - * @param coefficients The values to set the coefficients to. - */ - public void setFFCoefficients(BasicFeedforwardParameters coefficients) { - ffCoefficients = coefficients; - } - /** - * Resets the internal encoder of the motor to zero. - */ - public void resetEncoder(){ - motorObject.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - motorObject.setMode(DcMotor.RunMode.RUN_USING_ENCODER); - } - /** - * Sets the runMode of the motor. - * @param runMode The mode to set the motor to. - */ - public void setRunMode(DcMotor.RunMode runMode){ - motorObject.setMode(runMode); - } - /** - * Sets the zeroPowerBehaviour of the motor. - * @param behaviour The behaviour to apply to the motor. - */ - public void setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior behaviour){ - motorObject.setZeroPowerBehavior(behaviour); - } - /** - * @param direction The direction to set the motor to. - */ - public void setDirection(DcMotorSimple.Direction direction){ - motorObject.setDirection(direction); - } - /** - * @return The current position of the turret motor in encoder ticks. Can be any value. - */ - public double getEncoderTicks(){ - return motorObject.getCurrentPosition(); - } - /** - * @param power A value between -1 and 1 that the turret motor's power will be set to. - */ - public void setPower(double power){ - motorObject.setPower(power); - } - /** - * @return The angle of the turret in degrees. Can be any value. - */ - public double getAngleAbsolute(){ - return (getEncoderTicks()/ticksPerRotation*360); - } - /** - * @return The angle of the turret in degrees. Can be any value between 0 and 360. - */ - public double getAngle(){ - return getAngleAbsolute()%360; - } - /** - * @return The velocity of the turret in encoder ticks/second. - */ - public double getVelocity(){ - return motorObject.getVelocity(); - } - /** - * @return The velocity of the turret in degrees/second. - */ - public double getDegreesPerSecond(){ - return (getVelocity()/ticksPerRotation)*360; - } - /** - * @return The velocity of the turret in RPM. - */ - public double getRPM(){ - return (getVelocity()/ticksPerRotation)*60; - } - /** - * @return The power that the turret motor has been set to. - */ - public double getPower(){ - return motorObject.getPower(); - } - /** - * Uses a PID controller to move the motor to the desired position. - * Must be called every loop to function properly. - * @param angle The angle in degrees to move the motor to. Can be any number. - */ - public void setAngle(double angle){ - target = angle; - ControlSystem turretPID = ControlSystem.builder().posPid(pidCoefficients).build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); - turretPID.setGoal(new KineticState(target)); - setPower(turretPID.calculate(currentKineticState)); - } - /** - * Uses a PID controller to accelerate the motor to the desired RPM - * Must be called every loop to function properly. - * @param rpm The RPM to accelerate the motor to. Can be any number - */ - public void setRPM(double rpm){ - target = rpm; - double degreesPerSecond = target*6; - ControlSystem PID = ControlSystem.builder() - .velPid(pidCoefficients) - .basicFF(ffCoefficients) - .build(); - KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); - PID.setGoal(new KineticState(0, degreesPerSecond)); - setPower(PID.calculate(currentKineticState)); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java deleted file mode 100644 index ac65228e8b7f..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Generic_/ServoClass.java +++ /dev/null @@ -1,37 +0,0 @@ -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_; - -import androidx.annotation.NonNull; - -import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import com.qualcomm.robotcore.hardware.DcMotorSimple; -import com.qualcomm.robotcore.hardware.Servo; - -public class ServoClass { - private Servo servo; - - public void init(@NonNull OpMode opmode, String servoName){ - servo = opmode.hardwareMap.get(Servo.class, servoName); - } - - /** - * @param angle The angle to set the servo to. Must be a value between 0 and 1, - * representing the endpoints of it's movement. - */ - public void setAngle(double angle){ - servo.setPosition(angle); - } - - /** - * @param direction The direction to set the servo to. - */ - public void setDirection(Servo.Direction direction){ - servo.setDirection(direction); - } - - /** - * @return A value between 0 and 1 that the servo has been set to. - */ - public double getAngle(){ - return servo.getPosition(); - } -} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 10ea7fc3a2e9..b87a167d7f62 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -4,12 +4,10 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.CRServoClass; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; public class Intake { - private final DcMotorExClass intake = new DcMotorExClass(); - private final CRServoClass belt = new CRServoClass(); + private final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); + private final Devices.CRServoClass belt = new Devices.CRServoClass(); public enum Mode { INTAKING, diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 8626e2fa2d47..dd8984df83e2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -4,20 +4,16 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.DcMotorExClass; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Generic_.ServoClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; -import java.util.Optional; - import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; public class Turret { - public final DcMotorExClass rotation = new DcMotorExClass(); - public final DcMotorExClass flywheel = new DcMotorExClass(); - public final ServoClass hood = new ServoClass(); - public final ServoClass gate = new ServoClass(); + public final Devices.DcMotorExClass rotation = new Devices.DcMotorExClass(); + public final Devices.DcMotorExClass flywheel = new Devices.DcMotorExClass(); + public final Devices.ServoClass hood = new Devices.ServoClass(); + public final Devices.ServoClass gate = new Devices.ServoClass(); private final Turret_Heading targeting = new Turret_Heading(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 089a4e98c05c..877aa4ccd4b0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -42,11 +42,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; -//TODO, implement all our external libraries and functionality. -//TODO, add 2 generic autos for preloads and shooting and stuff - -//TODO, Implement controls graph @Configurable @TeleOp(name="Teleop_Main_", group="TeleOp") public class Teleop_Main_ extends LinearOpMode { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs new file mode 100644 index 000000000000..077c8e066c19 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -0,0 +1,7 @@ +//TODO, implement all our external libraries and functionality. + +//TODO, add 2 generic autos for preloads and shooting and stuff + +//TODO, Implement controls graph + +//DONE, Consolidate the generic actuator functionalities folder into one file \ No newline at end of file From 79165b47d5f97688eebe1a880cc3bdaffe796f2a Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 24 Nov 2025 17:38:49 -0500 Subject: [PATCH 075/152] Deleted the turret heading calculation class and added it's functionality to the turret hardware class. --- .../Main_/Hardware_/Actuators_/Turret.java | 19 ++++-- .../Calculation_/Turret_Heading.java | 58 ------------------- 2 files changed, 15 insertions(+), 62 deletions(-) delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index dd8984df83e2..605ff5d26dd3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -4,19 +4,20 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_.Turret_Heading; + import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; + public class Turret { + + public final Devices.DcMotorExClass rotation = new Devices.DcMotorExClass(); public final Devices.DcMotorExClass flywheel = new Devices.DcMotorExClass(); public final Devices.ServoClass hood = new Devices.ServoClass(); public final Devices.ServoClass gate = new Devices.ServoClass(); - private final Turret_Heading targeting = new Turret_Heading(); - public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); public static BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); @@ -54,7 +55,7 @@ public void updatePIDs(){ * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. */ public void updateAimbot(Pose robotPose, boolean targetRedGoal){ - rotation.setAngle(targeting.calcLocalizer(robotPose, targetRedGoal)); + rotation.setAngle(calcLocalizer(robotPose, targetRedGoal)); } public void setGate(gatestate state){ @@ -65,6 +66,16 @@ public void setGate(gatestate state){ } } + public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ + Pose goalPose = new Pose(0,144,0); + if (targetRedGoal) {goalPose = new Pose(144, 144, 0);} + + return Math.toDegrees(Math.atan2( + goalPose.getY()-robotPose.getY(), + goalPose.getX()-robotPose.getX()) + ) - Math.toDegrees(robotPose.getHeading()) + 180; + } + public void setFlywheelRPM(double rpm){ flywheel.setRPM(rpm); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java deleted file mode 100644 index 4bb74bd4ad1c..000000000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Calculation_/Turret_Heading.java +++ /dev/null @@ -1,58 +0,0 @@ -/* Copyright (c) 2022 FIRST. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted (subject to the limitations in the disclaimer below) provided that - * the following conditions are met: - * - * Redistributions of source code must retain the above copyright notice, this list - * of conditions and the following disclaimer. - * - * Redistributions in binary form must reproduce the above copyright notice, this - * list of conditions and the following disclaimer in the documentation and/or - * other materials provided with the distribution. - * - * Neither the name of FIRST nor the names of its contributors may be used to endorse or - * promote products derived from this software without specific prior written permission. - * - * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS - * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Calculation_; - -import com.pedropathing.geometry.Pose; - -public class Turret_Heading { - /** - * @param robotPose The pose of the robot, gotten from PedroPathing's localization - * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. - * @return The angle to set the turret to in degrees. - */ - public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ - Pose goalPose = new Pose(0,144,0); - if (targetRedGoal) {goalPose = new Pose(144, 144, 0);} - - return Math.toDegrees(Math.atan2( - goalPose.getY()-robotPose.getY(), - goalPose.getX()-robotPose.getX()) - ) - Math.toDegrees(robotPose.getHeading()) + 180; - } - - /** - * @param robotPose The pose of the robot, gotten from PedroPathing's localization - * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. - * @return The angle to set the turret to in degrees. - */ - public double calcAprilTag (Pose robotPose, boolean targetRedGoal){ - return 0; - } -} From 6eccf558335c20572301e3b861059469763a750d Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 24 Nov 2025 18:05:24 -0500 Subject: [PATCH 076/152] Created 12 more auto paths --- .../Hardware_/Drivetrain_/Pedro_Paths.java | 50 +++++++++++++++---- 1 file changed, 40 insertions(+), 10 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index bd05480b4274..0d717357e676 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -33,6 +33,9 @@ public class Pedro_Paths { public PathChain preload1_to_shooting1, preload1_to_shooting2, preload1_to_shooting3; public PathChain preload2_to_shooting1, preload2_to_shooting2, preload2_to_shooting3; public PathChain preload3_to_shooting1, preload3_to_shooting2, preload3_to_shooting3; + public PathChain shooting1_to_preload1, shooting1_to_preload2, shooting1_to_preload3; + public PathChain shooting2_to_preload1, shooting2_to_preload2, shooting2_to_preload3; + public PathChain shooting3_to_preload1, shooting3_to_preload2, shooting3_to_preload3; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ int mult = 1; @@ -164,7 +167,7 @@ public void buildPreload1ToShootings(LoadHardwareClass.Alliance alliance){ .build(); } public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ - preload1_to_shooting1 = follower.pathBuilder() + preload2_to_shooting1 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(preloadPose2, alliance), autoMirror(new Pose(65,59.5), alliance), @@ -172,7 +175,7 @@ public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ )) .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose1.getHeading()) .build(); - preload1_to_shooting2 = follower.pathBuilder() + preload2_to_shooting2 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(preloadPose2, alliance), autoMirror(new Pose(65,59.5), alliance), @@ -180,7 +183,7 @@ public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ )) .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose2.getHeading()) .build(); - preload1_to_shooting3 = follower.pathBuilder() + preload2_to_shooting3 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(preloadPose2, alliance), autoMirror(new Pose(90.000, 59.500), alliance), @@ -190,42 +193,69 @@ public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ .build(); } public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ - preload1_to_shooting1 = follower.pathBuilder() + preload3_to_shooting1 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(preloadPose2, alliance), - autoMirror(new Pose(65,59.5), alliance), + autoMirror(new Pose(75,30), alliance), + autoMirror(new Pose(80,100), alliance), autoMirror(shootingPose1, alliance) )) .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose1.getHeading()) .build(); - preload1_to_shooting2 = follower.pathBuilder() + preload3_to_shooting2 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(preloadPose2, alliance), - autoMirror(new Pose(65,59.5), alliance), + autoMirror(new Pose(85,32), alliance), autoMirror(shootingPose2, alliance) )) .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose2.getHeading()) .build(); - preload1_to_shooting3 = follower.pathBuilder() + preload3_to_shooting3 = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(preloadPose2, alliance), - autoMirror(new Pose(90.000, 59.500), alliance), autoMirror(shootingPose3, alliance) )) .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose3.getHeading()) .build(); } + public void buildShooting1ToPreloads(LoadHardwareClass.Alliance alliance){ + shooting1_to_preload1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose1, alliance), + autoMirror(new Pose(60, 80), alliance), + autoMirror(preloadPose1, alliance) + )) + .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose1.getHeading()) + .build(); + shooting1_to_preload2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose1, alliance), + autoMirror(new Pose(60, 55), alliance), + autoMirror(preloadPose2, alliance) + )) + .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose2.getHeading()) + .build(); + shooting1_to_preload3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose1, alliance), + autoMirror(new Pose(60, 27), alliance), + autoMirror(preloadPose3, alliance) + )) + .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose3.getHeading()) + .build(); + } /** * Builds all the paths, mirroring them to the other side of the field if necessary */ public void buildPaths(LoadHardwareClass.Alliance alliance){ // All paths are for the RED side of the field. they will be mirrored if necessary. - buildStart1ToPreloads(alliance); buildStart2ToPreloads(alliance); buildPreload1ToShootings(alliance); buildPreload2ToShootings(alliance); + buildPreload3ToShootings(alliance); + buildShooting1ToPreloads(alliance); } /** From e554c3089c19cc6c8e062496abb10d01b2bbdbbd Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 25 Nov 2025 16:04:32 -0500 Subject: [PATCH 077/152] Finished most of the auto paths. --- .../Hardware_/Drivetrain_/Pedro_Paths.java | 121 +++++++++++++++++- 1 file changed, 120 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index 0d717357e676..58a2801e9854 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -26,16 +26,27 @@ public class Pedro_Paths { public Pose shootingPose1 = new Pose(115, 120, Math.toRadians(-35)); public Pose shootingPose2 = new Pose(85, 85, Math.toRadians(-15)); public Pose shootingPose3 = new Pose(85, 15, Math.toRadians(60)); + // Leave Poses + public Pose leavePose1 = new Pose(90,120); + public Pose leavePose2 = new Pose(95,55); + public Pose leavePose3 = new Pose(115,20); // Define all path variables + // Start Poses to Preloads public PathChain startPose1_to_preload1, startPose1_to_preload2, startPose1_to_preload3; public PathChain startPose2_to_preload1, startPose2_to_preload2, startPose2_to_preload3; + // Preloads to Shooting Positions public PathChain preload1_to_shooting1, preload1_to_shooting2, preload1_to_shooting3; public PathChain preload2_to_shooting1, preload2_to_shooting2, preload2_to_shooting3; public PathChain preload3_to_shooting1, preload3_to_shooting2, preload3_to_shooting3; + // Shooting Positions to Preloads public PathChain shooting1_to_preload1, shooting1_to_preload2, shooting1_to_preload3; public PathChain shooting2_to_preload1, shooting2_to_preload2, shooting2_to_preload3; public PathChain shooting3_to_preload1, shooting3_to_preload2, shooting3_to_preload3; + // Shooting Positions to Leave Positions + public PathChain shooting1_to_leave1, shooting1_to_leave2; + public PathChain shooting2_to_leave1, shooting2_to_leave2; + public PathChain shooting3_to_leave2, shooting3_to_leave3; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ int mult = 1; @@ -244,18 +255,126 @@ public void buildShooting1ToPreloads(LoadHardwareClass.Alliance alliance){ .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose3.getHeading()) .build(); } + public void buildShooting2ToPreloads(LoadHardwareClass.Alliance alliance){ + shooting2_to_preload1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose2, alliance), + autoMirror(preloadPose1, alliance) + )) + .setLinearHeadingInterpolation(shootingPose2.getHeading(), preloadPose1.getHeading()) + .build(); + shooting2_to_preload2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose2, alliance), + autoMirror(new Pose(75, 56), alliance), + autoMirror(preloadPose2, alliance) + )) + .setLinearHeadingInterpolation(shootingPose2.getHeading(), preloadPose2.getHeading()) + .build(); + shooting2_to_preload3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose2, alliance), + autoMirror(new Pose(68, 30), alliance), + autoMirror(preloadPose3, alliance) + )) + .setLinearHeadingInterpolation(shootingPose2.getHeading(), preloadPose3.getHeading()) + .build(); + } + public void buildShooting3ToPreloads(LoadHardwareClass.Alliance alliance){ + shooting3_to_preload1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose3, alliance), + autoMirror(new Pose(73, 88), alliance), + autoMirror(preloadPose1, alliance) + )) + .setLinearHeadingInterpolation(shootingPose3.getHeading(), preloadPose1.getHeading()) + .build(); + shooting3_to_preload2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose3, alliance), + autoMirror(new Pose(78, 62), alliance), + autoMirror(preloadPose2, alliance) + )) + .setLinearHeadingInterpolation(shootingPose3.getHeading(), preloadPose2.getHeading()) + .build(); + shooting3_to_preload3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose3, alliance), + autoMirror(new Pose(82.5, 35), alliance), + autoMirror(preloadPose3, alliance) + )) + .setLinearHeadingInterpolation(shootingPose3.getHeading(), preloadPose3.getHeading()) + .build(); + } + public void buildShooting1ToLeaves(LoadHardwareClass.Alliance alliance){ + shooting1_to_leave1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose1, alliance), + autoMirror(leavePose1, alliance) + )) + .setConstantHeadingInterpolation(shootingPose1.getHeading()) + .build(); + shooting1_to_leave2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose1, alliance), + autoMirror(leavePose2, alliance) + )) + .setConstantHeadingInterpolation(shootingPose1.getHeading()) + .build(); + } + public void buildShooting2ToLeaves(LoadHardwareClass.Alliance alliance){ + shooting2_to_leave1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose2, alliance), + autoMirror(leavePose1, alliance) + )) + .setConstantHeadingInterpolation(shootingPose2.getHeading()) + .build(); + shooting2_to_leave2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose2, alliance), + autoMirror(leavePose2, alliance) + )) + .setConstantHeadingInterpolation(shootingPose2.getHeading()) + .build(); + } + public void buildShooting3ToLeaves(LoadHardwareClass.Alliance alliance){ + shooting3_to_leave2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose3, alliance), + autoMirror(leavePose2, alliance) + )) + .setConstantHeadingInterpolation(shootingPose3.getHeading()) + .build(); + shooting3_to_leave3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(shootingPose3, alliance), + autoMirror(leavePose3, alliance) + )) + .setConstantHeadingInterpolation(shootingPose3.getHeading()) + .build(); + } /** * Builds all the paths, mirroring them to the other side of the field if necessary */ public void buildPaths(LoadHardwareClass.Alliance alliance){ - // All paths are for the RED side of the field. they will be mirrored if necessary. + /// All paths are for the RED side of the field. they will be mirrored if necessary. + // Paths going from each start position to each of the preloads. buildStart1ToPreloads(alliance); buildStart2ToPreloads(alliance); + // Paths going from each preload to each shooting position buildPreload1ToShootings(alliance); buildPreload2ToShootings(alliance); buildPreload3ToShootings(alliance); + // Paths going from each shooting position to each preload buildShooting1ToPreloads(alliance); + buildShooting2ToPreloads(alliance); + buildShooting3ToPreloads(alliance); + // paths going from each shooting position to the leave positions. + buildShooting1ToLeaves(alliance); + buildShooting2ToLeaves(alliance); + buildShooting3ToLeaves(alliance); } /** From 88912efbab5a8189cf88b9679742881bdc23e176 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 25 Nov 2025 16:07:09 -0500 Subject: [PATCH 078/152] Added call to build auto paths in Auto_Main_.java --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 1 + 1 file changed, 1 insertion(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 2dd014ecef9a..add449a68bbe 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -53,6 +53,7 @@ public void init() { telemetry.addData("Selection", "Complete"); } ); + Robot.drivetrain.paths.buildPaths(selectedAlliance); } @Override From 9cac958618d560960f2ff9bdce5471c05431b8cf Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 25 Nov 2025 16:25:11 -0500 Subject: [PATCH 079/152] Added/Moved old TODOs to our todo list Rescoped our robot initialization in Teleop_Main_.java Added new control profile functions Added HTML docstring control guides for labeling and future hyperlinks. --- .../Main_/Hardware_/Actuators_/Turret.java | 2 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 157 +++++++++++++----- .../ftc/teamcode/LOADCode/Notes and TODOs | 6 +- 3 files changed, 116 insertions(+), 49 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 605ff5d26dd3..564d26e1d08f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -28,7 +28,7 @@ public enum gatestate { } public void init(OpMode opmode){ - rotation.init(opmode, "turret", 103.8); + rotation.init(opmode, "turret", 145.1); //Previously 103.8 flywheel.init(opmode, "flywheel"); hood.init(opmode, "hood"); gate.init(opmode, "gate"); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 877aa4ccd4b0..3ebc03b2b896 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -57,13 +57,14 @@ public class Teleop_Main_ extends LinearOpMode { // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); + // Create a new instance of our Robot class + LoadHardwareClass Robot = new LoadHardwareClass(this); + @Override public void runOpMode() { telemetry.addData("Status", "Initialized"); telemetry.update(); - // Create a new instance of our Robot class - LoadHardwareClass Robot = new LoadHardwareClass(this); // Create a new prompter for selecting alliance prompter = new Prompter(this); @@ -91,50 +92,9 @@ public void runOpMode() { // run until the end of the match (driver presses STOP) while (opModeIsActive()) { - Robot.drivetrain.speedMultiplier = 0.66; - if (gamepad1.left_trigger >= 0.5) { - Robot.drivetrain.speedMultiplier -= 0.33; - } - if (gamepad1.right_trigger >= 0.5){ - Robot.drivetrain.speedMultiplier += 0.33; - } - - // Pass the joystick positions to our mecanum drive controller - double turnMult = 2; - if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ - turnMult = 1; - } - Robot.drivetrain.pedroMecanumDrive( - gamepad1.left_stick_y, - gamepad1.left_stick_x, - gamepad1.right_stick_x/turnMult, - true - ); - - if (gamepad2.guide){ - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); - }else if (gamepad2.back){ - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); - }else if (Math.abs(gamepad2.left_stick_x)>0.2 || Math.abs(gamepad2.left_stick_y)>0.2) { - Robot.turret.rotation.setAngle( - Math.toDegrees(Math.atan2(gamepad2.left_stick_y, gamepad2.left_stick_x))); - } - if (gamepad2.a){ - Robot.intake.setMode(Intake.Mode.INTAKING); - }else if (gamepad2.b){ - Robot.intake.setMode(Intake.Mode.SHOOTING); - }else if (gamepad2.x){ - Robot.intake.setMode(Intake.Mode.REVERSING); - }else{ - Robot.intake.setMode(Intake.Mode.OFF); - } - - if (gamepad2.b){ - Robot.turret.setGate(Turret.gatestate.OPEN); - }else{ - Robot.turret.setGate(Turret.gatestate.CLOSED); - } + Gamepad1(); + Gamepad2(); Robot.turret.updatePIDs(); @@ -152,7 +112,112 @@ public void runOpMode() { telemetry.addData("Status", "Run Time: " + runtime.toString()); telemetry.addData("Version: ", "11/4/25"); telemetry.update(); - //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging + } } + /** + *

Gamepad 1 Controls (Ari's Pick V1)

+ *
    + *
  • Analog Inputs
      + *
    • Left Stick:
        + *
      • X: Rotate Left/Right
        • + *
      • Y: N/A
        • + *
      • + *
    • Right Stick:
        + *
      • X: Strafe Left/Right
        • + *
      • Y: Drive Forwards/Backwards
        • + *
      • + *
    • Left Trigger: Slow Mod
      • + *
    • Right Trigger: Quick Mod
      • + *
    • + * + *
  • Button Inputs
      • + *
    • Letter Buttons:
        + *
      • A: N/A
        • + *
      • B: N/A
        • + *
      • X: N/A
        • + *
      • Y: N/A
        • + *
      • + *
    • Letter Buttons:
        + *
      • DpadUp: N/A
        • + *
      • DpadDown: N/A
        • + *
      • DpadLeft: N/A
        • + *
      • DpadRight: N/A
        • + *
      • + *
    • Bumpers:
        + *
      • Left Bumper: N/A
        • + *
      • Right Bumper: N/A
        • + *
      • + *
    • Stick Buttons:
        + *
      • Left Stick Button: N/A
        • + *
      • Right Stick Button: N/A
        • + *
      • + *
    + *
+ */ + public void Gamepad1(){ + + Robot.drivetrain.speedMultiplier = 0.66; + if (gamepad1.left_trigger >= 0.5) { + Robot.drivetrain.speedMultiplier -= 0.33; + } + if (gamepad1.right_trigger >= 0.5){ + Robot.drivetrain.speedMultiplier += 0.33; + } + + double turnMult = 2; + if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ + turnMult = 1; + } + Robot.drivetrain.pedroMecanumDrive( + gamepad1.left_stick_y, + gamepad1.left_stick_x, + gamepad1.right_stick_x/turnMult, + true + ); + } + + /** + *

Gamepad 2 Controls (Dylan's Pick V1)

+ *
    + *
  • Analog Inputs
      + *
    • Left Stick:
        + *
      • X: N/A
        • + *
      • Y: Intake Direction/Power
        • + *
      • + *
    • Right Stick:
        + *
      • X: Turret Angle Override
        • + *
      • Y: N/A
        • + *
      • + *
    • Left Trigger: N/A
      • + *
    • Right Trigger: N/A
      • + *
    • + * + *
  • Button Inputs
      • + *
    • Letter Buttons:
        + *
      • A: N/A
        • + *
      • B: Shoot
        • + *
      • X: N/A
        • + *
      • Y: Flywheel Toggle
        • + *
      • + *
    • Letter Buttons:
        + *
      • DpadUp: Hood Up Override
        • + *
      • DpadDown: Hood Down Override
        • + *
      • DpadLeft: N/A
        • + *
      • DpadRight: N/A
        • + *
      • + *
    • Bumpers:
        + *
      • Left Bumper: Transfer Belt Out
        • + *
      • Right Bumper: Transfer Belt In
        • + *
      • + *
    • Stick Buttons:
        + *
      • Left Stick Button: N/A
        • + *
      • Right Stick Button: N/A
        • + *
      • + *
    + *
+ */ + public void Gamepad2(){ + + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 077c8e066c19..1c59baec4f0f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -2,6 +2,8 @@ //TODO, add 2 generic autos for preloads and shooting and stuff -//TODO, Implement controls graph +//TODO, Implement controls graph to TeleOp -//DONE, Consolidate the generic actuator functionalities folder into one file \ No newline at end of file +//DONE, Consolidate the generic actuator functionalities folder into one file + +//TODO, Add a more advanced telemetry handler for better organization, readability, and debugging \ No newline at end of file From 314b562d41b489704114a0da9e7062b36200a4d1 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 25 Nov 2025 16:47:13 -0500 Subject: [PATCH 080/152] Working on adding Gamepad2 controls to Teleop_Main_.java Added documentation to Intake.java Added more stuff to Notes and TODOs --- .../Main_/Hardware_/Actuators_/Intake.java | 19 +++++++++++++++++++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 17 +++++++++++++++++ .../ftc/teamcode/LOADCode/Notes and TODOs | 4 +++- 3 files changed, 39 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index b87a167d7f62..5b34eff30812 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -26,6 +26,16 @@ public void init(OpMode opmode){ belt.setDirection(DcMotorSimple.Direction.REVERSE); } + /** + * @param direction + * Takes the following inputs + *
    + *
  • Mode.INTAKING
    • + *
  • Mode.SHOOTING
    • + *
  • Mode.REVERSING
    • + *
  • Mode.OFF
    • + *
+ */ public void setMode(Mode direction){ if (direction == Mode.INTAKING){ intake.setPower(1); @@ -42,6 +52,15 @@ public void setMode(Mode direction){ } } + /** + * Outputs one of the following modes + *
    + *
  • Mode.INTAKING
    • + *
  • Mode.SHOOTING
    • + *
  • Mode.REVERSING
    • + *
  • Mode.OFF
    • + *
+ */ public Mode getMode(){ double intakePower = intake.getPower(); double beltPower = belt.getPower(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 3ebc03b2b896..5513ceeba9ee 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -218,6 +218,23 @@ public void Gamepad1(){ * */ public void Gamepad2(){ + double DylanStickDeadzones = 0.2; + + //Intake Controls (Left Stick Y) + if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones){ + if (gamepad2.left_stick_y > 0){ // OUT (Digital) + Robot.intake.setMode(Intake.Mode.REVERSING); + } else { // IN (Digital) + Robot.intake.setMode(Intake.Mode.INTAKING); + } + } else { // OFF + Robot.intake.setMode(Intake.Mode.OFF); + } + + //Turret Angle Controls (Right Stick X) + //To be added after manual control is finished + + //Flywheel Toggle Control (Y Button) } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 1c59baec4f0f..cce8d19f1be1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -6,4 +6,6 @@ //DONE, Consolidate the generic actuator functionalities folder into one file -//TODO, Add a more advanced telemetry handler for better organization, readability, and debugging \ No newline at end of file +//TODO, Add a more advanced telemetry handler for better organization, readability, and debugging + +//TODO, Add proper functionaltiy for manual turret control to Turret.java \ No newline at end of file From a8d198a29aa245129122041a3d16a9f04495de04 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 25 Nov 2025 16:53:09 -0500 Subject: [PATCH 081/152] began work on command system for auto --- TeamCode/build.gradle | 1 + .../LOADCode/Main_/Auto_/Auto_Main_.java | 6 ++-- .../LOADCode/Main_/Hardware_/Commands.java | 33 +++++++++++++++++++ 3 files changed, 37 insertions(+), 3 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index d077f69030f6..8be5f4e0776c 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -26,4 +26,5 @@ android { dependencies { implementation project(':FtcRobotController') implementation 'io.github.skeleton-army.marrow:core:0.1.2' + implementation 'dev.nextftc:ftc:1.0.1' } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index add449a68bbe..fa862bdf9085 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -64,7 +64,7 @@ public void loop() { case LOAD_ROBOTICS_B: return; default: - TEMPLATE_A(); + LEAVE_START_POS(); } switch (selectedAlliance) { case RED: @@ -83,9 +83,9 @@ private void waitForPathCompletion(){ } /** - * Template auto + * This auto starts at the far zone and goes to the human player leave zone */ - private void TEMPLATE_A() { + private void LEAVE_START_POS() { switch (autoState){ case 0: Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java new file mode 100644 index 000000000000..86b8c9fb0c41 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -0,0 +1,33 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; + +import dev.nextftc.core.commands.Command; + +public class Commands { + public class myCommand extends Command { + + public myCommand() { + requires(/* subsystems */); + setInterruptible(true); // this is the default, so you don't need to specify + } + + @Override + public boolean isDone() { + return false; // whether or not the command is done + } + + @Override + public void start() { + // executed when the command begins + } + + @Override + public void update() { + // executed on every update of the command + } + + @Override + public void stop(boolean interrupted) { + // executed when the command ends + } + } +} From 3730386aad3af0cbd303ac1dfbb7574b5d4ae19f Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 25 Nov 2025 17:47:39 -0500 Subject: [PATCH 082/152] Added more flywheel related functionality in Turret.java as well as a flywheel toggle in Teleop_Main_.java --- .../Main_/Hardware_/Actuators_/Turret.java | 55 +++++++++++++++++++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 8 +++ 2 files changed, 63 insertions(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 564d26e1d08f..fb79195b5c9e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -27,6 +27,11 @@ public enum gatestate { CLOSED, } + public enum flywheelstate { + RUNNING, + OFF + } + public void init(OpMode opmode){ rotation.init(opmode, "turret", 145.1); //Previously 103.8 flywheel.init(opmode, "flywheel"); @@ -58,6 +63,7 @@ public void updateAimbot(Pose robotPose, boolean targetRedGoal){ rotation.setAngle(calcLocalizer(robotPose, targetRedGoal)); } + public void setGate(gatestate state){ if (state == gatestate.OPEN){ gate.setAngle(0.5); @@ -66,6 +72,21 @@ public void setGate(gatestate state){ } } + /** + * Outputs one of the following modes + *
    + *
  • gatestate.OPEN
    • + *
  • gatestate.CLOSED
    • + *
+ */ + public gatestate getGate(){ + if (gate.getAngle() == 0.5){ + return gatestate.OPEN; + } else { + return gatestate.CLOSED; + } + } + public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ Pose goalPose = new Pose(0,144,0); if (targetRedGoal) {goalPose = new Pose(144, 144, 0);} @@ -76,7 +97,41 @@ public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ ) - Math.toDegrees(robotPose.getHeading()) + 180; } + /** + * @param rpm + * RPM Range [0,6000] + */ public void setFlywheelRPM(double rpm){ flywheel.setRPM(rpm); } + + /** + * @return double flywheel.getRPM(); - RPM Range [0,6000] + */ + public double getFlywheelRPM(){ + return flywheel.getRPM(); + } + + public void setFlywheel(flywheelstate state){ + if (state == flywheelstate.RUNNING){ + setFlywheelRPM(6000); + } else if (state == flywheelstate.OFF){ + setFlywheelRPM(0); + } + } + + /** + * Outputs one of the following modes + *
    + *
  • flywheelstate.OFF
    • + *
  • flywheelstate.RUNNING
    • + *
+ */ + public flywheelstate getFlywheel(){ + if (getFlywheelRPM() == 0.0){ + return flywheelstate.OFF; + } else { + return flywheelstate.RUNNING; + } + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 5513ceeba9ee..deeb2dbba3e8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -235,6 +235,14 @@ public void Gamepad2(){ //To be added after manual control is finished //Flywheel Toggle Control (Y Button) + if (gamepad2.yWasPressed()){ + if (Robot.turret.getFlywheel() == Turret.flywheelstate.OFF){ + Robot.turret.setFlywheel(Turret.flywheelstate.RUNNING); + } else { + Robot.turret.setFlywheel(Turret.flywheelstate.OFF); + } + } + } } From 34674fb4a0695c5f29ea58d3cc962f02869f0f16 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 25 Nov 2025 17:50:54 -0500 Subject: [PATCH 083/152] Added runPath command for auto --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 5 +++ .../LOADCode/Main_/Hardware_/Commands.java | 41 +++++++++---------- 2 files changed, 24 insertions(+), 22 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index fa862bdf9085..62ab113a9ca0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -7,8 +7,11 @@ import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; +import dev.nextftc.core.commands.Command; + public class Auto_Main_ extends OpMode { // Define other PedroPathing constants @@ -29,6 +32,7 @@ private enum Auto { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); + Commands Command = new Commands(Robot); @Override public void init() { @@ -97,5 +101,6 @@ private void LEAVE_START_POS() { Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); waitForPathCompletion(); } + Commands.runPath(Robot, Robot.drivetrain.paths.startPose1_to_preload1, true); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 86b8c9fb0c41..7f48f2f22e2f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -1,33 +1,30 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; +import com.pedropathing.paths.PathChain; +import com.qualcomm.robotcore.robot.Robot; + +import dev.nextftc.control.KineticState; import dev.nextftc.core.commands.Command; +import dev.nextftc.core.commands.utility.LambdaCommand; public class Commands { - public class myCommand extends Command { - - public myCommand() { - requires(/* subsystems */); - setInterruptible(true); // this is the default, so you don't need to specify - } - @Override - public boolean isDone() { - return false; // whether or not the command is done - } + private LoadHardwareClass Robot = null; + public static Command runPath = null; + public static Object driveSystem = null; - @Override - public void start() { - // executed when the command begins - } + public static PathChain[] scheduledPaths; - @Override - public void update() { - // executed on every update of the command - } + public Commands(LoadHardwareClass robot){ + Robot = robot; + } - @Override - public void stop(boolean interrupted) { - // executed when the command ends - } + public static Command runPath(LoadHardwareClass Robot, PathChain path, boolean holdEnd) { + return new LambdaCommand("runPedroPath(" + path + ", " + holdEnd) + .setInterruptible(false) + .setStart(() -> Robot.drivetrain.runPath(path, holdEnd)) + .setUpdate(() -> Robot.drivetrain.runPath(path, holdEnd)) + .setIsDone(Robot.drivetrain::pathComplete) + .requires(driveSystem); } } From 305907b883f238876b84b711b98f37bc1a86c30a Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 25 Nov 2025 18:17:38 -0500 Subject: [PATCH 084/152] Finished implementing all available functionality to controls graph --- .../ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java | 2 ++ .../org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs | 6 ++++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index deeb2dbba3e8..02bd7b1b3296 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -243,6 +243,8 @@ public void Gamepad2(){ } } + //Shoot (B Button Press) + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index cce8d19f1be1..ba739f145e2e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -2,10 +2,12 @@ //TODO, add 2 generic autos for preloads and shooting and stuff -//TODO, Implement controls graph to TeleOp +//DONE, Implement controls graph to TeleOp //DONE, Consolidate the generic actuator functionalities folder into one file //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging -//TODO, Add proper functionaltiy for manual turret control to Turret.java \ No newline at end of file +//TODO, Add proper functionality for manual turret control to Turret.java + +//TODO, Shoot mode state machine Off->On->LastShot->Delay->Off etc. cycled with B button on Gamepad2 \ No newline at end of file From 1feb2d950080e753862d984c7b2ff0b443d7906f Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 25 Nov 2025 18:18:55 -0500 Subject: [PATCH 085/152] Finished implementing all available functionality to controls graph --- .../ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java | 1 + 1 file changed, 1 insertion(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 02bd7b1b3296..e60090a44bb9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -244,6 +244,7 @@ public void Gamepad2(){ } //Shoot (B Button Press) + //Statemachine cycle goes here } From 3907a0c1d3ea43d0065ea06f590eedcbb9aa33c4 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Tue, 25 Nov 2025 18:20:49 -0500 Subject: [PATCH 086/152] Added one last TODO --- .../org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index ba739f145e2e..0f917490ff06 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -10,4 +10,6 @@ //TODO, Add proper functionality for manual turret control to Turret.java -//TODO, Shoot mode state machine Off->On->LastShot->Delay->Off etc. cycled with B button on Gamepad2 \ No newline at end of file +//TODO, Shoot mode state machine Off->On->LastShot->Delay->Off etc. cycled with B button on Gamepad2 + +//TODO, add the new code structure graph, control graph, and gamepad HTML to the development branch Readme \ No newline at end of file From 3c1dc67a2fda428a093e6b280c83bcc68fe14c85 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 25 Nov 2025 20:35:36 -0500 Subject: [PATCH 087/152] continued developing the command system for auto --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 69 +++++++++++-------- .../Main_/Hardware_/Actuators_/Devices.java | 2 +- .../Main_/Hardware_/Actuators_/Turret.java | 6 +- .../LOADCode/Main_/Hardware_/Commands.java | 35 ++++++---- .../Drivetrain_/MecanumDrivetrainClass.java | 8 +-- .../Hardware_/Drivetrain_/Pedro_Paths.java | 40 ++++++++++- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 3 +- .../ftc/teamcode/pedroPathing/Constants.java | 2 +- 8 files changed, 109 insertions(+), 56 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 62ab113a9ca0..70e49391938e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -3,6 +3,7 @@ import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -10,17 +11,15 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; -import dev.nextftc.core.commands.Command; - +@Autonomous(name = "Auto_Main_", group = "Main", preselectTeleOp="Teleop_Main_") public class Auto_Main_ extends OpMode { // Define other PedroPathing constants private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. private enum Auto { - LOAD_ROBOTICS_A, - LOAD_ROBOTICS_B, - MOE_A, + test, + LEAVE_FAR_HP } private int autoState = 0; @@ -32,7 +31,6 @@ private enum Auto { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - Commands Command = new Commands(Robot); @Override public void init() { @@ -47,9 +45,8 @@ public void init() { )); prompter.prompt("auto", new OptionPrompt<>("Select Auto", - Auto.LOAD_ROBOTICS_A, - Auto.MOE_A, - Auto.LOAD_ROBOTICS_B + Auto.test, + Auto.LEAVE_FAR_HP )); prompter.onComplete(() -> { selectedAlliance = prompter.get("alliance"); @@ -60,15 +57,26 @@ public void init() { Robot.drivetrain.paths.buildPaths(selectedAlliance); } + @Override + public void init_loop() { + prompter.run(); + } + + @Override + public void start() { + // Initialize all hardware of the robot + Robot.init(startPose); + } + @Override public void loop() { switch (selectedAuto) { - case LOAD_ROBOTICS_A: + case test: + test(); return; - case LOAD_ROBOTICS_B: + case LEAVE_FAR_HP: + Leave_Far_HP(); return; - default: - LEAVE_START_POS(); } switch (selectedAlliance) { case RED: @@ -76,7 +84,12 @@ public void loop() { return; case BLUE: Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); + return; } + + telemetry.addData("selectedAuto", selectedAuto); + telemetry.addData("follower", Robot.drivetrain.follower.getCurrentPath()); + telemetry.update(); } /** @@ -86,21 +99,21 @@ private void waitForPathCompletion(){ if (Robot.drivetrain.pathComplete()){autoState++;} } - /** - * This auto starts at the far zone and goes to the human player leave zone + /** + * This auto starts at the far zone, + * shoots it's preloads after 5 seconds, + * and goes to the human player leave zone. */ - private void LEAVE_START_POS() { - switch (autoState){ - case 0: - Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); - waitForPathCompletion(); - case 1: - Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); - waitForPathCompletion(); - case 2: - Robot.drivetrain.runPath(Robot.drivetrain.paths.startPose1_to_preload1, true); - waitForPathCompletion(); - } - Commands.runPath(Robot, Robot.drivetrain.paths.startPose1_to_preload1, true); + private void Leave_Far_HP() { + //Commands.setFlywheelState(Robot, Turret.flywheelstate.ON).schedule(); +// new ParallelGroup( +// new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), +// new Delay(5) +// ); + Commands.runPath(Robot, Robot.drivetrain.paths.start2_to_leave3, true).schedule(); + } + + private void test() { + Robot.drivetrain.runPath(Robot.drivetrain.paths.start2_to_leave3, true); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index 0b096ee689c1..3541e4b84685 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -182,7 +182,7 @@ public void setAngle(double angle){ setPower(turretPID.calculate(currentKineticState)); } /** - * Uses a PID controller to accelerate the motor to the desired RPM + * Uses a PID controller to accelerate the motor to the desired RPM. * Must be called every loop to function properly. * @param rpm The RPM to accelerate the motor to. Can be any number */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index fb79195b5c9e..649667774cfa 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -28,7 +28,7 @@ public enum gatestate { } public enum flywheelstate { - RUNNING, + ON, OFF } @@ -113,7 +113,7 @@ public double getFlywheelRPM(){ } public void setFlywheel(flywheelstate state){ - if (state == flywheelstate.RUNNING){ + if (state == flywheelstate.ON){ setFlywheelRPM(6000); } else if (state == flywheelstate.OFF){ setFlywheelRPM(0); @@ -131,7 +131,7 @@ public flywheelstate getFlywheel(){ if (getFlywheelRPM() == 0.0){ return flywheelstate.OFF; } else { - return flywheelstate.RUNNING; + return flywheelstate.ON; } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 7f48f2f22e2f..1821920b80f7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -1,30 +1,39 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; import com.pedropathing.paths.PathChain; -import com.qualcomm.robotcore.robot.Robot; -import dev.nextftc.control.KineticState; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; + import dev.nextftc.core.commands.Command; import dev.nextftc.core.commands.utility.LambdaCommand; public class Commands { - private LoadHardwareClass Robot = null; - public static Command runPath = null; public static Object driveSystem = null; - - public static PathChain[] scheduledPaths; - - public Commands(LoadHardwareClass robot){ - Robot = robot; - } + public static Object turretSystem = null; + public static Object intakeSystem = null; public static Command runPath(LoadHardwareClass Robot, PathChain path, boolean holdEnd) { - return new LambdaCommand("runPedroPath(" + path + ", " + holdEnd) + return new LambdaCommand("runPedroPath(" + path + ", " + holdEnd + ")") .setInterruptible(false) .setStart(() -> Robot.drivetrain.runPath(path, holdEnd)) .setUpdate(() -> Robot.drivetrain.runPath(path, holdEnd)) - .setIsDone(Robot.drivetrain::pathComplete) - .requires(driveSystem); + .setIsDone(Robot.drivetrain::pathComplete); + } + + public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheelstate state) { + return new LambdaCommand("shoot()") + .setInterruptible(false) + .setUpdate(() -> Robot.turret.setFlywheel(state)) + .setIsDone(() -> Robot.turret.getFlywheelRPM() > 5900) + .requires(turretSystem); + } + + public static Command setBeltState(LoadHardwareClass Robot, Intake.Mode state) { + return new LambdaCommand("shoot()") + .setInterruptible(false) + .setUpdate(() -> Robot.intake.setMode(state)) + .requires(intakeSystem); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index db11561f235d..c37851e8274a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -34,13 +34,6 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ follower.update(); } - /** - * @return Pedropathing's follower object - */ - public Follower getFollower() { - return follower; - } - /** * Uses PedroPathing's follower class to implement a mecanum drive controller. * Must be called every loop to function properly. @@ -60,6 +53,7 @@ public void pedroMecanumDrive(double forward, double strafe, double rotate, bool public void runPath(PathChain path, boolean holdEndpoint){ follower.followPath(path, holdEndpoint); + follower.update(); } public boolean pathComplete(){ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index 58a2801e9854..bfe1475adbb9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -47,6 +47,9 @@ public class Pedro_Paths { public PathChain shooting1_to_leave1, shooting1_to_leave2; public PathChain shooting2_to_leave1, shooting2_to_leave2; public PathChain shooting3_to_leave2, shooting3_to_leave3; + // Start Positions to Leave Positions + public PathChain start1_to_leave1, start1_to_leave2; + public PathChain start2_to_leave2, start2_to_leave3; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ int mult = 1; @@ -354,6 +357,38 @@ public void buildShooting3ToLeaves(LoadHardwareClass.Alliance alliance){ .setConstantHeadingInterpolation(shootingPose3.getHeading()) .build(); } + public void buildStart1ToLeaves(LoadHardwareClass.Alliance alliance){ + start1_to_leave1 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose1, alliance), + autoMirror(leavePose1, alliance) + )) + .setConstantHeadingInterpolation(startPose1.getHeading()) + .build(); + start1_to_leave2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose1, alliance), + autoMirror(leavePose3, alliance) + )) + .setConstantHeadingInterpolation(startPose1.getHeading()) + .build(); + } + public void buildStart2ToLeaves(LoadHardwareClass.Alliance alliance){ + start2_to_leave2 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose2, alliance), + autoMirror(leavePose1, alliance) + )) + .setConstantHeadingInterpolation(startPose2.getHeading()) + .build(); + start2_to_leave3 = follower.pathBuilder() + .addPath(new BezierCurve( + autoMirror(startPose2, alliance), + autoMirror(leavePose3, alliance) + )) + .setConstantHeadingInterpolation(startPose2.getHeading()) + .build(); + } /** * Builds all the paths, mirroring them to the other side of the field if necessary @@ -371,10 +406,13 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ buildShooting1ToPreloads(alliance); buildShooting2ToPreloads(alliance); buildShooting3ToPreloads(alliance); - // paths going from each shooting position to the leave positions. + // Paths going from each shooting position to the leave positions. buildShooting1ToLeaves(alliance); buildShooting2ToLeaves(alliance); buildShooting3ToLeaves(alliance); + // Paths going from the start positions to the leave positions + buildStart1ToLeaves(alliance); + buildStart2ToLeaves(alliance); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index e60090a44bb9..90d62ae7c231 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -30,7 +30,6 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; import com.bylazar.configurables.annotations.Configurable; -import com.pedropathing.Drivetrain; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; @@ -237,7 +236,7 @@ public void Gamepad2(){ //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()){ if (Robot.turret.getFlywheel() == Turret.flywheelstate.OFF){ - Robot.turret.setFlywheel(Turret.flywheelstate.RUNNING); + Robot.turret.setFlywheel(Turret.flywheelstate.ON); } else { Robot.turret.setFlywheel(Turret.flywheelstate.OFF); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index a7335ed6b1d0..6b78bdee8f54 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -57,7 +57,7 @@ public class Constants { .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) - .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD) + .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED) .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD); public static Follower createFollower(HardwareMap hardwareMap) { From e50cf923097a82aada40116e7798b5c559455d45 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Wed, 26 Nov 2025 09:16:55 -0500 Subject: [PATCH 088/152] Hopefully fixed the runPath command with NextFTC's PedroPathing extension --- TeamCode/build.gradle | 1 + .../LOADCode/Main_/Auto_/Auto_Main_.java | 58 +++++++++++-------- .../Main_/Hardware_/Actuators_/Intake.java | 18 ++++++ .../LOADCode/Main_/Hardware_/Commands.java | 12 ++-- .../Drivetrain_/MecanumDrivetrainClass.java | 18 ++++++ .../Main_/Hardware_/LoadHardwareClass.java | 17 ++++++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 38 +++++++++++- .../ftc/teamcode/LOADCode/Notes and TODOs | 3 +- 8 files changed, 130 insertions(+), 35 deletions(-) diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index 8be5f4e0776c..096457396ebb 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -27,4 +27,5 @@ dependencies { implementation project(':FtcRobotController') implementation 'io.github.skeleton-army.marrow:core:0.1.2' implementation 'dev.nextftc:ftc:1.0.1' + implementation 'dev.nextftc.extensions:pedro:1.0.0' } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 70e49391938e..ad6aa0ef7c61 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -4,26 +4,27 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; +import org.firstinspires.ftc.teamcode.pedroPathing.Constants; + +import dev.nextftc.extensions.pedro.PedroComponent; +import dev.nextftc.ftc.NextFTCOpMode; @Autonomous(name = "Auto_Main_", group = "Main", preselectTeleOp="Teleop_Main_") -public class Auto_Main_ extends OpMode { +public class Auto_Main_ extends NextFTCOpMode { // Define other PedroPathing constants private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. private enum Auto { - test, + LEAVE_NEAR_LAUNCH, LEAVE_FAR_HP } - private int autoState = 0; - private Auto selectedAuto = null; // Create the prompter object for selecting Alliance and Auto @@ -33,10 +34,14 @@ private enum Auto { LoadHardwareClass Robot = new LoadHardwareClass(this); @Override - public void init() { + public void onInit() { // Initialize all hardware of the robot Robot.init(startPose); + addComponents( + new PedroComponent(Constants::createFollower) + ); + prompter = new Prompter(this); prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", @@ -45,7 +50,7 @@ public void init() { )); prompter.prompt("auto", new OptionPrompt<>("Select Auto", - Auto.test, + Auto.LEAVE_NEAR_LAUNCH, Auto.LEAVE_FAR_HP )); prompter.onComplete(() -> { @@ -58,21 +63,21 @@ public void init() { } @Override - public void init_loop() { + public void onWaitForStart() { prompter.run(); } @Override - public void start() { + public void onStartButtonPressed() { // Initialize all hardware of the robot - Robot.init(startPose); + Robot.init(startPose, PedroComponent.follower()); } @Override - public void loop() { + public void onUpdate() { switch (selectedAuto) { - case test: - test(); + case LEAVE_NEAR_LAUNCH: + Leave_Near_Launch(); return; case LEAVE_FAR_HP: Leave_Far_HP(); @@ -88,21 +93,14 @@ public void loop() { } telemetry.addData("selectedAuto", selectedAuto); - telemetry.addData("follower", Robot.drivetrain.follower.getCurrentPath()); + telemetry.addData("currentPose", Robot.drivetrain.follower.getPose()); telemetry.update(); } - /** - * Waits for the current stage of the auto to be done and then runs the next stage. - */ - private void waitForPathCompletion(){ - if (Robot.drivetrain.pathComplete()){autoState++;} - } - /** * This auto starts at the far zone, * shoots it's preloads after 5 seconds, - * and goes to the human player leave zone. + * and goes to the leave zone next to the human player zone. */ private void Leave_Far_HP() { //Commands.setFlywheelState(Robot, Turret.flywheelstate.ON).schedule(); @@ -110,10 +108,20 @@ private void Leave_Far_HP() { // new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), // new Delay(5) // ); - Commands.runPath(Robot, Robot.drivetrain.paths.start2_to_leave3, true).schedule(); + Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true).schedule(); } - private void test() { - Robot.drivetrain.runPath(Robot.drivetrain.paths.start2_to_leave3, true); + /** + * This auto starts at the near zone, + * shoots it's preloads after 5 seconds, + * and goes to the leave pose that is in the launch zone. + */ + private void Leave_Near_Launch() { + //Commands.setFlywheelState(Robot, Turret.flywheelstate.ON).schedule(); +// new ParallelGroup( +// new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), +// new Delay(5) +// ); + Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true).schedule(); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 5b34eff30812..276819857146 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -8,6 +8,7 @@ public class Intake { private final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); private final Devices.CRServoClass belt = new Devices.CRServoClass(); + private final Devices.ServoClass transfer = new Devices.ServoClass(); public enum Mode { INTAKING, @@ -16,9 +17,15 @@ public enum Mode { OFF } + public enum transferState { + UP, + DOWN + } + public void init(OpMode opmode){ intake.init(opmode, "intake"); belt.init(opmode, "belt"); + transfer.init(opmode, "transfer"); intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); intake.setDirection(DcMotorSimple.Direction.REVERSE); @@ -74,4 +81,15 @@ public Mode getMode(){ return Mode.OFF; } } + + public void setTransfer(transferState state) { + switch (state){ + case UP: + transfer.setAngle(0); + return; + case DOWN: + transfer.setAngle(90); + return; + } + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 1821920b80f7..e52b47c2b60a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -7,6 +7,7 @@ import dev.nextftc.core.commands.Command; import dev.nextftc.core.commands.utility.LambdaCommand; +import dev.nextftc.extensions.pedro.FollowPath; public class Commands { @@ -14,12 +15,11 @@ public class Commands { public static Object turretSystem = null; public static Object intakeSystem = null; - public static Command runPath(LoadHardwareClass Robot, PathChain path, boolean holdEnd) { - return new LambdaCommand("runPedroPath(" + path + ", " + holdEnd + ")") - .setInterruptible(false) - .setStart(() -> Robot.drivetrain.runPath(path, holdEnd)) - .setUpdate(() -> Robot.drivetrain.runPath(path, holdEnd)) - .setIsDone(Robot.drivetrain::pathComplete); + public static Command runPath(PathChain path, boolean holdEnd) { + return new FollowPath(path, holdEnd); + } + public static Command runPath(PathChain path, boolean holdEnd, double maxPower) { + return new FollowPath(path, holdEnd, maxPower); } public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheelstate state) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index c37851e8274a..db8db13a4511 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -34,6 +34,24 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ follower.update(); } + /** + * Initializes the PedroPathing follower. + * Needs to be run once after all hardware is initialized. + * @param myOpMode Allows the follower access to the robot hardware. + * @param initialPose The starting pose of the robot. + * @param follow The follower object. + */ + public void init (@NonNull OpMode myOpMode, Pose initialPose, Follower follow){ + // PedroPathing initialization + follower = follow; + paths = new Pedro_Paths(follower); + follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization + + follower.startTeleopDrive(); + follower.update(); + } + /** * Uses PedroPathing's follower class to implement a mecanum drive controller. * Must be called every loop to function properly. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index be7c72f5b115..b0943a033cc5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -30,6 +30,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; import com.bylazar.configurables.annotations.Configurable; +import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -81,6 +82,7 @@ public LoadHardwareClass(OpMode opmode) { this.turret = new Turret(); this.intake = new Intake(); } + /** * Initializes all hardware for the robot. * Must be called once at the start of each op-mode. @@ -95,4 +97,19 @@ public void init(Pose initialPose) { myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); } + + /** + * Initializes all hardware for the robot. + * Must be called once at the start of each op-mode. + */ + public void init(Pose initialPose, Follower follower) { + // Initialize all subclasses + drivetrain.init(myOpMode, initialPose, follower); + turret.init(myOpMode); + intake.init(myOpMode); + + // Misc telemetry + myOpMode.telemetry.addData(">", "Hardware Initialized"); + myOpMode.telemetry.update(); + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 90d62ae7c231..7a104e78c08c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -34,6 +34,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.ElapsedTime; +import com.skeletonarmy.marrow.TimerEx; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -49,7 +50,10 @@ public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); - public static double driveExponent = 2; + // Variables for storing data for the second gamepad controls + public static double DylanStickDeadzones = 0.2; + public int shootingState = 0; + public TimerEx shootingDelay = new TimerEx(1); Prompter prompter = null; @@ -217,7 +221,6 @@ public void Gamepad1(){ * */ public void Gamepad2(){ - double DylanStickDeadzones = 0.2; //Intake Controls (Left Stick Y) if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones){ @@ -243,7 +246,36 @@ public void Gamepad2(){ } //Shoot (B Button Press) - //Statemachine cycle goes here + // Increment the shooting state + if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > 5900){shootingState++;} + switch (shootingState){ + case 0: + telemetry.addData("Shooting State", "OFF"); + return; + case 1: + Robot.intake.setMode(Intake.Mode.INTAKING); + Robot.turret.setGate(Turret.gatestate.OPEN); + telemetry.addData("Shooting State", "STARTED"); + return; + case 2: + Robot.intake.setMode(Intake.Mode.SHOOTING); + Robot.intake.setTransfer(Intake.transferState.UP); + shootingDelay.restart(); + shootingState++; + telemetry.addData("Shooting State", "TRANSFERRED"); + return; + case 3: + if (shootingDelay.isDone()){shootingState++;} + telemetry.addData("Shooting State", "DELAY"); + return; + case 4: + Robot.turret.setFlywheelRPM(0); + Robot.turret.setGate(Turret.gatestate.CLOSED); + Robot.intake.setMode(Intake.Mode.OFF); + Robot.intake.setTransfer(Intake.transferState.DOWN); + telemetry.addData("Shooting State", "RESET"); + shootingState = 0; + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 0f917490ff06..5b36f82e2c42 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -10,6 +10,7 @@ //TODO, Add proper functionality for manual turret control to Turret.java -//TODO, Shoot mode state machine Off->On->LastShot->Delay->Off etc. cycled with B button on Gamepad2 +//DONE, Shoot mode state machine Off->On->LastShot->Delay->ResetActuators->Off etc. cycled with B button on Gamepad2 +//NOTE: Let's not actually use this at the first scrimmage //TODO, add the new code structure graph, control graph, and gamepad HTML to the development branch Readme \ No newline at end of file From c0ab47e52a20cf00461d0236bf879e6a1781ce83 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Wed, 26 Nov 2025 13:55:01 -0500 Subject: [PATCH 089/152] Semi-finalized two simple auto programs --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 56 +++++++++++++++---- .../LOADCode/Main_/Hardware_/Commands.java | 30 +++++++--- 2 files changed, 65 insertions(+), 21 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index ad6aa0ef7c61..e43a98d0b0f0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -7,10 +7,16 @@ import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +import dev.nextftc.core.commands.delays.Delay; +import dev.nextftc.core.commands.delays.WaitUntil; +import dev.nextftc.core.commands.groups.ParallelGroup; +import dev.nextftc.core.commands.groups.SequentialGroup; import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; @@ -103,12 +109,25 @@ public void onUpdate() { * and goes to the leave zone next to the human player zone. */ private void Leave_Far_HP() { - //Commands.setFlywheelState(Robot, Turret.flywheelstate.ON).schedule(); -// new ParallelGroup( -// new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), -// new Delay(5) -// ); - Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true).schedule(); + new SequentialGroup( + Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), + new ParallelGroup( + new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), + new Delay(5) + ), + Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + new Delay(2), + Commands.setIntakeMode(Robot, Intake.Mode.INTAKING), + new Delay(1), + Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + new Delay(2), + Commands.setTransferState(Robot, Intake.transferState.UP), + new Delay(1), + Commands.setTransferState(Robot, Intake.transferState.DOWN), + Commands.setIntakeMode(Robot, Intake.Mode.OFF), + Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), + Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true, 0.6) + ); } /** @@ -117,11 +136,24 @@ private void Leave_Far_HP() { * and goes to the leave pose that is in the launch zone. */ private void Leave_Near_Launch() { - //Commands.setFlywheelState(Robot, Turret.flywheelstate.ON).schedule(); -// new ParallelGroup( -// new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), -// new Delay(5) -// ); - Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true).schedule(); + new SequentialGroup( + Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), + new ParallelGroup( + new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), + new Delay(5) + ), + Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + new Delay(2), + Commands.setIntakeMode(Robot, Intake.Mode.INTAKING), + new Delay(1), + Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + new Delay(2), + Commands.setTransferState(Robot, Intake.transferState.UP), + new Delay(1), + Commands.setTransferState(Robot, Intake.transferState.DOWN), + Commands.setIntakeMode(Robot, Intake.Mode.OFF), + Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), + Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true, 0.6) + ); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index e52b47c2b60a..160769e57e34 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -6,6 +6,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import dev.nextftc.core.commands.Command; +import dev.nextftc.core.commands.utility.InstantCommand; import dev.nextftc.core.commands.utility.LambdaCommand; import dev.nextftc.extensions.pedro.FollowPath; @@ -19,21 +20,32 @@ public static Command runPath(PathChain path, boolean holdEnd) { return new FollowPath(path, holdEnd); } public static Command runPath(PathChain path, boolean holdEnd, double maxPower) { - return new FollowPath(path, holdEnd, maxPower); + return new FollowPath(path, holdEnd, maxPower).requires(driveSystem); } public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheelstate state) { - return new LambdaCommand("shoot()") + return new LambdaCommand("setFlywheelState()") .setInterruptible(false) - .setUpdate(() -> Robot.turret.setFlywheel(state)) - .setIsDone(() -> Robot.turret.getFlywheelRPM() > 5900) + .setStart(() -> Robot.turret.setFlywheel(state)) + .setIsDone(() -> { + if (state == Turret.flywheelstate.ON){ + return Robot.turret.getFlywheelRPM() > 5900; + }else{ + return Robot.turret.getFlywheelRPM() < 100; + } + }) .requires(turretSystem); } - public static Command setBeltState(LoadHardwareClass Robot, Intake.Mode state) { - return new LambdaCommand("shoot()") - .setInterruptible(false) - .setUpdate(() -> Robot.intake.setMode(state)) - .requires(intakeSystem); + public static Command setIntakeMode(LoadHardwareClass Robot, Intake.Mode state) { + return new InstantCommand(new LambdaCommand("setIntakeMode()") + .setStart(() -> Robot.intake.setMode(state)) + .requires(intakeSystem)); + } + + public static Command setTransferState(LoadHardwareClass Robot, Intake.transferState state) { + return new InstantCommand(new LambdaCommand("setIntakeMode()") + .setStart(() -> Robot.intake.setTransfer(state)) + .requires(intakeSystem)); } } From 64d7d02251a3ea198a0bf7bde21d9e4902f4d71e Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 1 Dec 2025 16:33:51 -0500 Subject: [PATCH 090/152] Initial iteration of our MoveRP auto for December 6th scrimmage --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 19 +++++++++++++++---- .../Hardware_/Drivetrain_/Pedro_Paths.java | 17 +++++++++++++++++ .../ftc/teamcode/LOADCode/Notes and TODOs | 4 ++++ 3 files changed, 36 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index e43a98d0b0f0..56db24876da7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -28,7 +28,8 @@ public class Auto_Main_ extends NextFTCOpMode { private enum Auto { LEAVE_NEAR_LAUNCH, - LEAVE_FAR_HP + LEAVE_FAR_HP, + MOVEMENT_RP_DEC6 } private Auto selectedAuto = null; @@ -57,7 +58,8 @@ public void onInit() { prompter.prompt("auto", new OptionPrompt<>("Select Auto", Auto.LEAVE_NEAR_LAUNCH, - Auto.LEAVE_FAR_HP + Auto.LEAVE_FAR_HP, + Auto.MOVEMENT_RP_DEC6 )); prompter.onComplete(() -> { selectedAlliance = prompter.get("alliance"); @@ -88,6 +90,9 @@ public void onUpdate() { case LEAVE_FAR_HP: Leave_Far_HP(); return; + case MOVEMENT_RP_DEC6: + BasicMoveRP(); + return; } switch (selectedAlliance) { case RED: @@ -127,7 +132,7 @@ private void Leave_Far_HP() { Commands.setIntakeMode(Robot, Intake.Mode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true, 0.6) - ); + ).schedule(); } /** @@ -154,6 +159,12 @@ private void Leave_Near_Launch() { Commands.setIntakeMode(Robot, Intake.Mode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true, 0.6) - ); + ).schedule(); + } + + private void BasicMoveRP(){ + new SequentialGroup( + Commands.runPath(Robot.drivetrain.paths.basicMoveRPPath,true,0.6) + ).schedule(); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index bfe1475adbb9..0d68f6551551 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -4,6 +4,7 @@ import com.pedropathing.geometry.BezierCurve; import com.pedropathing.geometry.BezierLine; import com.pedropathing.geometry.Pose; +import com.pedropathing.paths.Path; import com.pedropathing.paths.PathChain; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @@ -15,6 +16,9 @@ public class Pedro_Paths { /** * Define primary poses to be used in paths */ + // Dummy Stand-In Poses + public Pose dummyStartPose = new Pose(0,0,0); + public Pose dummyMoveRPPose = new Pose(0,28,0); // Start Poses public Pose startPose1 = new Pose(112, 136.6, Math.toRadians(270)); public Pose startPose2 = new Pose(88, 7.4, Math.toRadians(90)); @@ -32,6 +36,8 @@ public class Pedro_Paths { public Pose leavePose3 = new Pose(115,20); // Define all path variables + // Dummy Paths + public PathChain basicMoveRPPath; // Start Poses to Preloads public PathChain startPose1_to_preload1, startPose1_to_preload2, startPose1_to_preload3; public PathChain startPose2_to_preload1, startPose2_to_preload2, startPose2_to_preload3; @@ -63,6 +69,16 @@ public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ ); } + /** + *

DON'T EVER USE THIS PATH!!!

+ * This path is ONLY for the December 6th scrimmage, for movement RP bonus only! + */ + public void buildMoveRPPath(){ + basicMoveRPPath = follower.pathBuilder() + .addPath(new BezierLine(dummyStartPose,dummyMoveRPPose)) + .setLinearHeadingInterpolation(dummyStartPose.getHeading(), dummyMoveRPPose.getHeading()) + .build(); + } public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { startPose1_to_preload1 = follower.pathBuilder() .addPath(new BezierCurve( @@ -395,6 +411,7 @@ public void buildStart2ToLeaves(LoadHardwareClass.Alliance alliance){ */ public void buildPaths(LoadHardwareClass.Alliance alliance){ /// All paths are for the RED side of the field. they will be mirrored if necessary. + buildMoveRPPath(); // Paths going from each start position to each of the preloads. buildStart1ToPreloads(alliance); buildStart2ToPreloads(alliance); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 5b36f82e2c42..b9325ab5810e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -6,6 +6,8 @@ //DONE, Consolidate the generic actuator functionalities folder into one file +//TODO, Organize telemetry before adding proper telem system + //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging //TODO, Add proper functionality for manual turret control to Turret.java @@ -13,4 +15,6 @@ //DONE, Shoot mode state machine Off->On->LastShot->Delay->ResetActuators->Off etc. cycled with B button on Gamepad2 //NOTE: Let's not actually use this at the first scrimmage +//TODO, + //TODO, add the new code structure graph, control graph, and gamepad HTML to the development branch Readme \ No newline at end of file From 1da51d2d8fc1b54a2ca4a7b2cd9ea6700a09224e Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 1 Dec 2025 16:41:54 -0500 Subject: [PATCH 091/152] Worked on tuning Flywheel PID --- TeamCode/build.gradle | 1 + .../Main_/Hardware_/Actuators_/Turret.java | 13 ++++++++----- .../Main_/Teleop_/Teleop_Outreach_.java | 19 +++++++++++++++++++ 3 files changed, 28 insertions(+), 5 deletions(-) diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index 096457396ebb..dd6160908114 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -28,4 +28,5 @@ dependencies { implementation 'io.github.skeleton-army.marrow:core:0.1.2' implementation 'dev.nextftc:ftc:1.0.1' implementation 'dev.nextftc.extensions:pedro:1.0.0' + implementation "com.bylazar:graph:1.0.4" } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 649667774cfa..5b40c314998c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -1,5 +1,6 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; +import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; @@ -9,7 +10,7 @@ import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; - +@Configurable public class Turret { @@ -19,8 +20,8 @@ public class Turret { public final Devices.ServoClass gate = new Devices.ServoClass(); public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); - public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0, 0, 0); - public static BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); + public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0, 0.1); + public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.005,0,0); public enum gatestate { OPEN, @@ -40,19 +41,21 @@ public void init(OpMode opmode){ rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + flywheel.ticksPerRotation = 28; + gate.setAngle(0.5); // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); flywheel.setPidCoefficients(flywheelCoefficients); - flywheel.setFFCoefficients(ffCoefficients); + flywheel.setFFCoefficients(flywheelFFCoefficients); } public void updatePIDs(){ // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); flywheel.setPidCoefficients(flywheelCoefficients); - flywheel.setFFCoefficients(ffCoefficients); + flywheel.setFFCoefficients(flywheelFFCoefficients); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 9eac8bfc9745..2001be2512c9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -29,6 +29,10 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; +import android.provider.Settings; + +import com.bylazar.telemetry.PanelsTelemetry; +import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; @@ -43,6 +47,7 @@ public class Teleop_Outreach_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); + private TelemetryManager.TelemetryWrapper panelsTelemetry = PanelsTelemetry.INSTANCE.getFtcTelemetry(); // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); @@ -72,6 +77,20 @@ public void runOpMode() { gamepad1.right_stick_x/2, true ); + if (gamepad1.b){ + Robot.turret.setFlywheelRPM(6000); + }else if (gamepad1.y){ + Robot.turret.setFlywheelRPM(500); + }else{ + Robot.turret.setFlywheelRPM(0); + } + + Robot.turret.updatePIDs(); + + telemetry.addData("FlywheelState", Robot.turret.getFlywheel()); + telemetry.addData("FlywheelRPM", Robot.turret.getFlywheelRPM()); + panelsTelemetry.addData("FlywheelRPM", Robot.turret.getFlywheelRPM()); + // System-related Telemetry telemetry.addLine(); From 902ab79e5c15fedb6da5c2f1c6827d2e1ac5a2fb Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 1 Dec 2025 18:12:05 -0500 Subject: [PATCH 092/152] Began adding Dylan's December 6th controls, all the info needed to finish them is in my documentation. --- .../Main_/Hardware_/Actuators_/Intake.java | 7 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 103 ++++++++++++++++++ .../ftc/teamcode/LOADCode/Notes and TODOs | 6 +- 3 files changed, 111 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 276819857146..c01901f55356 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -6,9 +6,10 @@ public class Intake { - private final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); - private final Devices.CRServoClass belt = new Devices.CRServoClass(); - private final Devices.ServoClass transfer = new Devices.ServoClass(); + // RESET THESE TO PRIVATE AFTER DECEMBER 6TH! + public final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); + public final Devices.CRServoClass belt = new Devices.CRServoClass(); + public final Devices.ServoClass transfer = new Devices.ServoClass(); public enum Mode { INTAKING, diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 7a104e78c08c..63212dbed41d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -278,5 +278,108 @@ public void Gamepad2(){ } + } + + /** + *

Gamepad 2 Controls (December 6th Scrimmage)

+ *
    + *
  • Analog Inputs
      + *
    • Left Stick:
        + *
      • X: Tranfer Belt IN ONLY
        • + *
      • Y: Intake Direction/Power
        • + *
      • + *
    • Right Stick:
        + *
      • X: N/A
        • + *
      • Y: N/A
        • + *
      • + *
    • Left Trigger: N/A
      • + *
    • Right Trigger: N/A
      • + *
    • + * + *
  • Button Inputs
      • + *
    • Letter Buttons:
        + *
      • A: N/A
        • + *
      • B: Kicker/Flap/Feeder
        • + *
      • X: N/A
        • + *
      • Y: Flywheel Toggle
        • + *
      • + *
    • Letter Buttons:
        + *
      • DpadUp: N/A
        • + *
      • DpadDown: N/A
        • + *
      • DpadLeft: N/A
        • + *
      • DpadRight: N/A
        • + *
      • + *
    • Bumpers:
        + *
      • Left Bumper: N/A
        • + *
      • Right Bumper: N/A
        • + *
      • + *
    • Stick Buttons:
        + *
      • Left Stick Button: N/A
        • + *
      • Right Stick Button: N/A
        • + *
      • + *
    + *
+ */ + public void Gamepad2Dec6(){ + + //Intake Controls (Left Stick Y) + if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones){ + Robot.intake.intake.setPower(gamepad2.left_stick_y); + } else { // OFF + Robot.intake.setMode(Intake.Mode.OFF); + } + + //Transfer Belt (ABS Left Stick X) + if (Math.abs(gamepad2.left_stick_x) >= DylanStickDeadzones) { + Robot.intake.belt.setPower(Math.abs(gamepad2.left_stick_x)); + } else { // OFF + Robot.intake.belt.setPower(0); + } + + //Turret Angle Controls (Right Stick X) + //To be added after manual control is finished + + //Flywheel Toggle Control (Y Button) + if (gamepad2.yWasPressed()){ + if (Robot.turret.getFlywheel() == Turret.flywheelstate.OFF){ + Robot.turret.setFlywheel(Turret.flywheelstate.ON); + } else { + Robot.turret.setFlywheel(Turret.flywheelstate.OFF); + } + } + + //Kicker Flapper (B Button Press) + // Increment the shooting state + if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > 5900){shootingState++;} + switch (shootingState){ + case 0: + telemetry.addData("Shooting State", "OFF"); + return; + case 1: + Robot.intake.setMode(Intake.Mode.INTAKING); + Robot.turret.setGate(Turret.gatestate.OPEN); + telemetry.addData("Shooting State", "STARTED"); + return; + case 2: + Robot.intake.setMode(Intake.Mode.SHOOTING); + Robot.intake.setTransfer(Intake.transferState.UP); + shootingDelay.restart(); + shootingState++; + telemetry.addData("Shooting State", "TRANSFERRED"); + return; + case 3: + if (shootingDelay.isDone()){shootingState++;} + telemetry.addData("Shooting State", "DELAY"); + return; + case 4: + Robot.turret.setFlywheelRPM(0); + Robot.turret.setGate(Turret.gatestate.CLOSED); + Robot.intake.setMode(Intake.Mode.OFF); + Robot.intake.setTransfer(Intake.transferState.DOWN); + telemetry.addData("Shooting State", "RESET"); + shootingState = 0; + } + + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index b9325ab5810e..78ce800a3c1d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -15,6 +15,8 @@ //DONE, Shoot mode state machine Off->On->LastShot->Delay->ResetActuators->Off etc. cycled with B button on Gamepad2 //NOTE: Let's not actually use this at the first scrimmage -//TODO, +//TODO, Reset the belt, intake, & transfer kicker back to private after December 6th -//TODO, add the new code structure graph, control graph, and gamepad HTML to the development branch Readme \ No newline at end of file +//TODO, add the new code structure graph, control graph, and gamepad HTML to the development branch Readme + +//TODO, Finish translating Dylan's December 6th controls into the program. \ No newline at end of file From 1340ba216a11ef26bc81156c5fb28db5a474c2a1 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 1 Dec 2025 20:58:51 -0500 Subject: [PATCH 093/152] Finalized Dec. 6th Flywheel PID and added Panels telemetry system. --- .../Main_/Hardware_/Actuators_/Turret.java | 4 ++-- .../LOADCode/Main_/Teleop_/Teleop_Outreach_.java | 14 ++++++-------- 2 files changed, 8 insertions(+), 10 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 5b40c314998c..5be7d391857f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -20,8 +20,8 @@ public class Turret { public final Devices.ServoClass gate = new Devices.ServoClass(); public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); - public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0, 0.1); - public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.005,0,0); + public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0.0001, 0.0001); + public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.00002899,0,0); public enum gatestate { OPEN, diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 2001be2512c9..9ce440677324 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -29,8 +29,6 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; -import android.provider.Settings; - import com.bylazar.telemetry.PanelsTelemetry; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.geometry.Pose; @@ -47,7 +45,7 @@ public class Teleop_Outreach_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); - private TelemetryManager.TelemetryWrapper panelsTelemetry = PanelsTelemetry.INSTANCE.getFtcTelemetry(); + private TelemetryManager panelsTelemetry = PanelsTelemetry.INSTANCE.getTelemetry(); // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); @@ -77,18 +75,17 @@ public void runOpMode() { gamepad1.right_stick_x/2, true ); - if (gamepad1.b){ - Robot.turret.setFlywheelRPM(6000); - }else if (gamepad1.y){ - Robot.turret.setFlywheelRPM(500); + if (gamepad1.x){ + Robot.turret.setFlywheelRPM(5485.714285714286); + panelsTelemetry.addData("SetRPM", 5485.714285714286); }else{ Robot.turret.setFlywheelRPM(0); + panelsTelemetry.addData("SetRPM", 0); } Robot.turret.updatePIDs(); telemetry.addData("FlywheelState", Robot.turret.getFlywheel()); - telemetry.addData("FlywheelRPM", Robot.turret.getFlywheelRPM()); panelsTelemetry.addData("FlywheelRPM", Robot.turret.getFlywheelRPM()); @@ -97,6 +94,7 @@ public void runOpMode() { telemetry.addData("Status", "Run Time: " + runtime.toString()); telemetry.addData("Version: ", "11/4/25"); telemetry.update(); + panelsTelemetry.update(telemetry); //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging } } From 341fef5d0d5de158ede5eac596cc6b8efee8ee3a Mon Sep 17 00:00:00 2001 From: Professor348 Date: Tue, 2 Dec 2025 10:23:02 -0500 Subject: [PATCH 094/152] Possibly fixed NextFTC runPath command (will test at next meeting) --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index ad6aa0ef7c61..0ae7380e2854 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -33,14 +33,17 @@ private enum Auto { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); + public Auto_Main_(){ + addComponents( + new PedroComponent(Constants::createFollower) + ); + } + @Override public void onInit() { // Initialize all hardware of the robot Robot.init(startPose); - - addComponents( - new PedroComponent(Constants::createFollower) - ); + Robot.drivetrain.follower = PedroComponent.follower(); prompter = new Prompter(this); prompter.prompt("alliance", From eb325f8009e657360e5f3c993266ab902f29454a Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Dec 2025 12:50:23 -0500 Subject: [PATCH 095/152] Bugfixed a few issues in Dec. 6th controls function. --- .../Main_/Hardware_/Actuators_/Turret.java | 27 +++++++++---------- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 11 ++++---- 2 files changed, 18 insertions(+), 20 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 5be7d391857f..9579dfb1bcfc 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -32,6 +32,7 @@ public enum flywheelstate { ON, OFF } + public flywheelstate flywheelState = flywheelstate.OFF; public void init(OpMode opmode){ rotation.init(opmode, "turret", 145.1); //Previously 103.8 @@ -115,26 +116,22 @@ public double getFlywheelRPM(){ return flywheel.getRPM(); } + /** + * Sets the target state of the Flywheel + * @param state The state to set the flywheel to (ON/OFF) + */ public void setFlywheel(flywheelstate state){ - if (state == flywheelstate.ON){ - setFlywheelRPM(6000); - } else if (state == flywheelstate.OFF){ - setFlywheelRPM(0); - } + flywheelState = state; } /** - * Outputs one of the following modes - *
    - *
  • flywheelstate.OFF
    • - *
  • flywheelstate.RUNNING
    • - *
+ * Updates the flywheel PID. Must be called every loop. */ - public flywheelstate getFlywheel(){ - if (getFlywheelRPM() == 0.0){ - return flywheelstate.OFF; - } else { - return flywheelstate.ON; + public void updateFlywheel(){ + if (flywheelState == flywheelstate.ON){ + setFlywheelRPM(5485.714285714286); + } else if (flywheelState == flywheelstate.OFF){ + setFlywheelRPM(0); } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 63212dbed41d..60054ced100c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -238,7 +238,7 @@ public void Gamepad2(){ //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()){ - if (Robot.turret.getFlywheel() == Turret.flywheelstate.OFF){ + if (Robot.turret.flywheelState == Turret.flywheelstate.OFF){ Robot.turret.setFlywheel(Turret.flywheelstate.ON); } else { Robot.turret.setFlywheel(Turret.flywheelstate.OFF); @@ -326,7 +326,7 @@ public void Gamepad2Dec6(){ if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones){ Robot.intake.intake.setPower(gamepad2.left_stick_y); } else { // OFF - Robot.intake.setMode(Intake.Mode.OFF); + Robot.intake.intake.setPower(0); } //Transfer Belt (ABS Left Stick X) @@ -341,12 +341,13 @@ public void Gamepad2Dec6(){ //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()){ - if (Robot.turret.getFlywheel() == Turret.flywheelstate.OFF){ - Robot.turret.setFlywheel(Turret.flywheelstate.ON); - } else { + if (Robot.turret.flywheelState == Turret.flywheelstate.ON){ Robot.turret.setFlywheel(Turret.flywheelstate.OFF); + }else if (Robot.turret.flywheelState == Turret.flywheelstate.OFF){ + Robot.turret.setFlywheel(Turret.flywheelstate.ON); } } + Robot.turret.updateFlywheel(); //Kicker Flapper (B Button Press) // Increment the shooting state From 18bba20a9555a2745118ac55835753942718d454 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Dec 2025 18:32:59 -0500 Subject: [PATCH 096/152] Completed Dec6th Auto, & finalized controls for Dec 6th Scrimmage --- .../LOADCode/Main_/Auto_/Auto_Dec6th.java | 73 +++++++++++++++++++ .../LOADCode/Main_/Auto_/Auto_Main_.java | 67 ++++++++--------- .../LOADCode/Main_/Auto_/TestAuto.java | 2 + .../Main_/Hardware_/Actuators_/Devices.java | 3 + .../Main_/Hardware_/Actuators_/Intake.java | 3 +- .../LOADCode/Main_/Hardware_/Commands.java | 2 +- .../Drivetrain_/MecanumDrivetrainClass.java | 4 +- .../Hardware_/Drivetrain_/Pedro_Paths.java | 3 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 73 ++++++++----------- .../Main_/Teleop_/Teleop_Outreach_.java | 2 +- .../ftc/teamcode/LOADCode/Notes and TODOs | 5 +- 11 files changed, 150 insertions(+), 87 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java new file mode 100644 index 000000000000..c1fae0517a70 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java @@ -0,0 +1,73 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; // make sure this aligns with class location + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.DcMotorSimple; + +@Autonomous(name = "Auto_Dec6th", group = "TestAuto", preselectTeleOp="Teleop_Main_") +public class Auto_Dec6th extends OpMode { + + DcMotorEx FL; + DcMotorEx FR; + DcMotorEx BL; + DcMotorEx BR; + + /** + * Copied over from LinearOpMode. + * @param milliseconds The number of milliseconds to sleep. + */ + public final void sleep(long milliseconds) { + try { + Thread.sleep(milliseconds); + } catch (InterruptedException e) { + Thread.currentThread().interrupt(); + } + } + + /** This method is called once at the init of the OpMode. **/ + @Override + public void init() { + FL = hardwareMap.get(DcMotorEx.class, "FL"); + FR = hardwareMap.get(DcMotorEx.class, "FR"); + BL = hardwareMap.get(DcMotorEx.class, "BL"); + BR = hardwareMap.get(DcMotorEx.class, "BR"); + + FL.setDirection(DcMotorSimple.Direction.REVERSE); + BL.setDirection(DcMotorSimple.Direction.REVERSE); + } + + /** This method is called continuously after Init while waiting for "play". **/ + @Override + public void init_loop() { + + } + + /** This method is called once at the start of the OpMode. + * It runs all the setup actions, including building paths and starting the path system **/ + @Override + public void start() { + sleep(25000); + FL.setPower(0.3); + FR.setPower(0.3); + BL.setPower(0.3); + BR.setPower(0.3); + sleep(1700); + FL.setPower(0); + FR.setPower(0); + BL.setPower(0); + BR.setPower(0); + } + + /** This is the main loop of the OpMode, it will run repeatedly after clicking "Play". **/ + @Override + public void loop() { + + } + + /** We do not use this because everything should automatically disable **/ + @Override + public void stop() { + + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 410704ee4870..45ccb6d84d3f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -4,6 +4,7 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -13,6 +14,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +import dev.nextftc.core.commands.Command; import dev.nextftc.core.commands.delays.Delay; import dev.nextftc.core.commands.delays.WaitUntil; import dev.nextftc.core.commands.groups.ParallelGroup; @@ -20,6 +22,7 @@ import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; +@Disabled @Autonomous(name = "Auto_Main_", group = "Main", preselectTeleOp="Teleop_Main_") public class Auto_Main_ extends NextFTCOpMode { @@ -33,6 +36,7 @@ private enum Auto { } private Auto selectedAuto = null; + private boolean turretOn = false; // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; @@ -40,15 +44,12 @@ private enum Auto { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - public Auto_Main_(){ - addComponents( - new PedroComponent(Constants::createFollower) - ); - } - @Override public void onInit() { // Initialize all hardware of the robot + addComponents( + new PedroComponent(Constants::createFollower) + ); Robot.init(startPose); Robot.drivetrain.follower = PedroComponent.follower(); @@ -80,30 +81,28 @@ public void onWaitForStart() { @Override public void onStartButtonPressed() { - // Initialize all hardware of the robot - Robot.init(startPose, PedroComponent.follower()); - } - - @Override - public void onUpdate() { + // Schedule the proper auto switch (selectedAuto) { case LEAVE_NEAR_LAUNCH: - Leave_Near_Launch(); + Leave_Near_Launch().invoke(); return; case LEAVE_FAR_HP: - Leave_Far_HP(); - return; - case MOVEMENT_RP_DEC6: - BasicMoveRP(); + Leave_Far_HP().invoke(); return; } - switch (selectedAlliance) { - case RED: - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); - return; - case BLUE: - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); - return; + } + + @Override + public void onUpdate() { + if (turretOn){ + switch (selectedAlliance) { + case RED: + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + return; + case BLUE: + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); + return; + } } telemetry.addData("selectedAuto", selectedAuto); @@ -116,8 +115,9 @@ public void onUpdate() { * shoots it's preloads after 5 seconds, * and goes to the leave zone next to the human player zone. */ - private void Leave_Far_HP() { - new SequentialGroup( + private Command Leave_Far_HP() { + turretOn = true; + return new SequentialGroup( Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), @@ -135,7 +135,7 @@ private void Leave_Far_HP() { Commands.setIntakeMode(Robot, Intake.Mode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true, 0.6) - ).schedule(); + ); } /** @@ -143,8 +143,9 @@ private void Leave_Far_HP() { * shoots it's preloads after 5 seconds, * and goes to the leave pose that is in the launch zone. */ - private void Leave_Near_Launch() { - new SequentialGroup( + private Command Leave_Near_Launch() { + turretOn = true; + return new SequentialGroup( Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), @@ -162,12 +163,6 @@ private void Leave_Near_Launch() { Commands.setIntakeMode(Robot, Intake.Mode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true, 0.6) - ).schedule(); - } - - private void BasicMoveRP(){ - new SequentialGroup( - Commands.runPath(Robot.drivetrain.paths.basicMoveRPPath,true,0.6) - ).schedule(); + ); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java index 0beef87c1783..3c1739e9678e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/TestAuto.java @@ -7,6 +7,7 @@ import com.pedropathing.paths.PathChain; import com.pedropathing.util.Timer; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -14,6 +15,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +@Disabled @Autonomous(name = "TestAutoR1", group = "TestAuto", preselectTeleOp="Teleop_Main_") public class TestAuto extends OpMode { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index 3541e4b84685..f664d27fd09d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -121,6 +121,9 @@ public void setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior behaviour){ public void setDirection(DcMotorSimple.Direction direction){ motorObject.setDirection(direction); } + public void setEncoderTicks(int ticks){ + motorObject.setTargetPosition(ticks); + } /** * @return The current position of the turret motor in encoder ticks. Can be any value. */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index c01901f55356..30d827000a53 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -89,8 +89,7 @@ public void setTransfer(transferState state) { transfer.setAngle(0); return; case DOWN: - transfer.setAngle(90); - return; + transfer.setAngle(.05); } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 160769e57e34..49131376c7c5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -17,7 +17,7 @@ public class Commands { public static Object intakeSystem = null; public static Command runPath(PathChain path, boolean holdEnd) { - return new FollowPath(path, holdEnd); + return new FollowPath(path, holdEnd).requires(driveSystem); } public static Command runPath(PathChain path, boolean holdEnd, double maxPower) { return new FollowPath(path, holdEnd, maxPower).requires(driveSystem); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index db8db13a4511..f5545637f4d9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -28,7 +28,7 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower paths = new Pedro_Paths(follower); follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field - follower.update(); // Applies the initialization + follower.update(); // Applies the initialization follower.startTeleopDrive(); follower.update(); @@ -46,7 +46,7 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose, Follower follow){ follower = follow; paths = new Pedro_Paths(follower); follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field - follower.update(); // Applies the initialization + follower.update(); // Applies the initialization follower.startTeleopDrive(); follower.update(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index 0d68f6551551..d45fa0c3d763 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -4,7 +4,6 @@ import com.pedropathing.geometry.BezierCurve; import com.pedropathing.geometry.BezierLine; import com.pedropathing.geometry.Pose; -import com.pedropathing.paths.Path; import com.pedropathing.paths.PathChain; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @@ -75,7 +74,7 @@ public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ */ public void buildMoveRPPath(){ basicMoveRPPath = follower.pathBuilder() - .addPath(new BezierLine(dummyStartPose,dummyMoveRPPose)) + .addPath(new BezierCurve(dummyStartPose,dummyMoveRPPose)) .setLinearHeadingInterpolation(dummyStartPose.getHeading(), dummyMoveRPPose.getHeading()) .build(); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 60054ced100c..9fde0019cdff 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -30,6 +30,8 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; import com.bylazar.configurables.annotations.Configurable; +import com.bylazar.telemetry.PanelsTelemetry; +import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; @@ -49,6 +51,7 @@ public class Teleop_Main_ extends LinearOpMode { // Declare OpMode members. private ElapsedTime runtime = new ElapsedTime(); + private TelemetryManager panelsTelemetry = PanelsTelemetry.INSTANCE.getTelemetry(); // Variables for storing data for the second gamepad controls public static double DylanStickDeadzones = 0.2; @@ -97,18 +100,29 @@ public void runOpMode() { while (opModeIsActive()) { Gamepad1(); - Gamepad2(); + Gamepad2Dec6(); Robot.turret.updatePIDs(); telemetry.addData("SpeedMult", Robot.drivetrain.speedMultiplier); + telemetry.addLine(); // Turret-related Telemetry telemetry.addData("Turret Target Angle:", Robot.turret.rotation.target); telemetry.addData("Turret Actual Angle", Robot.turret.rotation.getAngleAbsolute()); + telemetry.addLine(); + panelsTelemetry.addData("Flywheel Target Speed", Robot.turret.flywheel.target); + panelsTelemetry.addData("Flywheel Actual Speed", Robot.turret.getFlywheelRPM()); + telemetry.addData("Flywheel Target Speed", Robot.turret.flywheel.target); + telemetry.addData("Flywheel Actual Speed", Robot.turret.getFlywheelRPM()); + + telemetry.addLine(); + telemetry.addData("Belt Power", Robot.intake.belt.getPower()); + + // Intake-related Telemetry telemetry.addLine(); - telemetry.addData("Intake Status", Robot.intake.getMode()); + telemetry.addData("Intake Status", Robot.intake.intake.getPower()); // System-related Telemetry telemetry.addLine(); @@ -329,15 +343,26 @@ public void Gamepad2Dec6(){ Robot.intake.intake.setPower(0); } - //Transfer Belt (ABS Left Stick X) - if (Math.abs(gamepad2.left_stick_x) >= DylanStickDeadzones) { - Robot.intake.belt.setPower(Math.abs(gamepad2.left_stick_x)); + //Transfer Belt (ABS Right Stick Y) + if (Math.abs(gamepad2.right_stick_y) >= DylanStickDeadzones) { + Robot.intake.belt.setPower(Math.abs(gamepad2.right_stick_y)); } else { // OFF Robot.intake.belt.setPower(0); } - //Turret Angle Controls (Right Stick X) - //To be added after manual control is finished + // Gate control + if (Robot.turret.getFlywheelRPM() > 3000){ + Robot.turret.setGate(Turret.gatestate.OPEN); + }else{ + Robot.turret.setGate(Turret.gatestate.CLOSED); + } + + // Transfer control + if (gamepad2.b){ + Robot.intake.setTransfer(Intake.transferState.UP); + }else{ + Robot.intake.setTransfer(Intake.transferState.DOWN); + } //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()){ @@ -348,39 +373,5 @@ public void Gamepad2Dec6(){ } } Robot.turret.updateFlywheel(); - - //Kicker Flapper (B Button Press) - // Increment the shooting state - if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > 5900){shootingState++;} - switch (shootingState){ - case 0: - telemetry.addData("Shooting State", "OFF"); - return; - case 1: - Robot.intake.setMode(Intake.Mode.INTAKING); - Robot.turret.setGate(Turret.gatestate.OPEN); - telemetry.addData("Shooting State", "STARTED"); - return; - case 2: - Robot.intake.setMode(Intake.Mode.SHOOTING); - Robot.intake.setTransfer(Intake.transferState.UP); - shootingDelay.restart(); - shootingState++; - telemetry.addData("Shooting State", "TRANSFERRED"); - return; - case 3: - if (shootingDelay.isDone()){shootingState++;} - telemetry.addData("Shooting State", "DELAY"); - return; - case 4: - Robot.turret.setFlywheelRPM(0); - Robot.turret.setGate(Turret.gatestate.CLOSED); - Robot.intake.setMode(Intake.Mode.OFF); - Robot.intake.setTransfer(Intake.transferState.DOWN); - telemetry.addData("Shooting State", "RESET"); - shootingState = 0; - } - - } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 9ce440677324..ebf6e3cb7833 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -85,7 +85,7 @@ public void runOpMode() { Robot.turret.updatePIDs(); - telemetry.addData("FlywheelState", Robot.turret.getFlywheel()); + telemetry.addData("FlywheelState", Robot.turret.flywheelState); panelsTelemetry.addData("FlywheelRPM", Robot.turret.getFlywheelRPM()); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 78ce800a3c1d..8dae2b096875 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -13,10 +13,11 @@ //TODO, Add proper functionality for manual turret control to Turret.java //DONE, Shoot mode state machine Off->On->LastShot->Delay->ResetActuators->Off etc. cycled with B button on Gamepad2 -//NOTE: Let's not actually use this at the first scrimmage //TODO, Reset the belt, intake, & transfer kicker back to private after December 6th //TODO, add the new code structure graph, control graph, and gamepad HTML to the development branch Readme -//TODO, Finish translating Dylan's December 6th controls into the program. \ No newline at end of file +//DONE, Finish translating Dylan's December 6th controls into the program. + +//TODO, Figure out how to use NextFTC's Pedropathing extension for auto. \ No newline at end of file From 081ae9bfc067060fb7fc2e380729822e0bb202f9 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 2 Dec 2025 20:24:56 -0500 Subject: [PATCH 097/152] Got NextFTC's command pathing working, did not use on dec6th auto. --- .../LOADCode/Main_/Auto_/Auto_Dec6th.java | 25 +++++++- .../LOADCode/Main_/Auto_/Auto_Main_.java | 47 ++++++++++----- .../Auto_/NextFTC_Pedro_Example_Auto.java | 54 +++++++++++++++++ .../LOADCode/Main_/Hardware_/Commands.java | 4 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 60 +++++++++++++++++++ .../Main_/Teleop_/Teleop_Outreach_.java | 16 ----- .../ftc/teamcode/pedroPathing/Constants.java | 4 +- 7 files changed, 174 insertions(+), 36 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/NextFTC_Pedro_Example_Auto.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java index c1fae0517a70..a50fec1b7185 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java @@ -1,9 +1,15 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; // make sure this aligns with class location +import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; + import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.skeletonarmy.marrow.prompts.OptionPrompt; +import com.skeletonarmy.marrow.prompts.Prompter; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @Autonomous(name = "Auto_Dec6th", group = "TestAuto", preselectTeleOp="Teleop_Main_") public class Auto_Dec6th extends OpMode { @@ -13,6 +19,9 @@ public class Auto_Dec6th extends OpMode { DcMotorEx BL; DcMotorEx BR; + // Create the prompter object for selecting Alliance and Auto + Prompter prompter = null; + /** * Copied over from LinearOpMode. * @param milliseconds The number of milliseconds to sleep. @@ -35,12 +44,26 @@ public void init() { FL.setDirection(DcMotorSimple.Direction.REVERSE); BL.setDirection(DcMotorSimple.Direction.REVERSE); + + prompter = new Prompter(this); + prompter.prompt("alliance", + new OptionPrompt<>("Select Alliance", + LoadHardwareClass.Alliance.RED, + LoadHardwareClass.Alliance.BLUE + )); + prompter.onComplete(() -> { + selectedAlliance = prompter.get("alliance"); + telemetry.addData("Selection", "Complete"); + telemetry.addData("Alliance", selectedAlliance); + telemetry.update(); + } + ); } /** This method is called continuously after Init while waiting for "play". **/ @Override public void init_loop() { - + prompter.run(); } /** This method is called once at the start of the OpMode. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 45ccb6d84d3f..dac8c7759eb7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -11,6 +11,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -19,6 +20,7 @@ import dev.nextftc.core.commands.delays.WaitUntil; import dev.nextftc.core.commands.groups.ParallelGroup; import dev.nextftc.core.commands.groups.SequentialGroup; +import dev.nextftc.extensions.pedro.FollowPath; import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; @@ -27,7 +29,7 @@ public class Auto_Main_ extends NextFTCOpMode { // Define other PedroPathing constants - private final Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. + private Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. private enum Auto { LEAVE_NEAR_LAUNCH, @@ -44,12 +46,15 @@ private enum Auto { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); - @Override - public void onInit() { - // Initialize all hardware of the robot + public Auto_Main_() { addComponents( new PedroComponent(Constants::createFollower) ); + } + + @Override + public void onInit() { + // Initialize all hardware of the robot Robot.init(startPose); Robot.drivetrain.follower = PedroComponent.follower(); @@ -69,6 +74,9 @@ public void onInit() { selectedAlliance = prompter.get("alliance"); selectedAuto = prompter.get("auto"); telemetry.addData("Selection", "Complete"); + telemetry.addData("Alliance", selectedAlliance); + telemetry.addData("Auto", selectedAuto); + telemetry.update(); } ); Robot.drivetrain.paths.buildPaths(selectedAlliance); @@ -84,25 +92,28 @@ public void onStartButtonPressed() { // Schedule the proper auto switch (selectedAuto) { case LEAVE_NEAR_LAUNCH: - Leave_Near_Launch().invoke(); + Leave_Near_Launch().schedule(); + startPose = new Pose(0,0,0); return; case LEAVE_FAR_HP: - Leave_Far_HP().invoke(); + Leave_Far_HP().schedule(); + startPose = new Pose(0,0,0); return; + case MOVEMENT_RP_DEC6: + Movement_RP_Dec6th().schedule(); + startPose = new Pose(0,0,0); } } @Override public void onUpdate() { - if (turretOn){ - switch (selectedAlliance) { - case RED: - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); - return; - case BLUE: - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); - return; - } + switch (selectedAlliance) { + case RED: + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + return; + case BLUE: + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); + return; } telemetry.addData("selectedAuto", selectedAuto); @@ -165,4 +176,10 @@ private Command Leave_Near_Launch() { Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true, 0.6) ); } + + private Command Movement_RP_Dec6th(){ + return new SequentialGroup( + new FollowPath(Robot.drivetrain.paths.basicMoveRPPath, true, 0.5) + ); + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/NextFTC_Pedro_Example_Auto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/NextFTC_Pedro_Example_Auto.java new file mode 100644 index 000000000000..bcbe78d74df4 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/NextFTC_Pedro_Example_Auto.java @@ -0,0 +1,54 @@ +//package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; +// +//import com.acmerobotics.roadrunner.path.BezierLine; +//import com.pedropathing.geometry.Pose; +//import com.pedropathing.paths.PathChain; +//import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +// +//import org.firstinspires.ftc.teamcode.pedroPathing.Constants; +// +//import dev.nextftc.core.commands.groups.SequentialGroup; +//import dev.nextftc.core.components.SubsystemComponent; +//import dev.nextftc.extensions.pedro.FollowPath; +//import dev.nextftc.extensions.pedro.PedroComponent; +//import dev.nextftc.ftc.NextFTCOpMode; +// +//@Autonomous(name = "blueBottom") +//public class NextFTC_Pedro_Example_Auto extends NextFTCOpMode { +// private final Pose startPose = new Pose(85.5, 8.3, Math.toRadians(90.0)); +// private final Pose depositPose = new Pose(84.3, 61.9, Math.toRadians(0.0)); +// private final Pose curvePoint = new Pose(138.2, 48.1); +// +// private PathChain skib; +// +// public NextFTC_Pedro_Example_Auto() { +// addComponents( +// new PedroComponent(Constants::createFollower) +// ); +// } +// +// private void buildPaths() { +// skib = follower.pathBuilder() +// .addPath(new BezierLine(startPose, depositPose)) +// .setLinearHeadingInterpolation(startPose.heading, depositPose.heading) +// .build(); +// } +// +// public Command getSecondRoutine() { +// return new SequentialGroup( +// new FollowPath(skib) +// ); +// } +// +// @Override +// public void onInit() { +// follower.setMaxPower(0.7); +// follower.setStartingPose(startPose); +// buildPaths(); +// } +// +// @Override +// public void onStartButtonPressed() { +// getSecondRoutine().run(); +// } +//} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 49131376c7c5..d363fa3a21ff 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -17,10 +17,10 @@ public class Commands { public static Object intakeSystem = null; public static Command runPath(PathChain path, boolean holdEnd) { - return new FollowPath(path, holdEnd).requires(driveSystem); + return new FollowPath(path, holdEnd); } public static Command runPath(PathChain path, boolean holdEnd, double maxPower) { - return new FollowPath(path, holdEnd, maxPower).requires(driveSystem); + return new FollowPath(path, holdEnd, maxPower); } public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheelstate state) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 9fde0019cdff..3c2a398a3c67 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -57,6 +57,7 @@ public class Teleop_Main_ extends LinearOpMode { public static double DylanStickDeadzones = 0.2; public int shootingState = 0; public TimerEx shootingDelay = new TimerEx(1); + public static double autoaimmultiplier = 100; Prompter prompter = null; @@ -194,6 +195,65 @@ public void Gamepad1(){ ); } + public void Gamepad1Dec6(){ + + Robot.drivetrain.speedMultiplier = 0.66; + if (gamepad1.left_trigger >= 0.5) { + Robot.drivetrain.speedMultiplier -= 0.33; + } + if (gamepad1.right_trigger >= 0.5){ + Robot.drivetrain.speedMultiplier += 0.33; + } + + double turnPower = gamepad1.right_stick_x; + double turnMult = 2; + if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ + turnMult = 1; + } + turnPower = turnPower/turnMult; + + double targetHeading = 0; + telemetry.addData("Alliance", LoadHardwareClass.selectedAlliance); + if (gamepad1.right_stick_button){ + switch (LoadHardwareClass.selectedAlliance){ + case RED: + turnPower = Robot.drivetrain.follower.getHeading() - + Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), false); + targetHeading = Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), false); + telemetry.addData("Pose", Robot.drivetrain.follower.getPose()); + telemetry.addData("Target Heading", targetHeading); + return; + case BLUE: + turnPower = Robot.drivetrain.follower.getHeading() - + Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true); + targetHeading = Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true); + telemetry.addData("Pose", Robot.drivetrain.follower.getPose()); + telemetry.addData("Target Heading", targetHeading); + return; + } + turnPower = turnPower/autoaimmultiplier; + } + telemetry.addData("TurnPower", turnPower); + + if (gamepad1.guide){ + switch (LoadHardwareClass.selectedAlliance){ + case RED: + Robot.drivetrain.follower.setPose(new Pose(144-8.25,7.25, Math.toRadians(90))); + return; + case BLUE: + Robot.drivetrain.follower.setPose(new Pose(8.25,7.25, Math.toRadians(90))); + return; + } + } + + Robot.drivetrain.pedroMecanumDrive( + gamepad1.left_stick_y, + gamepad1.left_stick_x, + turnPower, + true + ); + } + /** *

Gamepad 2 Controls (Dylan's Pick V1)

*
    diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index ebf6e3cb7833..d78be5e09fa8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -38,8 +38,6 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; -//TODO, implement all our external libraries and functionality. - @TeleOp(name="Teleop_Outreach_", group="TeleOp") public class Teleop_Outreach_ extends LinearOpMode { @@ -75,19 +73,6 @@ public void runOpMode() { gamepad1.right_stick_x/2, true ); - if (gamepad1.x){ - Robot.turret.setFlywheelRPM(5485.714285714286); - panelsTelemetry.addData("SetRPM", 5485.714285714286); - }else{ - Robot.turret.setFlywheelRPM(0); - panelsTelemetry.addData("SetRPM", 0); - } - - Robot.turret.updatePIDs(); - - telemetry.addData("FlywheelState", Robot.turret.flywheelState); - panelsTelemetry.addData("FlywheelRPM", Robot.turret.getFlywheelRPM()); - // System-related Telemetry telemetry.addLine(); @@ -95,7 +80,6 @@ public void runOpMode() { telemetry.addData("Version: ", "11/4/25"); telemetry.update(); panelsTelemetry.update(telemetry); - //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging } } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 6b78bdee8f54..0fea5f15b57b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -52,8 +52,8 @@ public class Constants { .yVelocity(46.4157); public static PinpointConstants localizerConstants = new PinpointConstants() - .forwardPodY(-2) - .strafePodX(4.5) + .forwardPodY((double) 3 /8) + .strafePodX(6) .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) From 4bb83340ba064e53af45d573bfb969edb0e818dd Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 8 Dec 2025 19:24:44 -0500 Subject: [PATCH 098/152] Got the turret tracking semi-working and tuned turret rotation PID --- .../Main_/Hardware_/Actuators_/Turret.java | 8 +- .../Drivetrain_/MecanumDrivetrainClass.java | 18 ---- .../Main_/Hardware_/LoadHardwareClass.java | 15 ---- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 82 ++++--------------- .../Main_/Teleop_/Teleop_Outreach_.java | 15 +++- .../ftc/teamcode/LOADCode/Notes and TODOs | 2 +- .../ftc/teamcode/pedroPathing/Constants.java | 4 +- 7 files changed, 36 insertions(+), 108 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 9579dfb1bcfc..6c593a36d1cc 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -4,7 +4,7 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; - +import com.qualcomm.robotcore.hardware.DcMotorSimple; import dev.nextftc.control.feedback.PIDCoefficients; @@ -19,7 +19,7 @@ public class Turret { public final Devices.ServoClass hood = new Devices.ServoClass(); public final Devices.ServoClass gate = new Devices.ServoClass(); - public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.002, 0, 0); + public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.15, 0.1, 0); public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0.0001, 0.0001); public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.00002899,0,0); @@ -41,6 +41,8 @@ public void init(OpMode opmode){ gate.init(opmode, "gate"); rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + rotation.ticksPerRotation = 751.8 * ((double) 131 /24); + rotation.setDirection(DcMotorSimple.Direction.REVERSE); flywheel.ticksPerRotation = 28; @@ -98,7 +100,7 @@ public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ return Math.toDegrees(Math.atan2( goalPose.getY()-robotPose.getY(), goalPose.getX()-robotPose.getX()) - ) - Math.toDegrees(robotPose.getHeading()) + 180; + ) + Math.toDegrees(robotPose.getHeading()); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index f5545637f4d9..ceda43b9eb0f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -34,24 +34,6 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose){ follower.update(); } - /** - * Initializes the PedroPathing follower. - * Needs to be run once after all hardware is initialized. - * @param myOpMode Allows the follower access to the robot hardware. - * @param initialPose The starting pose of the robot. - * @param follow The follower object. - */ - public void init (@NonNull OpMode myOpMode, Pose initialPose, Follower follow){ - // PedroPathing initialization - follower = follow; - paths = new Pedro_Paths(follower); - follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field - follower.update(); // Applies the initialization - - follower.startTeleopDrive(); - follower.update(); - } - /** * Uses PedroPathing's follower class to implement a mecanum drive controller. * Must be called every loop to function properly. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index b0943a033cc5..420957f905bf 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -97,19 +97,4 @@ public void init(Pose initialPose) { myOpMode.telemetry.addData(">", "Hardware Initialized"); myOpMode.telemetry.update(); } - - /** - * Initializes all hardware for the robot. - * Must be called once at the start of each op-mode. - */ - public void init(Pose initialPose, Follower follower) { - // Initialize all subclasses - drivetrain.init(myOpMode, initialPose, follower); - turret.init(myOpMode); - intake.init(myOpMode); - - // Misc telemetry - myOpMode.telemetry.addData(">", "Hardware Initialized"); - myOpMode.telemetry.update(); - } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 3c2a398a3c67..a869774d9c94 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -35,6 +35,7 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.robot.Robot; import com.qualcomm.robotcore.util.ElapsedTime; import com.skeletonarmy.marrow.TimerEx; import com.skeletonarmy.marrow.prompts.OptionPrompt; @@ -62,7 +63,7 @@ public class Teleop_Main_ extends LinearOpMode { Prompter prompter = null; // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. - private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); + private final Pose startPose = new Pose(88.5,7.8, Math.toRadians(90)); // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); @@ -79,6 +80,8 @@ public void runOpMode() { prompter.onComplete(() -> { LoadHardwareClass.selectedAlliance = prompter.get("alliance"); telemetry.addData("Selection", "Complete"); + telemetry.addData("Alliance", LoadHardwareClass.selectedAlliance); + telemetry.update(); } ); @@ -173,14 +176,16 @@ public void runOpMode() { *
* */ - public void Gamepad1(){ - - Robot.drivetrain.speedMultiplier = 0.66; - if (gamepad1.left_trigger >= 0.5) { - Robot.drivetrain.speedMultiplier -= 0.33; - } - if (gamepad1.right_trigger >= 0.5){ - Robot.drivetrain.speedMultiplier += 0.33; + public void Gamepad1() { + + if (gamepad1.left_trigger >= 0.5 && gamepad1.right_trigger >=0.5){ + Robot.drivetrain.speedMultiplier = 0.66; + }else if (gamepad1.left_trigger >= 0.5) { + Robot.drivetrain.speedMultiplier = 0.33; + }else if (gamepad1.right_trigger >= 0.5){ + Robot.drivetrain.speedMultiplier = 1; + }else{ + Robot.drivetrain.speedMultiplier = 0.66; } double turnMult = 2; @@ -195,65 +200,6 @@ public void Gamepad1(){ ); } - public void Gamepad1Dec6(){ - - Robot.drivetrain.speedMultiplier = 0.66; - if (gamepad1.left_trigger >= 0.5) { - Robot.drivetrain.speedMultiplier -= 0.33; - } - if (gamepad1.right_trigger >= 0.5){ - Robot.drivetrain.speedMultiplier += 0.33; - } - - double turnPower = gamepad1.right_stick_x; - double turnMult = 2; - if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ - turnMult = 1; - } - turnPower = turnPower/turnMult; - - double targetHeading = 0; - telemetry.addData("Alliance", LoadHardwareClass.selectedAlliance); - if (gamepad1.right_stick_button){ - switch (LoadHardwareClass.selectedAlliance){ - case RED: - turnPower = Robot.drivetrain.follower.getHeading() - - Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), false); - targetHeading = Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), false); - telemetry.addData("Pose", Robot.drivetrain.follower.getPose()); - telemetry.addData("Target Heading", targetHeading); - return; - case BLUE: - turnPower = Robot.drivetrain.follower.getHeading() - - Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true); - targetHeading = Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true); - telemetry.addData("Pose", Robot.drivetrain.follower.getPose()); - telemetry.addData("Target Heading", targetHeading); - return; - } - turnPower = turnPower/autoaimmultiplier; - } - telemetry.addData("TurnPower", turnPower); - - if (gamepad1.guide){ - switch (LoadHardwareClass.selectedAlliance){ - case RED: - Robot.drivetrain.follower.setPose(new Pose(144-8.25,7.25, Math.toRadians(90))); - return; - case BLUE: - Robot.drivetrain.follower.setPose(new Pose(8.25,7.25, Math.toRadians(90))); - return; - } - } - - Robot.drivetrain.pedroMecanumDrive( - gamepad1.left_stick_y, - gamepad1.left_stick_x, - turnPower, - true - ); - } - /** *

Gamepad 2 Controls (Dylan's Pick V1)

*
    diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index d78be5e09fa8..3828d0c8e296 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -46,7 +46,7 @@ public class Teleop_Outreach_ extends LinearOpMode { private TelemetryManager panelsTelemetry = PanelsTelemetry.INSTANCE.getTelemetry(); // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. - private final Pose startPose = new Pose(135.6,9.8, Math.toRadians(90)); + private final Pose startPose = new Pose(88.5,7.8, Math.toRadians(90)); @Override public void runOpMode() { @@ -74,6 +74,19 @@ public void runOpMode() { true ); + if (!gamepad1.b){ + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + telemetry.addData("Target Angle", Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), false)); + }else{ + Robot.turret.rotation.setAngle(0); + telemetry.addData("Target Angle", 0); + } + + telemetry.addData("Turret Angle", Robot.turret.rotation.getAngleAbsolute()); + telemetry.addData("Robot Pose X", Math.round(Robot.drivetrain.follower.getPose().getX())); + telemetry.addData("Robot Pose Y", Math.round(Robot.drivetrain.follower.getPose().getY())); + telemetry.addData("Robot Pose H", Math.round(Robot.drivetrain.follower.getPose().getHeading())); + // System-related Telemetry telemetry.addLine(); telemetry.addData("Status", "Run Time: " + runtime.toString()); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 8dae2b096875..3186bc743189 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -20,4 +20,4 @@ //DONE, Finish translating Dylan's December 6th controls into the program. -//TODO, Figure out how to use NextFTC's Pedropathing extension for auto. \ No newline at end of file +//DONE, Figure out how to use NextFTC's Pedropathing extension for auto. \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 0fea5f15b57b..10b4639b554f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -52,12 +52,12 @@ public class Constants { .yVelocity(46.4157); public static PinpointConstants localizerConstants = new PinpointConstants() - .forwardPodY((double) 3 /8) + .forwardPodY((double) 3/8) .strafePodX(6) .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) - .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED) + .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD) .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD); public static Follower createFollower(HardwareMap hardwareMap) { From 5fb68b567376bf077c3f20c8f58ddc2848368800 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 9 Dec 2025 19:28:28 -0500 Subject: [PATCH 099/152] Finalized turret tracking calculations and worked on hood and teleop controls --- .../Main_/Hardware_/Actuators_/Devices.java | 54 ++++-- .../Main_/Hardware_/Actuators_/Turret.java | 32 +++- .../Main_/Hardware_/LoadHardwareClass.java | 3 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 176 ++++++------------ .../Main_/Teleop_/Teleop_Outreach_.java | 35 +++- 5 files changed, 147 insertions(+), 153 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index f664d27fd09d..e6b5abdf45b3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -46,11 +46,20 @@ public double getPower() { } public static class DcMotorExClass { - // PID pidCoefficients + + // Old PID Coefficients + PIDCoefficients old_pidCoefficients = new PIDCoefficients(0, 0, 0); + BasicFeedforwardParameters old_ffCoefficients = new BasicFeedforwardParameters(0,0,0); + + // PID Coefficients PIDCoefficients pidCoefficients = new PIDCoefficients(0, 0, 0); BasicFeedforwardParameters ffCoefficients = new BasicFeedforwardParameters(0,0,0); - // Encoder ticks/rotation - // 1620rpm Gobilda - 103.8 ticks at the motor shaft + /** + *

    Encoder ticks/rotation:


    + * 1620rpm Gobilda - 103.8
    + * 1150rpm Gobilda - 145.1
    + * 223rpm Gobilda - 751.8
    + */ public double ticksPerRotation = 103.8; // Target position/velocity of the motor public double target = 0; @@ -80,6 +89,19 @@ public void init (@NonNull OpMode opmode, String motorName){ motorObject = opmode.hardwareMap.get(DcMotorEx.class, motorName); } + ControlSystem velPID = null; + ControlSystem posPID = null; + + public void buildPIDs(){ + if (old_pidCoefficients != pidCoefficients || old_ffCoefficients != ffCoefficients){ + velPID = ControlSystem.builder() + .velPid(pidCoefficients) + .basicFF(ffCoefficients) + .build(); + posPID = ControlSystem.builder().posPid(pidCoefficients).build(); + } + } + /** * Sets the value of the PID coefficients of the motor. * @param coefficients The values to set the coefficients to. @@ -123,6 +145,7 @@ public void setDirection(DcMotorSimple.Direction direction){ } public void setEncoderTicks(int ticks){ motorObject.setTargetPosition(ticks); + setRunMode(DcMotor.RunMode.RUN_TO_POSITION); } /** * @return The current position of the turret motor in encoder ticks. Can be any value. @@ -178,12 +201,22 @@ public double getPower(){ * @param angle The angle in degrees to move the motor to. Can be any number. */ public void setAngle(double angle){ + setAngle(angle, 0); + } + /** + * Uses a PID controller to move the motor to the desired position. + * Must be called every loop to function properly. + * @param angle The angle in degrees to move the motor to. Can be any number. + * @param velocity The velocity the motor should be spinning at when it reaches the target point + */ + public void setAngle(double angle, double velocity){ target = angle; - ControlSystem turretPID = ControlSystem.builder().posPid(pidCoefficients).build(); + buildPIDs(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); - turretPID.setGoal(new KineticState(target)); - setPower(turretPID.calculate(currentKineticState)); + posPID.setGoal(new KineticState(target, velocity)); + setPower(posPID.calculate(currentKineticState)); } + /** * Uses a PID controller to accelerate the motor to the desired RPM. * Must be called every loop to function properly. @@ -191,14 +224,11 @@ public void setAngle(double angle){ */ public void setRPM(double rpm){ target = rpm; + buildPIDs(); double degreesPerSecond = target*6; - ControlSystem PID = ControlSystem.builder() - .velPid(pidCoefficients) - .basicFF(ffCoefficients) - .build(); KineticState currentKineticState = new KineticState(getAngleAbsolute(), getDegreesPerSecond()); - PID.setGoal(new KineticState(0, degreesPerSecond)); - setPower(PID.calculate(currentKineticState)); + velPID.setGoal(new KineticState(0, degreesPerSecond)); + setPower(velPID.calculate(currentKineticState)); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 6c593a36d1cc..5c6e3429a050 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -5,6 +5,7 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.Servo; import dev.nextftc.control.feedback.PIDCoefficients; @@ -13,13 +14,15 @@ @Configurable public class Turret { - + // Hardware definitions public final Devices.DcMotorExClass rotation = new Devices.DcMotorExClass(); public final Devices.DcMotorExClass flywheel = new Devices.DcMotorExClass(); public final Devices.ServoClass hood = new Devices.ServoClass(); public final Devices.ServoClass gate = new Devices.ServoClass(); - public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.15, 0.1, 0); + // The PID coefficient variables + public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.06, 0, 0); // 223RPM + //public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.3, 0, 0.007); // 1150RPM public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0.0001, 0.0001); public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.00002899,0,0); @@ -41,12 +44,13 @@ public void init(OpMode opmode){ gate.init(opmode, "gate"); rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); - rotation.ticksPerRotation = 751.8 * ((double) 131 /24); + rotation.ticksPerRotation = 145.1 * ((double) 131 /24); rotation.setDirection(DcMotorSimple.Direction.REVERSE); flywheel.ticksPerRotation = 28; gate.setAngle(0.5); + hood.setDirection(Servo.Direction.REVERSE); // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); @@ -78,6 +82,22 @@ public void setGate(gatestate state){ } } + /** + * Sets the angle of the hood. + * @param angle An angle in degrees that is constrained to between 0 and 45 + */ + public void setHood(double angle){ + hood.setAngle(Math.min(Math.max(angle, 0), 320)/(360*5)); + } + + /** + * Gets the angle of the hood + * @return A value between 0 and 45 degrees + */ + public double getHood(){ + return hood.getAngle() * 360 * 5; + } + /** * Outputs one of the following modes *
      @@ -94,13 +114,13 @@ public gatestate getGate(){ } public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ - Pose goalPose = new Pose(0,144,0); - if (targetRedGoal) {goalPose = new Pose(144, 144, 0);} + Pose goalPose = new Pose(4,140,0); + if (targetRedGoal) {goalPose = new Pose(140, 140, 0);} return Math.toDegrees(Math.atan2( goalPose.getY()-robotPose.getY(), goalPose.getX()-robotPose.getX()) - ) + Math.toDegrees(robotPose.getHeading()); + ) - Math.toDegrees(robotPose.getHeading()); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 420957f905bf..0f77fc77f277 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -30,7 +30,6 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; import com.bylazar.configurables.annotations.Configurable; -import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -54,7 +53,7 @@ public class LoadHardwareClass { public final Intake intake; // Declare various enums & other variables that are useful across files - public static Alliance selectedAlliance = null; + public static Alliance selectedAlliance = Alliance.RED; public enum Alliance { RED, BLUE diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index a869774d9c94..670b9909964b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -29,13 +29,14 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; +import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; + import com.bylazar.configurables.annotations.Configurable; import com.bylazar.telemetry.PanelsTelemetry; import com.bylazar.telemetry.TelemetryManager; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.robot.Robot; import com.qualcomm.robotcore.util.ElapsedTime; import com.skeletonarmy.marrow.TimerEx; import com.skeletonarmy.marrow.prompts.OptionPrompt; @@ -58,12 +59,11 @@ public class Teleop_Main_ extends LinearOpMode { public static double DylanStickDeadzones = 0.2; public int shootingState = 0; public TimerEx shootingDelay = new TimerEx(1); - public static double autoaimmultiplier = 100; Prompter prompter = null; // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. - private final Pose startPose = new Pose(88.5,7.8, Math.toRadians(90)); + private final Pose startPose = new Pose(88.5, 7.8, Math.toRadians(90)); // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); @@ -78,17 +78,17 @@ public void runOpMode() { prompter = new Prompter(this); prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE)); prompter.onComplete(() -> { - LoadHardwareClass.selectedAlliance = prompter.get("alliance"); + selectedAlliance = prompter.get("alliance"); telemetry.addData("Selection", "Complete"); - telemetry.addData("Alliance", LoadHardwareClass.selectedAlliance); + telemetry.addData("Alliance", selectedAlliance); telemetry.update(); } ); // Runs repeatedly while in init - while (opModeInInit()){ + while (opModeInInit()) { // If an auto was not run, run the prompter to select the correct alliance - if (LoadHardwareClass.selectedAlliance == null){ + if (selectedAlliance == null) { prompter.run(); } } @@ -104,7 +104,7 @@ public void runOpMode() { while (opModeIsActive()) { Gamepad1(); - Gamepad2Dec6(); + Gamepad2(); Robot.turret.updatePIDs(); @@ -136,6 +136,7 @@ public void runOpMode() { } } + /** *

      Gamepad 1 Controls (Ari's Pick V1)

      *
        @@ -178,24 +179,24 @@ public void runOpMode() { */ public void Gamepad1() { - if (gamepad1.left_trigger >= 0.5 && gamepad1.right_trigger >=0.5){ + if (gamepad1.left_trigger >= 0.5 && gamepad1.right_trigger >= 0.5) { Robot.drivetrain.speedMultiplier = 0.66; - }else if (gamepad1.left_trigger >= 0.5) { + } else if (gamepad1.left_trigger >= 0.5) { Robot.drivetrain.speedMultiplier = 0.33; - }else if (gamepad1.right_trigger >= 0.5){ + } else if (gamepad1.right_trigger >= 0.5) { Robot.drivetrain.speedMultiplier = 1; - }else{ + } else { Robot.drivetrain.speedMultiplier = 0.66; } double turnMult = 2; - if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ - turnMult = 1; - } +// if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ +// turnMult = 1; +// } Robot.drivetrain.pedroMecanumDrive( gamepad1.left_stick_y, gamepad1.left_stick_x, - gamepad1.right_stick_x/turnMult, + gamepad1.right_stick_x / turnMult, true ); } @@ -224,8 +225,8 @@ public void Gamepad1() { *
      • Y: Flywheel Toggle
        • *
      *
    • Letter Buttons:
        - *
      • DpadUp: Hood Up Override
        • - *
      • DpadDown: Hood Down Override
        • + *
      • DpadUp: N/A
        • + *
      • DpadDown: N/A
        • *
      • DpadLeft: N/A
        • *
      • DpadRight: N/A
        • *
      • @@ -240,35 +241,43 @@ public void Gamepad1() { *
    *
*/ - public void Gamepad2(){ + public void Gamepad2() { - //Intake Controls (Left Stick Y) - if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones){ - if (gamepad2.left_stick_y > 0){ // OUT (Digital) - Robot.intake.setMode(Intake.Mode.REVERSING); - } else { // IN (Digital) - Robot.intake.setMode(Intake.Mode.INTAKING); - } - } else { // OFF - Robot.intake.setMode(Intake.Mode.OFF); + // Turret Aimbot + if (selectedAlliance == LoadHardwareClass.Alliance.RED) { + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + } else if (selectedAlliance == LoadHardwareClass.Alliance.BLUE) { + Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); } - //Turret Angle Controls (Right Stick X) - //To be added after manual control is finished - - //Flywheel Toggle Control (Y Button) - if (gamepad2.yWasPressed()){ - if (Robot.turret.flywheelState == Turret.flywheelstate.OFF){ - Robot.turret.setFlywheel(Turret.flywheelstate.ON); - } else { - Robot.turret.setFlywheel(Turret.flywheelstate.OFF); + //Intake Controls (Left Stick Y) + if (shootingState == 0) { + if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones && shootingState > 0) { + if (gamepad2.left_stick_y > 0) { // OUT (Digital) + Robot.intake.setMode(Intake.Mode.REVERSING); + } else { // IN (Digital) + Robot.intake.setMode(Intake.Mode.INTAKING); + } + } else { // OFF + Robot.intake.setMode(Intake.Mode.OFF); + } + //Flywheel Toggle Control (Y Button) + if (gamepad2.yWasPressed()) { + if (Robot.turret.flywheelState == Turret.flywheelstate.OFF) { + Robot.turret.setFlywheel(Turret.flywheelstate.ON); + } else { + Robot.turret.setFlywheel(Turret.flywheelstate.OFF); + } } } + Robot.turret.updateFlywheel(); //Shoot (B Button Press) // Increment the shooting state - if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > 5900){shootingState++;} - switch (shootingState){ + if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > 5000) { + shootingState++; + } + switch (shootingState) { case 0: telemetry.addData("Shooting State", "OFF"); return; @@ -285,11 +294,13 @@ public void Gamepad2(){ telemetry.addData("Shooting State", "TRANSFERRED"); return; case 3: - if (shootingDelay.isDone()){shootingState++;} + if (shootingDelay.isDone()) { + shootingState++; + } telemetry.addData("Shooting State", "DELAY"); return; case 4: - Robot.turret.setFlywheelRPM(0); + Robot.turret.setFlywheel(Turret.flywheelstate.OFF); Robot.turret.setGate(Turret.gatestate.CLOSED); Robot.intake.setMode(Intake.Mode.OFF); Robot.intake.setTransfer(Intake.transferState.DOWN); @@ -299,85 +310,4 @@ public void Gamepad2(){ } - - /** - *

Gamepad 2 Controls (December 6th Scrimmage)

- *
    - *
  • Analog Inputs
      - *
    • Left Stick:
        - *
      • X: Tranfer Belt IN ONLY
        • - *
      • Y: Intake Direction/Power
        • - *
      • - *
    • Right Stick:
        - *
      • X: N/A
        • - *
      • Y: N/A
        • - *
      • - *
    • Left Trigger: N/A
      • - *
    • Right Trigger: N/A
      • - *
    • - * - *
  • Button Inputs
      • - *
    • Letter Buttons:
        - *
      • A: N/A
        • - *
      • B: Kicker/Flap/Feeder
        • - *
      • X: N/A
        • - *
      • Y: Flywheel Toggle
        • - *
      • - *
    • Letter Buttons:
        - *
      • DpadUp: N/A
        • - *
      • DpadDown: N/A
        • - *
      • DpadLeft: N/A
        • - *
      • DpadRight: N/A
        • - *
      • - *
    • Bumpers:
        - *
      • Left Bumper: N/A
        • - *
      • Right Bumper: N/A
        • - *
      • - *
    • Stick Buttons:
        - *
      • Left Stick Button: N/A
        • - *
      • Right Stick Button: N/A
        • - *
      • - *
    - *
- */ - public void Gamepad2Dec6(){ - - //Intake Controls (Left Stick Y) - if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones){ - Robot.intake.intake.setPower(gamepad2.left_stick_y); - } else { // OFF - Robot.intake.intake.setPower(0); - } - - //Transfer Belt (ABS Right Stick Y) - if (Math.abs(gamepad2.right_stick_y) >= DylanStickDeadzones) { - Robot.intake.belt.setPower(Math.abs(gamepad2.right_stick_y)); - } else { // OFF - Robot.intake.belt.setPower(0); - } - - // Gate control - if (Robot.turret.getFlywheelRPM() > 3000){ - Robot.turret.setGate(Turret.gatestate.OPEN); - }else{ - Robot.turret.setGate(Turret.gatestate.CLOSED); - } - - // Transfer control - if (gamepad2.b){ - Robot.intake.setTransfer(Intake.transferState.UP); - }else{ - Robot.intake.setTransfer(Intake.transferState.DOWN); - } - - //Flywheel Toggle Control (Y Button) - if (gamepad2.yWasPressed()){ - if (Robot.turret.flywheelState == Turret.flywheelstate.ON){ - Robot.turret.setFlywheel(Turret.flywheelstate.OFF); - }else if (Robot.turret.flywheelState == Turret.flywheelstate.OFF){ - Robot.turret.setFlywheel(Turret.flywheelstate.ON); - } - } - Robot.turret.updateFlywheel(); - } -} +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 3828d0c8e296..d75c5851e3f1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -55,14 +55,19 @@ public void runOpMode() { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); + // Initialize all hardware of the robot + Robot.init(startPose); + + if (gamepad1.guide){ + Robot.turret.rotation.resetEncoder(); + } + + double hoodAngle = 0; // Wait for the game to start (driver presses START) waitForStart(); runtime.reset(); - // Initialize all hardware of the robot - Robot.init(startPose); - // run until the end of the match (driver presses STOP) while (opModeIsActive()) { @@ -74,18 +79,28 @@ public void runOpMode() { true ); - if (!gamepad1.b){ - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); - telemetry.addData("Target Angle", Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), false)); + if (gamepad1.x){ + Robot.turret.rotation.setAngle(180); }else{ - Robot.turret.rotation.setAngle(0); - telemetry.addData("Target Angle", 0); + Robot.turret.rotation.setAngle(Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); } - + telemetry.addData("Target Angle", Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); telemetry.addData("Turret Angle", Robot.turret.rotation.getAngleAbsolute()); + telemetry.addData("Turret Motor Power", Robot.turret.rotation.getPower()); + telemetry.addLine(); + + double increment = 2; + if (gamepad1.dpad_up && hoodAngle < 320){ + hoodAngle += increment; + }else if (gamepad1.dpad_down && hoodAngle > 0){ + hoodAngle -= increment; + } + Robot.turret.setHood(hoodAngle); + telemetry.addData("Hood Angle", Robot.turret.getHood()); + telemetry.addData("Robot Pose X", Math.round(Robot.drivetrain.follower.getPose().getX())); telemetry.addData("Robot Pose Y", Math.round(Robot.drivetrain.follower.getPose().getY())); - telemetry.addData("Robot Pose H", Math.round(Robot.drivetrain.follower.getPose().getHeading())); + telemetry.addData("Robot Pose H", Math.round(Math.toDegrees(Robot.drivetrain.follower.getPose().getHeading()))); // System-related Telemetry telemetry.addLine(); From 8922e98fc98aa77cd66287168f11b83111cc550a Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Wed, 10 Dec 2025 09:40:56 -0500 Subject: [PATCH 100/152] Fixed a bug in Devices.DcMotorExClass that caused the PIDs to be regenerated every loop, rendering the kI parameter useless. --- .../LOADCode/Main_/Hardware_/Actuators_/Devices.java | 4 +++- .../LOADCode/Main_/Hardware_/Actuators_/Turret.java | 8 ++------ 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index e6b5abdf45b3..22daf0c179e9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -94,12 +94,14 @@ public void init (@NonNull OpMode opmode, String motorName){ public void buildPIDs(){ if (old_pidCoefficients != pidCoefficients || old_ffCoefficients != ffCoefficients){ + posPID = ControlSystem.builder().posPid(pidCoefficients).build(); velPID = ControlSystem.builder() .velPid(pidCoefficients) .basicFF(ffCoefficients) .build(); - posPID = ControlSystem.builder().posPid(pidCoefficients).build(); } + old_pidCoefficients = pidCoefficients; + old_ffCoefficients = ffCoefficients; } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 5c6e3429a050..9eb08f51253d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -7,7 +7,6 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.Servo; - import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; @@ -38,17 +37,14 @@ public enum flywheelstate { public flywheelstate flywheelState = flywheelstate.OFF; public void init(OpMode opmode){ - rotation.init(opmode, "turret", 145.1); //Previously 103.8 - flywheel.init(opmode, "flywheel"); + rotation.init(opmode, "turret", 145.1 * ((double) 131 /24)); //Previously 103.8 + flywheel.init(opmode, "flywheel", 28); hood.init(opmode, "hood"); gate.init(opmode, "gate"); rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); - rotation.ticksPerRotation = 145.1 * ((double) 131 /24); rotation.setDirection(DcMotorSimple.Direction.REVERSE); - flywheel.ticksPerRotation = 28; - gate.setAngle(0.5); hood.setDirection(Servo.Direction.REVERSE); From 99fa9677f01e3bbb236ed898a87687aa9d6d8b06 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Fri, 12 Dec 2025 13:56:54 -0500 Subject: [PATCH 101/152] Added Utils_.java for storing any software utilities, & added an InterpLUT to it. --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 17 +- .../Main_/Hardware_/Actuators_/Intake.java | 36 ++--- .../LOADCode/Main_/Hardware_/Commands.java | 2 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 38 +++-- .../ftc/teamcode/LOADCode/Main_/Utils_.java | 150 ++++++++++++++++++ 5 files changed, 198 insertions(+), 45 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index dac8c7759eb7..3567279d71bb 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -11,7 +11,6 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -134,16 +133,16 @@ private Command Leave_Far_HP() { new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), new Delay(5) ), - Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), new Delay(2), - Commands.setIntakeMode(Robot, Intake.Mode.INTAKING), + Commands.setIntakeMode(Robot, Intake.intakeMode.INTAKING), new Delay(1), - Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), new Delay(2), Commands.setTransferState(Robot, Intake.transferState.UP), new Delay(1), Commands.setTransferState(Robot, Intake.transferState.DOWN), - Commands.setIntakeMode(Robot, Intake.Mode.OFF), + Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true, 0.6) ); @@ -162,16 +161,16 @@ private Command Leave_Near_Launch() { new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), new Delay(5) ), - Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), new Delay(2), - Commands.setIntakeMode(Robot, Intake.Mode.INTAKING), + Commands.setIntakeMode(Robot, Intake.intakeMode.INTAKING), new Delay(1), - Commands.setIntakeMode(Robot, Intake.Mode.SHOOTING), + Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), new Delay(2), Commands.setTransferState(Robot, Intake.transferState.UP), new Delay(1), Commands.setTransferState(Robot, Intake.transferState.DOWN), - Commands.setIntakeMode(Robot, Intake.Mode.OFF), + Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true, 0.6) ); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 30d827000a53..13eff1a3a1f7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -11,7 +11,7 @@ public class Intake { public final Devices.CRServoClass belt = new Devices.CRServoClass(); public final Devices.ServoClass transfer = new Devices.ServoClass(); - public enum Mode { + public enum intakeMode { INTAKING, SHOOTING, REVERSING, @@ -38,20 +38,20 @@ public void init(OpMode opmode){ * @param direction * Takes the following inputs *
    - *
  • Mode.INTAKING
    • - *
  • Mode.SHOOTING
    • - *
  • Mode.REVERSING
    • - *
  • Mode.OFF
    • + *
  • intakeMode.INTAKING
    • + *
  • intakeMode.SHOOTING
    • + *
  • intakeMode.REVERSING
    • + *
  • intakeMode.OFF
    • *
*/ - public void setMode(Mode direction){ - if (direction == Mode.INTAKING){ + public void setMode(intakeMode direction){ + if (direction == intakeMode.INTAKING){ intake.setPower(1); belt.setPower(1); - }else if (direction == Mode.SHOOTING){ + }else if (direction == intakeMode.SHOOTING){ intake.setPower(0); belt.setPower(1); - }else if (direction == Mode.REVERSING){ + }else if (direction == intakeMode.REVERSING){ intake.setPower(-1); belt.setPower(-1); }else{ @@ -63,23 +63,23 @@ public void setMode(Mode direction){ /** * Outputs one of the following modes *
    - *
  • Mode.INTAKING
    • - *
  • Mode.SHOOTING
    • - *
  • Mode.REVERSING
    • - *
  • Mode.OFF
    • + *
  • intakeMode.INTAKING
    • + *
  • intakeMode.SHOOTING
    • + *
  • intakeMode.REVERSING
    • + *
  • intakeMode.OFF
    • *
*/ - public Mode getMode(){ + public intakeMode getMode(){ double intakePower = intake.getPower(); double beltPower = belt.getPower(); if (intakePower == 1 && beltPower == 1){ - return Mode.INTAKING; + return intakeMode.INTAKING; }else if (intakePower == 0 && beltPower == 1){ - return Mode.SHOOTING; + return intakeMode.SHOOTING; }else if (intakePower == -1 && beltPower == -1){ - return Mode.REVERSING; + return intakeMode.REVERSING; }else{ - return Mode.OFF; + return intakeMode.OFF; } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index d363fa3a21ff..9ecdc2411d6e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -37,7 +37,7 @@ public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheels .requires(turretSystem); } - public static Command setIntakeMode(LoadHardwareClass Robot, Intake.Mode state) { + public static Command setIntakeMode(LoadHardwareClass Robot, Intake.intakeMode state) { return new InstantCommand(new LambdaCommand("setIntakeMode()") .setStart(() -> Robot.intake.setMode(state)) .requires(intakeSystem)); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 670b9909964b..2db9822bde1f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -43,8 +43,12 @@ import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake.intakeMode; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake.transferState; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.flywheelstate; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.gatestate; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.Alliance; @Configurable @@ -244,9 +248,9 @@ public void Gamepad1() { public void Gamepad2() { // Turret Aimbot - if (selectedAlliance == LoadHardwareClass.Alliance.RED) { + if (selectedAlliance == Alliance.RED) { Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); - } else if (selectedAlliance == LoadHardwareClass.Alliance.BLUE) { + } else if (selectedAlliance == Alliance.BLUE) { Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); } @@ -254,19 +258,19 @@ public void Gamepad2() { if (shootingState == 0) { if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones && shootingState > 0) { if (gamepad2.left_stick_y > 0) { // OUT (Digital) - Robot.intake.setMode(Intake.Mode.REVERSING); + Robot.intake.setMode(Intake.intakeMode.REVERSING); } else { // IN (Digital) - Robot.intake.setMode(Intake.Mode.INTAKING); + Robot.intake.setMode(intakeMode.INTAKING); } } else { // OFF - Robot.intake.setMode(Intake.Mode.OFF); + Robot.intake.setMode(Intake.intakeMode.OFF); } //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()) { - if (Robot.turret.flywheelState == Turret.flywheelstate.OFF) { - Robot.turret.setFlywheel(Turret.flywheelstate.ON); + if (Robot.turret.flywheelState == flywheelstate.OFF) { + Robot.turret.setFlywheel(flywheelstate.ON); } else { - Robot.turret.setFlywheel(Turret.flywheelstate.OFF); + Robot.turret.setFlywheel(flywheelstate.OFF); } } } @@ -282,13 +286,13 @@ public void Gamepad2() { telemetry.addData("Shooting State", "OFF"); return; case 1: - Robot.intake.setMode(Intake.Mode.INTAKING); - Robot.turret.setGate(Turret.gatestate.OPEN); + Robot.intake.setMode(intakeMode.INTAKING); + Robot.turret.setGate(gatestate.OPEN); telemetry.addData("Shooting State", "STARTED"); return; case 2: - Robot.intake.setMode(Intake.Mode.SHOOTING); - Robot.intake.setTransfer(Intake.transferState.UP); + Robot.intake.setMode(Intake.intakeMode.SHOOTING); + Robot.intake.setTransfer(transferState.UP); shootingDelay.restart(); shootingState++; telemetry.addData("Shooting State", "TRANSFERRED"); @@ -300,10 +304,10 @@ public void Gamepad2() { telemetry.addData("Shooting State", "DELAY"); return; case 4: - Robot.turret.setFlywheel(Turret.flywheelstate.OFF); - Robot.turret.setGate(Turret.gatestate.CLOSED); - Robot.intake.setMode(Intake.Mode.OFF); - Robot.intake.setTransfer(Intake.transferState.DOWN); + Robot.turret.setFlywheel(flywheelstate.OFF); + Robot.turret.setGate(gatestate.CLOSED); + Robot.intake.setMode(intakeMode.OFF); + Robot.intake.setTransfer(transferState.DOWN); telemetry.addData("Shooting State", "RESET"); shootingState = 0; } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java new file mode 100644 index 000000000000..08c21def1bd9 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java @@ -0,0 +1,150 @@ +package org.firstinspires.ftc.teamcode.LOADCode.Main_; + +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; + +public class Utils_ { + /** + * Performs spline interpolation given a set of control points. + */ + public class InterpLUT { + + private List mX = new ArrayList<>(); + private List mY = new ArrayList<>(); + private List mM = new ArrayList<>(); + + private InterpLUT(List x, List y, List m) { + mX = x; + mY = y; + mM = m; + } + + public InterpLUT() { + } + + /** + * Adds a control point to the LUT + */ + public void add(double input, double output) { + mX.add(input); + mY.add(output); + } + + /** + * Creates a monotone cubic spline from a given set of control points. + * + *

+ * The spline is guaranteed to pass through each control point exactly. Moreover, assuming the control points are + * monotonic (Y is non-decreasing or non-increasing) then the interpolated values will also be monotonic. + * + * @throws IllegalArgumentException if the X or Y arrays are null, have different lengths or have fewer than 2 values. + */ + //public static LUTWithInterpolator createLUT(List x, List y) { + public void createLUT() { + List x = this.mX; + List y = this.mY; + + if (x == null || y == null || x.size() != y.size() || x.size() < 2) { + throw new IllegalArgumentException("There must be at least two control " + + "points and the arrays must be of equal length."); + } + + final int n = x.size(); + Double[] d = new Double[n - 1]; // could optimize this out + Double[] m = new Double[n]; + + // Compute slopes of secant lines between successive points. + for (int i = 0; i < n - 1; i++) { + Double h = x.get(i + 1) - x.get(i); + if (h <= 0f) { + throw new IllegalArgumentException("The control points must all " + + "have strictly increasing X values."); + } + d[i] = (y.get(i + 1) - y.get(i)) / h; + } + + // Initialize the tangents as the average of the secants. + m[0] = d[0]; + for (int i = 1; i < n - 1; i++) { + m[i] = (d[i - 1] + d[i]) * 0.5f; + } + m[n - 1] = d[n - 2]; + + // Update the tangents to preserve monotonicity. + for (int i = 0; i < n - 1; i++) { + if (d[i] == 0f) { // successive Y values are equal + m[i] = Double.valueOf(0f); + m[i + 1] = Double.valueOf(0f); + } else { + double a = m[i] / d[i]; + double b = m[i + 1] / d[i]; + double h = Math.hypot(a, b); + if (h > 9f) { + double t = 3f / h; + m[i] = t * a * d[i]; + m[i + 1] = t * b * d[i]; + } + } + } + mX = x; + mY = y; + mM = Arrays.asList(m); + } + + /** + * Interpolates the value of Y = f(X) for given X. Clamps X to the domain of the spline. + * + * @param input The X value. + * @return The interpolated Y = f(X) value. + */ + public double get(double input) { + // Handle the boundary cases. + final int n = mX.size(); + if (Double.isNaN(input)) { + return input; + } + if (input <= mX.get(0)) { + throw new IllegalArgumentException("User requested value outside of bounds of LUT. Bounds are: " + mX.get(0).toString() + " to " + mX.get(n - 1).toString() + ". Value provided was: " + input); + } + if (input >= mX.get(n - 1)) { + throw new IllegalArgumentException("User requested value outside of bounds of LUT. Bounds are: " + mX.get(0).toString() + " to " + mX.get(n - 1).toString() + ". Value provided was: " + input); + } + + // Find the index 'i' of the last point with smaller X. + // We know this will be within the spline due to the boundary tests. + int i = 0; + while (input >= mX.get(i + 1)) { + i += 1; + if (input == mX.get(i)) { + return mY.get(i); + } + } + + // Perform cubic Hermite spline interpolation. + double h = mX.get(i + 1) - mX.get(i); + double t = (input - mX.get(i)) / h; + return (mY.get(i) * (1 + 2 * t) + h * mM.get(i) * t) * (1 - t) * (1 - t) + + (mY.get(i + 1) * (3 - 2 * t) + h * mM.get(i + 1) * (t - 1)) * t * t; + } + + // For debugging. + @Override + public String toString() { + StringBuilder str = new StringBuilder(); + final int n = mX.size(); + str.append("["); + for (int i = 0; i < n; i++) { + if (i != 0) { + str.append(", "); + } + str.append("(").append(mX.get(i)); + str.append(", ").append(mY.get(i)); + str.append(": ").append(mM.get(i)).append(")"); + } + str.append("]"); + return str.toString(); + } + + } +} From eabfa8d823db7bb0360d12b5a35a6828083cd118 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Fri, 12 Dec 2025 18:13:16 -0500 Subject: [PATCH 102/152] Retuned flywheel PID with weights, and added manual hood controls --- .../Main_/Hardware_/Actuators_/Turret.java | 27 ++++++++++---- .../Main_/Hardware_/LoadHardwareClass.java | 2 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 36 ++++++++++++------- 3 files changed, 46 insertions(+), 19 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 9eb08f51253d..9ec43097d921 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -16,14 +16,19 @@ public class Turret { // Hardware definitions public final Devices.DcMotorExClass rotation = new Devices.DcMotorExClass(); public final Devices.DcMotorExClass flywheel = new Devices.DcMotorExClass(); + public final Devices.DcMotorExClass flywheel2 = new Devices.DcMotorExClass(); public final Devices.ServoClass hood = new Devices.ServoClass(); public final Devices.ServoClass gate = new Devices.ServoClass(); - // The PID coefficient variables + // Turret PID coefficients public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.06, 0, 0); // 223RPM //public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.3, 0, 0.007); // 1150RPM - public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0.0001, 0.0001); - public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.00002899,0,0); + + // Flywheel PID coefficients + //public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0.0001, 0.0001); + //public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.00002899,0,0); + public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.00005, 0, 0); + public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.0003,0,0); public enum gatestate { OPEN, @@ -36,9 +41,12 @@ public enum flywheelstate { } public flywheelstate flywheelState = flywheelstate.OFF; + public static double onSpeed = 4500; + public void init(OpMode opmode){ rotation.init(opmode, "turret", 145.1 * ((double) 131 /24)); //Previously 103.8 flywheel.init(opmode, "flywheel", 28); + flywheel2.init(opmode, "flywheel2", 28); hood.init(opmode, "hood"); gate.init(opmode, "gate"); @@ -48,10 +56,14 @@ public void init(OpMode opmode){ gate.setAngle(0.5); hood.setDirection(Servo.Direction.REVERSE); + flywheel2.setDirection(DcMotorSimple.Direction.REVERSE); + // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); flywheel.setPidCoefficients(flywheelCoefficients); flywheel.setFFCoefficients(flywheelFFCoefficients); + flywheel2.setPidCoefficients(flywheelCoefficients); + flywheel2.setFFCoefficients(flywheelFFCoefficients); } public void updatePIDs(){ @@ -59,6 +71,8 @@ public void updatePIDs(){ rotation.setPidCoefficients(turretCoefficients); flywheel.setPidCoefficients(flywheelCoefficients); flywheel.setFFCoefficients(flywheelFFCoefficients); + flywheel2.setPidCoefficients(flywheelCoefficients); + flywheel2.setFFCoefficients(flywheelFFCoefficients); } /** @@ -80,10 +94,10 @@ public void setGate(gatestate state){ /** * Sets the angle of the hood. - * @param angle An angle in degrees that is constrained to between 0 and 45 + * @param angle An angle in degrees that is constrained to between 0 and 320 degrees */ public void setHood(double angle){ - hood.setAngle(Math.min(Math.max(angle, 0), 320)/(360*5)); + hood.setAngle(Math.min(Math.max(angle, 0), 260)/(360*5)); } /** @@ -125,6 +139,7 @@ public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ */ public void setFlywheelRPM(double rpm){ flywheel.setRPM(rpm); + flywheel2.setPower(flywheel.getPower()); } /** @@ -147,7 +162,7 @@ public void setFlywheel(flywheelstate state){ */ public void updateFlywheel(){ if (flywheelState == flywheelstate.ON){ - setFlywheelRPM(5485.714285714286); + setFlywheelRPM(onSpeed); } else if (flywheelState == flywheelstate.OFF){ setFlywheelRPM(0); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 0f77fc77f277..697b59448911 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -53,7 +53,7 @@ public class LoadHardwareClass { public final Intake intake; // Declare various enums & other variables that are useful across files - public static Alliance selectedAlliance = Alliance.RED; + public static Alliance selectedAlliance = null; public enum Alliance { RED, BLUE diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 2db9822bde1f..44511b6e7d33 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -64,6 +64,8 @@ public class Teleop_Main_ extends LinearOpMode { public int shootingState = 0; public TimerEx shootingDelay = new TimerEx(1); + private double hoodAngle = 0; + Prompter prompter = null; // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. @@ -115,29 +117,30 @@ public void runOpMode() { telemetry.addData("SpeedMult", Robot.drivetrain.speedMultiplier); telemetry.addLine(); // Turret-related Telemetry - telemetry.addData("Turret Target Angle:", Robot.turret.rotation.target); + panelsTelemetry.addData("Turret Target Angle", Robot.turret.rotation.target); + panelsTelemetry.addData("Turret Actual Angle", Robot.turret.rotation.getAngleAbsolute()); + telemetry.addData("Turret Target Angle", Robot.turret.rotation.target); telemetry.addData("Turret Actual Angle", Robot.turret.rotation.getAngleAbsolute()); + telemetry.addData("Turret Hood Angle", Robot.turret.getHood()); telemetry.addLine(); panelsTelemetry.addData("Flywheel Target Speed", Robot.turret.flywheel.target); panelsTelemetry.addData("Flywheel Actual Speed", Robot.turret.getFlywheelRPM()); + panelsTelemetry.addData("Flywheel Power", Robot.turret.flywheel.getPower()); telemetry.addData("Flywheel Target Speed", Robot.turret.flywheel.target); telemetry.addData("Flywheel Actual Speed", Robot.turret.getFlywheelRPM()); - - telemetry.addLine(); - telemetry.addData("Belt Power", Robot.intake.belt.getPower()); - + telemetry.addData("Flywheel State", Robot.turret.getFlywheelRPM()); // Intake-related Telemetry telemetry.addLine(); - telemetry.addData("Intake Status", Robot.intake.intake.getPower()); + telemetry.addData("Intake Mode", Robot.intake.getMode()); // System-related Telemetry telemetry.addLine(); telemetry.addData("Status", "Run Time: " + runtime.toString()); - telemetry.addData("Version: ", "11/4/25"); + telemetry.addData("Version: ", "12/12/25"); telemetry.update(); - + panelsTelemetry.update(); } } @@ -256,14 +259,14 @@ public void Gamepad2() { //Intake Controls (Left Stick Y) if (shootingState == 0) { - if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones && shootingState > 0) { - if (gamepad2.left_stick_y > 0) { // OUT (Digital) - Robot.intake.setMode(Intake.intakeMode.REVERSING); + if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones) { + if (gamepad2.left_stick_y < 0) { // OUT (Digital) + Robot.intake.setMode(intakeMode.REVERSING); } else { // IN (Digital) Robot.intake.setMode(intakeMode.INTAKING); } } else { // OFF - Robot.intake.setMode(Intake.intakeMode.OFF); + Robot.intake.setMode(intakeMode.OFF); } //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()) { @@ -276,6 +279,15 @@ public void Gamepad2() { } Robot.turret.updateFlywheel(); + // Hood Controls + double increment = 4; + if (gamepad2.dpad_up && hoodAngle < 260){ + hoodAngle += increment; + }else if (gamepad2.dpad_down && hoodAngle > 0){ + hoodAngle -= increment; + } + Robot.turret.setHood(hoodAngle); + //Shoot (B Button Press) // Increment the shooting state if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > 5000) { From 51c508ede92cda5d394cc11f6bb046cae8b8e9bf Mon Sep 17 00:00:00 2001 From: Ari Date: Mon, 15 Dec 2025 17:59:33 -0500 Subject: [PATCH 103/152] Added the barebones structure for advanced telemetry handling. --- .../ftc/teamcode/LOADCode/Main_/Utils_.java | 59 +++++++++++++++++++ 1 file changed, 59 insertions(+) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java index 08c21def1bd9..a5de6ba89773 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java @@ -5,6 +5,16 @@ import java.util.List; public class Utils_ { + + public enum telemetrySortCategory { + DRIVETRAIN, + INTAKE, + TRANSFER, + TURRET, + TESTINGVALUES, + OTHER, + } + /** * Performs spline interpolation given a set of control points. */ @@ -147,4 +157,53 @@ public String toString() { } } + + /** + * This class is for the runtime per-loop sorting and displaying of every single TelemetryObject. + * There should only be one of these per program. + */ + public class TelemetryManager{ + List telemtryList = new ArrayList<>(); + + public void addLine(TelemetryObject telemetryline){ + telemtryList.add(telemetryline); + } + } + + /** + * This class represents a single line of telemetry, which will be sorted and managed by a TelemetryManager. + * It will contain all the relevant data for lookup and sorting, as well as functionality for live runtime editing of keys and values + */ + public class TelemetryObject{ + + Object name; + Object key; + Object value; + telemetrySortCategory category; + + public TelemetryObject(Object initialName, + Object initialKey, + Object initialValue, + telemetrySortCategory telemCategory, + TelemetryManager telemetryManagerParent){ + name = initialName; + key = initialKey; + value = initialValue; + category = telemCategory; + } + + public Object getName(){ + return name; + } + public Object getKey(){ + return key; + } + public Object getValue(){ + return value; + } + public telemetrySortCategory getTelemCategory(){ + return category; + } + + } } From a3c9f025544936a2fd0d54da3396997d544c67f7 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 15 Dec 2025 18:17:13 -0500 Subject: [PATCH 104/152] Worked on cleaning up some hardware functions, tested REV Color Sensor, and did some flywheel testing. --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 4 +-- .../Main_/Hardware_/Actuators_/Devices.java | 29 +++++++++++++++ .../Main_/Hardware_/Actuators_/Intake.java | 13 +++++-- .../Main_/Hardware_/Actuators_/Turret.java | 36 +++++++++---------- .../LOADCode/Main_/Hardware_/Commands.java | 2 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 16 ++++----- .../Main_/Teleop_/Teleop_Outreach_.java | 16 +++++++-- .../ftc/teamcode/LOADCode/Notes and TODOs | 2 +- 8 files changed, 82 insertions(+), 36 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 3567279d71bb..5cfbc244226d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -108,10 +108,10 @@ public void onStartButtonPressed() { public void onUpdate() { switch (selectedAlliance) { case RED: - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + Robot.turret.updateAimbot(Robot, true); return; case BLUE: - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); + Robot.turret.updateAimbot(Robot, false); return; } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index 22daf0c179e9..6db114ed4315 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -7,8 +7,13 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.DistanceSensor; +import com.qualcomm.robotcore.hardware.NormalizedColorSensor; +import com.qualcomm.robotcore.hardware.NormalizedRGBA; import com.qualcomm.robotcore.hardware.Servo; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + import dev.nextftc.control.ControlSystem; import dev.nextftc.control.KineticState; import dev.nextftc.control.feedback.PIDCoefficients; @@ -263,4 +268,28 @@ public double getAngle(){ return servo.getPosition(); } } + + public static class REVColorSensorV3Class { + private NormalizedColorSensor sensor; + + public void init(@NonNull OpMode opmode, String sensorName){ + sensor = opmode.hardwareMap.get(NormalizedColorSensor.class, sensorName); + } + + public NormalizedRGBA getNormalizedColors(){ + return sensor.getNormalizedColors(); + } + + public double getGain(){ + return sensor.getGain(); + } + + public void setGain(double gain){ + sensor.setGain((float) gain); + } + + public double getDistance(DistanceUnit units){ + return ((DistanceSensor) sensor).getDistance(units); + } + } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 13eff1a3a1f7..aa619ed9d38d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -7,9 +7,13 @@ public class Intake { // RESET THESE TO PRIVATE AFTER DECEMBER 6TH! - public final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); - public final Devices.CRServoClass belt = new Devices.CRServoClass(); - public final Devices.ServoClass transfer = new Devices.ServoClass(); + private final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); + private final Devices.CRServoClass belt = new Devices.CRServoClass(); + private final Devices.ServoClass transfer = new Devices.ServoClass(); + public final Devices.REVColorSensorV3Class color1 = new Devices.REVColorSensorV3Class(); + public final Devices.REVColorSensorV3Class color2 = new Devices.REVColorSensorV3Class(); + public final Devices.REVColorSensorV3Class color3 = new Devices.REVColorSensorV3Class(); + public final Devices.REVColorSensorV3Class color4 = new Devices.REVColorSensorV3Class(); public enum intakeMode { INTAKING, @@ -27,11 +31,14 @@ public void init(OpMode opmode){ intake.init(opmode, "intake"); belt.init(opmode, "belt"); transfer.init(opmode, "transfer"); + color1.init(opmode, "color1"); intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); intake.setDirection(DcMotorSimple.Direction.REVERSE); belt.setDirection(DcMotorSimple.Direction.REVERSE); + + color1.setGain(2); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 9ec43097d921..a748086bd5d0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -1,5 +1,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; +import androidx.annotation.NonNull; + import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -7,6 +9,8 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.Servo; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; + import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; @@ -16,19 +20,18 @@ public class Turret { // Hardware definitions public final Devices.DcMotorExClass rotation = new Devices.DcMotorExClass(); public final Devices.DcMotorExClass flywheel = new Devices.DcMotorExClass(); - public final Devices.DcMotorExClass flywheel2 = new Devices.DcMotorExClass(); - public final Devices.ServoClass hood = new Devices.ServoClass(); - public final Devices.ServoClass gate = new Devices.ServoClass(); + private final Devices.DcMotorExClass flywheel2 = new Devices.DcMotorExClass(); + private final Devices.ServoClass hood = new Devices.ServoClass(); + private final Devices.ServoClass gate = new Devices.ServoClass(); // Turret PID coefficients public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.06, 0, 0); // 223RPM //public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.3, 0, 0.007); // 1150RPM // Flywheel PID coefficients - //public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0003, 0.0001, 0.0001); - //public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.00002899,0,0); - public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.00005, 0, 0); - public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.0003,0,0); + // 4500RPM + public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0002, 0, 0); + public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.000026,0,0); public enum gatestate { OPEN, @@ -76,15 +79,14 @@ public void updatePIDs(){ } /** - * @param robotPose The pose of the robot, gotten from PedroPathing's localization + * @param robot The pose of the robot, gotten from PedroPathing's localization * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. */ - public void updateAimbot(Pose robotPose, boolean targetRedGoal){ - rotation.setAngle(calcLocalizer(robotPose, targetRedGoal)); + public void updateAimbot(@NonNull LoadHardwareClass robot, boolean targetRedGoal){ + rotation.setAngle(calcLocalizer(robot.drivetrain.follower.getPose(), targetRedGoal)); } - - public void setGate(gatestate state){ + public void setGateState(gatestate state){ if (state == gatestate.OPEN){ gate.setAngle(0.5); }else if (state == gatestate.CLOSED){ @@ -137,23 +139,21 @@ public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ * @param rpm * RPM Range [0,6000] */ - public void setFlywheelRPM(double rpm){ + private void setFlywheelRPM(double rpm){ flywheel.setRPM(rpm); flywheel2.setPower(flywheel.getPower()); } - /** - * @return double flywheel.getRPM(); - RPM Range [0,6000] - */ public double getFlywheelRPM(){ return flywheel.getRPM(); } /** - * Sets the target state of the Flywheel + * Sets the target state of the Flywheel.
+ * updateFlywheel() must be called every loop for this to be effective. * @param state The state to set the flywheel to (ON/OFF) */ - public void setFlywheel(flywheelstate state){ + public void setFlywheelState(flywheelstate state){ flywheelState = state; } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 9ecdc2411d6e..4a91ea4f26df 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -26,7 +26,7 @@ public static Command runPath(PathChain path, boolean holdEnd, double maxPower) public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheelstate state) { return new LambdaCommand("setFlywheelState()") .setInterruptible(false) - .setStart(() -> Robot.turret.setFlywheel(state)) + .setStart(() -> Robot.turret.setFlywheelState(state)) .setIsDone(() -> { if (state == Turret.flywheelstate.ON){ return Robot.turret.getFlywheelRPM() > 5900; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 44511b6e7d33..a5f79ab5faa7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -252,9 +252,9 @@ public void Gamepad2() { // Turret Aimbot if (selectedAlliance == Alliance.RED) { - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), true); + Robot.turret.updateAimbot(Robot, true); } else if (selectedAlliance == Alliance.BLUE) { - Robot.turret.updateAimbot(Robot.drivetrain.follower.getPose(), false); + Robot.turret.updateAimbot(Robot, false); } //Intake Controls (Left Stick Y) @@ -271,9 +271,9 @@ public void Gamepad2() { //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()) { if (Robot.turret.flywheelState == flywheelstate.OFF) { - Robot.turret.setFlywheel(flywheelstate.ON); + Robot.turret.setFlywheelState(flywheelstate.ON); } else { - Robot.turret.setFlywheel(flywheelstate.OFF); + Robot.turret.setFlywheelState(flywheelstate.OFF); } } } @@ -299,7 +299,7 @@ public void Gamepad2() { return; case 1: Robot.intake.setMode(intakeMode.INTAKING); - Robot.turret.setGate(gatestate.OPEN); + Robot.turret.setGateState(gatestate.OPEN); telemetry.addData("Shooting State", "STARTED"); return; case 2: @@ -316,14 +316,12 @@ public void Gamepad2() { telemetry.addData("Shooting State", "DELAY"); return; case 4: - Robot.turret.setFlywheel(flywheelstate.OFF); - Robot.turret.setGate(gatestate.CLOSED); + Robot.turret.setFlywheelState(flywheelstate.OFF); + Robot.turret.setGateState(gatestate.CLOSED); Robot.intake.setMode(intakeMode.OFF); Robot.intake.setTransfer(transferState.DOWN); telemetry.addData("Shooting State", "RESET"); shootingState = 0; } - - } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index d75c5851e3f1..50167883006f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -34,8 +34,10 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.NormalizedRGBA; import com.qualcomm.robotcore.util.ElapsedTime; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @TeleOp(name="Teleop_Outreach_", group="TeleOp") @@ -80,9 +82,9 @@ public void runOpMode() { ); if (gamepad1.x){ - Robot.turret.rotation.setAngle(180); + //Robot.turret.rotation.setAngle(180); }else{ - Robot.turret.rotation.setAngle(Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); + //Robot.turret.rotation.setAngle(Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); } telemetry.addData("Target Angle", Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); telemetry.addData("Turret Angle", Robot.turret.rotation.getAngleAbsolute()); @@ -98,6 +100,16 @@ public void runOpMode() { Robot.turret.setHood(hoodAngle); telemetry.addData("Hood Angle", Robot.turret.getHood()); + telemetry.addLine(); + telemetry.addData("Gain", Robot.intake.color1.getGain()); + telemetry.addData("Distance", Robot.intake.color1.getDistance(DistanceUnit.INCH)); + telemetry.addData("Color", Robot.intake.color1.getNormalizedColors().toColor()); + NormalizedRGBA colors = Robot.intake.color1.getNormalizedColors(); + telemetry.addData("R", colors.red); + telemetry.addData("G", colors.green); + telemetry.addData("B", colors.blue); + + telemetry.addLine(); telemetry.addData("Robot Pose X", Math.round(Robot.drivetrain.follower.getPose().getX())); telemetry.addData("Robot Pose Y", Math.round(Robot.drivetrain.follower.getPose().getY())); telemetry.addData("Robot Pose H", Math.round(Math.toDegrees(Robot.drivetrain.follower.getPose().getHeading()))); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 3186bc743189..1cbabd505c3d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -10,7 +10,7 @@ //TODO, Add a more advanced telemetry handler for better organization, readability, and debugging -//TODO, Add proper functionality for manual turret control to Turret.java +//DONE, Add proper functionality for manual turret control to Turret.java //DONE, Shoot mode state machine Off->On->LastShot->Delay->ResetActuators->Off etc. cycled with B button on Gamepad2 From 5871b1665b8c56dc052117a640a90c94596095ae Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 16 Dec 2025 21:05:34 -0500 Subject: [PATCH 105/152] Tuned PedroPathing and worked on the auto system --- .../LOADCode/Main_/Auto_/Auto_Dec6th.java | 3 +- .../LOADCode/Main_/Auto_/Auto_Main_.java | 60 +-- .../LOADCode/Main_/Hardware_/Commands.java | 1 + .../Drivetrain_/MecanumDrivetrainClass.java | 24 +- .../Hardware_/Drivetrain_/Pedro_Paths.java | 346 +++++++++--------- .../Main_/Hardware_/LoadHardwareClass.java | 18 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 1 + .../ftc/teamcode/LOADCode/Notes and TODOs | 14 +- .../ftc/teamcode/pedroPathing/Constants.java | 21 +- .../ftc/teamcode/pedroPathing/Tuning.java | 19 +- 10 files changed, 268 insertions(+), 239 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java index a50fec1b7185..fc0786fae05d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Dec6th.java @@ -3,6 +3,7 @@ import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorSimple; @@ -10,7 +11,7 @@ import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; - +@Disabled @Autonomous(name = "Auto_Dec6th", group = "TestAuto", preselectTeleOp="Teleop_Main_") public class Auto_Dec6th extends OpMode { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 5cfbc244226d..4ae1a0e636f2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -2,15 +2,17 @@ import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; +import com.pedropathing.geometry.BezierCurve; import com.pedropathing.geometry.Pose; +import com.pedropathing.paths.Path; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -23,7 +25,6 @@ import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; -@Disabled @Autonomous(name = "Auto_Main_", group = "Main", preselectTeleOp="Teleop_Main_") public class Auto_Main_ extends NextFTCOpMode { @@ -33,11 +34,13 @@ public class Auto_Main_ extends NextFTCOpMode { private enum Auto { LEAVE_NEAR_LAUNCH, LEAVE_FAR_HP, - MOVEMENT_RP_DEC6 + TEST_AUTO } private Auto selectedAuto = null; - private boolean turretOn = false; + private boolean turretOn = true; + + Pedro_Paths paths = new Pedro_Paths(); // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; @@ -53,10 +56,6 @@ public Auto_Main_() { @Override public void onInit() { - // Initialize all hardware of the robot - Robot.init(startPose); - Robot.drivetrain.follower = PedroComponent.follower(); - prompter = new Prompter(this); prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", @@ -67,7 +66,7 @@ public void onInit() { new OptionPrompt<>("Select Auto", Auto.LEAVE_NEAR_LAUNCH, Auto.LEAVE_FAR_HP, - Auto.MOVEMENT_RP_DEC6 + Auto.TEST_AUTO )); prompter.onComplete(() -> { selectedAlliance = prompter.get("alliance"); @@ -78,7 +77,6 @@ public void onInit() { telemetry.update(); } ); - Robot.drivetrain.paths.buildPaths(selectedAlliance); } @Override @@ -92,27 +90,29 @@ public void onStartButtonPressed() { switch (selectedAuto) { case LEAVE_NEAR_LAUNCH: Leave_Near_Launch().schedule(); - startPose = new Pose(0,0,0); return; case LEAVE_FAR_HP: Leave_Far_HP().schedule(); - startPose = new Pose(0,0,0); return; - case MOVEMENT_RP_DEC6: - Movement_RP_Dec6th().schedule(); - startPose = new Pose(0,0,0); + case TEST_AUTO: + test_Auto().schedule(); } + // Initialize all hardware of the robot + Robot.init(startPose, PedroComponent.follower()); + paths.buildPaths(selectedAlliance, PedroComponent.follower()); } @Override public void onUpdate() { - switch (selectedAlliance) { - case RED: - Robot.turret.updateAimbot(Robot, true); - return; - case BLUE: - Robot.turret.updateAimbot(Robot, false); - return; + if (turretOn){ + switch (selectedAlliance) { + case RED: + Robot.turret.updateAimbot(Robot, true); + return; + case BLUE: + Robot.turret.updateAimbot(Robot, false); + return; + } } telemetry.addData("selectedAuto", selectedAuto); @@ -127,10 +127,11 @@ public void onUpdate() { */ private Command Leave_Far_HP() { turretOn = true; + startPose = Robot.drivetrain.paths.farStart; return new SequentialGroup( Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( - new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), + new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.onSpeed), new Delay(5) ), Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), @@ -144,7 +145,7 @@ private Command Leave_Far_HP() { Commands.setTransferState(Robot, Intake.transferState.DOWN), Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), - Commands.runPath(Robot.drivetrain.paths.start2_to_leave3, true, 0.6) + Commands.runPath(Robot.drivetrain.paths.farStart_to_farLeave, true, 0.6) ); } @@ -155,10 +156,11 @@ private Command Leave_Far_HP() { */ private Command Leave_Near_Launch() { turretOn = true; + startPose = Robot.drivetrain.paths.nearStart; return new SequentialGroup( Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( - new WaitUntil(() -> Robot.turret.getFlywheelRPM() > 5900), + new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.onSpeed), new Delay(5) ), Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), @@ -172,13 +174,11 @@ private Command Leave_Near_Launch() { Commands.setTransferState(Robot, Intake.transferState.DOWN), Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), - Commands.runPath(Robot.drivetrain.paths.start1_to_leave1, true, 0.6) + Commands.runPath(Robot.drivetrain.paths.nearShoot_to_nearLeave, true, 0.6) ); } - private Command Movement_RP_Dec6th(){ - return new SequentialGroup( - new FollowPath(Robot.drivetrain.paths.basicMoveRPPath, true, 0.5) - ); + private Command test_Auto(){ + return new FollowPath(new Path(new BezierCurve(paths.farStart, paths.farLeave)), true, 0.6); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 4a91ea4f26df..cfba3a807f2f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -48,4 +48,5 @@ public static Command setTransferState(LoadHardwareClass Robot, Intake.transferS .setStart(() -> Robot.intake.setTransfer(state)) .requires(intakeSystem)); } + } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index ceda43b9eb0f..5eebc1484a7a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -7,6 +7,7 @@ import com.pedropathing.paths.PathChain; import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; public class MecanumDrivetrainClass { @@ -15,7 +16,7 @@ public class MecanumDrivetrainClass { // Misc Constants public Follower follower = null; - public Pedro_Paths paths = null; + public Pedro_Paths paths = new Pedro_Paths(); /** * Initializes the PedroPathing follower. @@ -23,13 +24,30 @@ public class MecanumDrivetrainClass { * @param myOpMode Allows the follower access to the robot hardware. * @param initialPose The starting pose of the robot. */ - public void init (@NonNull OpMode myOpMode, Pose initialPose){ + public void init (@NonNull OpMode myOpMode, Pose initialPose, LoadHardwareClass.Alliance alliance){ // PedroPathing initialization follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower - paths = new Pedro_Paths(follower); follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field follower.update(); // Applies the initialization + //TODO uncommment this: paths.buildPaths(alliance, follower); + } + + /** + * Initializes the PedroPathing follower. + * Needs to be run once after all hardware is initialized. + * @param myOpMode Allows the follower access to the robot hardware. + * @param initialPose The starting pose of the robot. + * @param follow The PedroPathing follower object + */ + public void init (@NonNull OpMode myOpMode, Pose initialPose, LoadHardwareClass.Alliance alliance, Follower follow){ + // PedroPathing initialization + follower = follow; // Initializes the PedroPathing path follower + follower.setPose(initialPose); // Sets the initial position of the robot on the field + follower.update(); // Applies the initialization + //TODO uncommment this: paths.buildPaths(alliance, follower); + } + public void startTeleOpDrive(){ follower.startTeleopDrive(); follower.update(); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index d45fa0c3d763..6955f64d93ef 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -15,46 +15,43 @@ public class Pedro_Paths { /** * Define primary poses to be used in paths */ - // Dummy Stand-In Poses - public Pose dummyStartPose = new Pose(0,0,0); - public Pose dummyMoveRPPose = new Pose(0,28,0); // Start Poses - public Pose startPose1 = new Pose(112, 136.6, Math.toRadians(270)); - public Pose startPose2 = new Pose(88, 7.4, Math.toRadians(90)); + public Pose nearStart = new Pose(112, 136.6, Math.toRadians(270)); + public Pose farStart = new Pose(88, 7.4, Math.toRadians(90)); // Preload Poses - public Pose preloadPose1 = new Pose(130.000, 83.500, Math.toRadians(90)); - public Pose preloadPose2 = new Pose(132.000, 59.500, Math.toRadians(90)); - public Pose preloadPose3 = new Pose(132.000, 35.500, Math.toRadians(90)); + public Pose nearPreload = new Pose(130.000, 83.500, Math.toRadians(90)); + public Pose midPreload = new Pose(132.000, 59.500, Math.toRadians(90)); + public Pose farPreload = new Pose(132.000, 35.500, Math.toRadians(90)); // Shooting Poses - public Pose shootingPose1 = new Pose(115, 120, Math.toRadians(-35)); - public Pose shootingPose2 = new Pose(85, 85, Math.toRadians(-15)); - public Pose shootingPose3 = new Pose(85, 15, Math.toRadians(60)); + public Pose nearShoot = new Pose(115, 120, Math.toRadians(-35)); + public Pose midShoot = new Pose(85, 85, Math.toRadians(-15)); + public Pose farShoot = new Pose(85, 15, Math.toRadians(60)); // Leave Poses - public Pose leavePose1 = new Pose(90,120); - public Pose leavePose2 = new Pose(95,55); - public Pose leavePose3 = new Pose(115,20); + public Pose nearLeave = new Pose(90,120); + public Pose midLeave = new Pose(95,55); + public Pose farLeave = new Pose(115,20); // Define all path variables // Dummy Paths public PathChain basicMoveRPPath; // Start Poses to Preloads - public PathChain startPose1_to_preload1, startPose1_to_preload2, startPose1_to_preload3; - public PathChain startPose2_to_preload1, startPose2_to_preload2, startPose2_to_preload3; + public PathChain nearStart_to_nearPreload, nearStart_to_midPreload, nearStart_to_farPreload; + public PathChain farStart_to_nearPreload, farStart_to_midPreload, farStart_to_farPreload; // Preloads to Shooting Positions - public PathChain preload1_to_shooting1, preload1_to_shooting2, preload1_to_shooting3; - public PathChain preload2_to_shooting1, preload2_to_shooting2, preload2_to_shooting3; - public PathChain preload3_to_shooting1, preload3_to_shooting2, preload3_to_shooting3; + public PathChain nearPreload_to_nearShoot, nearPreload_to_midShoot, nearPreload_to_farShoot; + public PathChain midPreload_to_nearShoot, midPreload_to_midShoot, midPreload_to_farShoot; + public PathChain farPreload_to_nearShoot, farPreload_to_midShoot, farPreload_to_farShoot; // Shooting Positions to Preloads - public PathChain shooting1_to_preload1, shooting1_to_preload2, shooting1_to_preload3; - public PathChain shooting2_to_preload1, shooting2_to_preload2, shooting2_to_preload3; - public PathChain shooting3_to_preload1, shooting3_to_preload2, shooting3_to_preload3; + public PathChain nearShoot_to_nearPreload, nearShoot_to_midPreload, nearShoot_to_farPreload; + public PathChain midShoot_to_nearPreload, midShoot_to_midPreload, midShoot_to_farPreload; + public PathChain farShoot_to_nearPreload, farShoot_to_midPreload, farShoot_to_farPreload; // Shooting Positions to Leave Positions - public PathChain shooting1_to_leave1, shooting1_to_leave2; - public PathChain shooting2_to_leave1, shooting2_to_leave2; - public PathChain shooting3_to_leave2, shooting3_to_leave3; + public PathChain nearShoot_to_nearLeave, nearShoot_to_midLeave; + public PathChain midShoot_to_nearLeave, midShoot_to_midLeave; + public PathChain farShoot_to_midLeave, farShoot_to_farLeave; // Start Positions to Leave Positions - public PathChain start1_to_leave1, start1_to_leave2; - public PathChain start2_to_leave2, start2_to_leave3; + public PathChain nearStart_to_nearLeave, nearStart_to_midLeave; + public PathChain farStart_to_midLeave, farStart_to_farLeave; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ int mult = 1; @@ -68,349 +65,340 @@ public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ ); } - /** - *

DON'T EVER USE THIS PATH!!!

- * This path is ONLY for the December 6th scrimmage, for movement RP bonus only! - */ - public void buildMoveRPPath(){ - basicMoveRPPath = follower.pathBuilder() - .addPath(new BezierCurve(dummyStartPose,dummyMoveRPPose)) - .setLinearHeadingInterpolation(dummyStartPose.getHeading(), dummyMoveRPPose.getHeading()) - .build(); - } public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { - startPose1_to_preload1 = follower.pathBuilder() + nearStart_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose1, alliance), + autoMirror(nearStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), autoMirror(new Pose(89.000, 78.000), alliance), autoMirror(new Pose(95.000, 83.500), alliance), autoMirror(new Pose(110.000, 83.500), alliance) )) - .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(preloadPose1, alliance) + autoMirror(nearPreload, alliance) )) .setTangentHeadingInterpolation() .build(); - startPose1_to_preload2 = follower.pathBuilder() + nearStart_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose1, alliance), + autoMirror(nearStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), autoMirror(new Pose(89.000, 54.000), alliance), autoMirror(new Pose(95.000, 59.500), alliance), autoMirror(new Pose(110.000, 59.500), alliance) )) - .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 59.500), alliance), - autoMirror(preloadPose2, alliance) + autoMirror(midPreload, alliance) )) .setTangentHeadingInterpolation() .build(); - startPose1_to_preload3 = follower.pathBuilder() + nearStart_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose1, alliance), + autoMirror(nearStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), autoMirror(new Pose(89.000, 30.000), alliance), autoMirror(new Pose(95.000, 35.500), alliance), autoMirror(new Pose(110.000, 35.500), alliance) )) - .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(preloadPose3, alliance) + autoMirror(farPreload, alliance) )) .setTangentHeadingInterpolation() .build(); } public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ - startPose2_to_preload1 = follower.pathBuilder() + farStart_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose2, alliance), + autoMirror(farStart, alliance), autoMirror(new Pose(89.000, 89.000), alliance), autoMirror(new Pose(95.000, 83.500), alliance), autoMirror(new Pose(110.000, 83.500), alliance) )) - .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) + .setLinearHeadingInterpolation(farStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(preloadPose1, alliance) + autoMirror(nearPreload, alliance) )) .setTangentHeadingInterpolation() .build(); - startPose2_to_preload2 = follower.pathBuilder() + farStart_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose2, alliance), + autoMirror(farStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), autoMirror(new Pose(89.000, 65.000), alliance), autoMirror(new Pose(95.000, 59.500), alliance), autoMirror(new Pose(110.000, 59.500), alliance) )) - .setLinearHeadingInterpolation(startPose1.getHeading(), Math.toRadians(0)) + .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 59.500), alliance), - autoMirror(preloadPose2, alliance) + autoMirror(midPreload, alliance) )) .setTangentHeadingInterpolation() .build(); - startPose2_to_preload3 = follower.pathBuilder() + farStart_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose2, alliance), + autoMirror(farStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), autoMirror(new Pose(89.000, 41.000), alliance), autoMirror(new Pose(95.000, 35.500), alliance), autoMirror(new Pose(110.000, 35.500), alliance) )) - .setLinearHeadingInterpolation(startPose2.getHeading(), Math.toRadians(0)) + .setLinearHeadingInterpolation(farStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(preloadPose3, alliance) + autoMirror(farPreload, alliance) )) .setTangentHeadingInterpolation() .build(); } public void buildPreload1ToShootings(LoadHardwareClass.Alliance alliance){ - preload1_to_shooting1 = follower.pathBuilder() + nearPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose1, alliance), - autoMirror(shootingPose1, alliance) + autoMirror(nearPreload, alliance), + autoMirror(nearShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose1.getHeading(), shootingPose1.getHeading()) + .setLinearHeadingInterpolation(nearPreload.getHeading(), nearShoot.getHeading()) .build(); - preload1_to_shooting2 = follower.pathBuilder() + nearPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose1, alliance), - autoMirror(shootingPose2, alliance) + autoMirror(nearPreload, alliance), + autoMirror(midShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose1.getHeading(), shootingPose2.getHeading()) + .setLinearHeadingInterpolation(nearPreload.getHeading(), midShoot.getHeading()) .build(); - preload1_to_shooting3 = follower.pathBuilder() + nearPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose1, alliance), + autoMirror(nearPreload, alliance), autoMirror(new Pose(80.000, 83.500), alliance), - autoMirror(shootingPose3, alliance) + autoMirror(farShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose1.getHeading(), shootingPose3.getHeading()) + .setLinearHeadingInterpolation(nearPreload.getHeading(), farShoot.getHeading()) .build(); } public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ - preload2_to_shooting1 = follower.pathBuilder() + midPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose2, alliance), + autoMirror(midPreload, alliance), autoMirror(new Pose(65,59.5), alliance), - autoMirror(shootingPose1, alliance) + autoMirror(nearShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose1.getHeading()) + .setLinearHeadingInterpolation(midPreload.getHeading(), nearShoot.getHeading()) .build(); - preload2_to_shooting2 = follower.pathBuilder() + midPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose2, alliance), + autoMirror(midPreload, alliance), autoMirror(new Pose(65,59.5), alliance), - autoMirror(shootingPose2, alliance) + autoMirror(midShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose2.getHeading()) + .setLinearHeadingInterpolation(midPreload.getHeading(), midShoot.getHeading()) .build(); - preload2_to_shooting3 = follower.pathBuilder() + midPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose2, alliance), + autoMirror(midPreload, alliance), autoMirror(new Pose(90.000, 59.500), alliance), - autoMirror(shootingPose3, alliance) + autoMirror(farShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose3.getHeading()) + .setLinearHeadingInterpolation(midPreload.getHeading(), farShoot.getHeading()) .build(); } public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ - preload3_to_shooting1 = follower.pathBuilder() + farPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose2, alliance), + autoMirror(midPreload, alliance), autoMirror(new Pose(75,30), alliance), autoMirror(new Pose(80,100), alliance), - autoMirror(shootingPose1, alliance) + autoMirror(nearShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose1.getHeading()) + .setLinearHeadingInterpolation(midPreload.getHeading(), nearShoot.getHeading()) .build(); - preload3_to_shooting2 = follower.pathBuilder() + farPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose2, alliance), + autoMirror(midPreload, alliance), autoMirror(new Pose(85,32), alliance), - autoMirror(shootingPose2, alliance) + autoMirror(midShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose2.getHeading()) + .setLinearHeadingInterpolation(midPreload.getHeading(), midShoot.getHeading()) .build(); - preload3_to_shooting3 = follower.pathBuilder() + farPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(preloadPose2, alliance), - autoMirror(shootingPose3, alliance) + autoMirror(midPreload, alliance), + autoMirror(farShoot, alliance) )) - .setLinearHeadingInterpolation(preloadPose2.getHeading(), shootingPose3.getHeading()) + .setLinearHeadingInterpolation(midPreload.getHeading(), farShoot.getHeading()) .build(); } public void buildShooting1ToPreloads(LoadHardwareClass.Alliance alliance){ - shooting1_to_preload1 = follower.pathBuilder() + nearShoot_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose1, alliance), + autoMirror(nearShoot, alliance), autoMirror(new Pose(60, 80), alliance), - autoMirror(preloadPose1, alliance) + autoMirror(nearPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose1.getHeading()) + .setLinearHeadingInterpolation(nearShoot.getHeading(), nearPreload.getHeading()) .build(); - shooting1_to_preload2 = follower.pathBuilder() + nearShoot_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose1, alliance), + autoMirror(nearShoot, alliance), autoMirror(new Pose(60, 55), alliance), - autoMirror(preloadPose2, alliance) + autoMirror(midPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose2.getHeading()) + .setLinearHeadingInterpolation(nearShoot.getHeading(), midPreload.getHeading()) .build(); - shooting1_to_preload3 = follower.pathBuilder() + nearShoot_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose1, alliance), + autoMirror(nearShoot, alliance), autoMirror(new Pose(60, 27), alliance), - autoMirror(preloadPose3, alliance) + autoMirror(farPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose1.getHeading(), preloadPose3.getHeading()) + .setLinearHeadingInterpolation(nearShoot.getHeading(), farPreload.getHeading()) .build(); } public void buildShooting2ToPreloads(LoadHardwareClass.Alliance alliance){ - shooting2_to_preload1 = follower.pathBuilder() + midShoot_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose2, alliance), - autoMirror(preloadPose1, alliance) + autoMirror(midShoot, alliance), + autoMirror(nearPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose2.getHeading(), preloadPose1.getHeading()) + .setLinearHeadingInterpolation(midShoot.getHeading(), nearPreload.getHeading()) .build(); - shooting2_to_preload2 = follower.pathBuilder() + midShoot_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose2, alliance), + autoMirror(midShoot, alliance), autoMirror(new Pose(75, 56), alliance), - autoMirror(preloadPose2, alliance) + autoMirror(midPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose2.getHeading(), preloadPose2.getHeading()) + .setLinearHeadingInterpolation(midShoot.getHeading(), midPreload.getHeading()) .build(); - shooting2_to_preload3 = follower.pathBuilder() + midShoot_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose2, alliance), + autoMirror(midShoot, alliance), autoMirror(new Pose(68, 30), alliance), - autoMirror(preloadPose3, alliance) + autoMirror(farPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose2.getHeading(), preloadPose3.getHeading()) + .setLinearHeadingInterpolation(midShoot.getHeading(), farPreload.getHeading()) .build(); } public void buildShooting3ToPreloads(LoadHardwareClass.Alliance alliance){ - shooting3_to_preload1 = follower.pathBuilder() + farShoot_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose3, alliance), + autoMirror(farShoot, alliance), autoMirror(new Pose(73, 88), alliance), - autoMirror(preloadPose1, alliance) + autoMirror(nearPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose3.getHeading(), preloadPose1.getHeading()) + .setLinearHeadingInterpolation(farShoot.getHeading(), nearPreload.getHeading()) .build(); - shooting3_to_preload2 = follower.pathBuilder() + farShoot_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose3, alliance), + autoMirror(farShoot, alliance), autoMirror(new Pose(78, 62), alliance), - autoMirror(preloadPose2, alliance) + autoMirror(midPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose3.getHeading(), preloadPose2.getHeading()) + .setLinearHeadingInterpolation(farShoot.getHeading(), midPreload.getHeading()) .build(); - shooting3_to_preload3 = follower.pathBuilder() + farShoot_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose3, alliance), + autoMirror(farShoot, alliance), autoMirror(new Pose(82.5, 35), alliance), - autoMirror(preloadPose3, alliance) + autoMirror(farPreload, alliance) )) - .setLinearHeadingInterpolation(shootingPose3.getHeading(), preloadPose3.getHeading()) + .setLinearHeadingInterpolation(farShoot.getHeading(), farPreload.getHeading()) .build(); } public void buildShooting1ToLeaves(LoadHardwareClass.Alliance alliance){ - shooting1_to_leave1 = follower.pathBuilder() + nearShoot_to_nearLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose1, alliance), - autoMirror(leavePose1, alliance) + autoMirror(nearShoot, alliance), + autoMirror(nearLeave, alliance) )) - .setConstantHeadingInterpolation(shootingPose1.getHeading()) + .setConstantHeadingInterpolation(nearShoot.getHeading()) .build(); - shooting1_to_leave2 = follower.pathBuilder() + nearShoot_to_midLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose1, alliance), - autoMirror(leavePose2, alliance) + autoMirror(nearShoot, alliance), + autoMirror(midLeave, alliance) )) - .setConstantHeadingInterpolation(shootingPose1.getHeading()) + .setConstantHeadingInterpolation(nearShoot.getHeading()) .build(); } public void buildShooting2ToLeaves(LoadHardwareClass.Alliance alliance){ - shooting2_to_leave1 = follower.pathBuilder() + midShoot_to_nearLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose2, alliance), - autoMirror(leavePose1, alliance) + autoMirror(midShoot, alliance), + autoMirror(nearLeave, alliance) )) - .setConstantHeadingInterpolation(shootingPose2.getHeading()) + .setConstantHeadingInterpolation(midShoot.getHeading()) .build(); - shooting2_to_leave2 = follower.pathBuilder() + midShoot_to_midLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose2, alliance), - autoMirror(leavePose2, alliance) + autoMirror(midShoot, alliance), + autoMirror(midLeave, alliance) )) - .setConstantHeadingInterpolation(shootingPose2.getHeading()) + .setConstantHeadingInterpolation(midShoot.getHeading()) .build(); } public void buildShooting3ToLeaves(LoadHardwareClass.Alliance alliance){ - shooting3_to_leave2 = follower.pathBuilder() + farShoot_to_midLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose3, alliance), - autoMirror(leavePose2, alliance) + autoMirror(farShoot, alliance), + autoMirror(midLeave, alliance) )) - .setConstantHeadingInterpolation(shootingPose3.getHeading()) + .setConstantHeadingInterpolation(farShoot.getHeading()) .build(); - shooting3_to_leave3 = follower.pathBuilder() + farShoot_to_farLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(shootingPose3, alliance), - autoMirror(leavePose3, alliance) + autoMirror(farShoot, alliance), + autoMirror(farLeave, alliance) )) - .setConstantHeadingInterpolation(shootingPose3.getHeading()) + .setConstantHeadingInterpolation(farShoot.getHeading()) .build(); } public void buildStart1ToLeaves(LoadHardwareClass.Alliance alliance){ - start1_to_leave1 = follower.pathBuilder() + nearStart_to_nearLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose1, alliance), - autoMirror(leavePose1, alliance) + autoMirror(nearStart, alliance), + autoMirror(nearLeave, alliance) )) - .setConstantHeadingInterpolation(startPose1.getHeading()) + .setConstantHeadingInterpolation(nearStart.getHeading()) .build(); - start1_to_leave2 = follower.pathBuilder() + nearStart_to_midLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose1, alliance), - autoMirror(leavePose3, alliance) + autoMirror(nearStart, alliance), + autoMirror(farLeave, alliance) )) - .setConstantHeadingInterpolation(startPose1.getHeading()) + .setConstantHeadingInterpolation(nearStart.getHeading()) .build(); } public void buildStart2ToLeaves(LoadHardwareClass.Alliance alliance){ - start2_to_leave2 = follower.pathBuilder() + farStart_to_midLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose2, alliance), - autoMirror(leavePose1, alliance) + autoMirror(farStart, alliance), + autoMirror(nearLeave, alliance) )) - .setConstantHeadingInterpolation(startPose2.getHeading()) + .setConstantHeadingInterpolation(farStart.getHeading()) .build(); - start2_to_leave3 = follower.pathBuilder() + farStart_to_farLeave = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(startPose2, alliance), - autoMirror(leavePose3, alliance) + autoMirror(farStart, alliance), + autoMirror(farLeave, alliance) )) - .setConstantHeadingInterpolation(startPose2.getHeading()) + .setConstantHeadingInterpolation(farStart.getHeading()) .build(); } /** * Builds all the paths, mirroring them to the other side of the field if necessary */ - public void buildPaths(LoadHardwareClass.Alliance alliance){ + public void buildPaths(LoadHardwareClass.Alliance alliance, Follower follow){ + follower = follow; + /// All paths are for the RED side of the field. they will be mirrored if necessary. - buildMoveRPPath(); // Paths going from each start position to each of the preloads. buildStart1ToPreloads(alliance); buildStart2ToPreloads(alliance); @@ -430,12 +418,4 @@ public void buildPaths(LoadHardwareClass.Alliance alliance){ buildStart1ToLeaves(alliance); buildStart2ToLeaves(alliance); } - - /** - * Must be called after MecanumDrivetrainClass is initialized. - * @param follow PedroPathing's follower object, gotten from MecanumDrivetrainClass - */ - public Pedro_Paths(Follower follow){ - follower = follow; - } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 697b59448911..91a7ee9afc51 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -30,6 +30,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; import com.bylazar.configurables.annotations.Configurable; +import com.pedropathing.follower.Follower; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -88,7 +89,22 @@ public LoadHardwareClass(OpMode opmode) { */ public void init(Pose initialPose) { // Initialize all subclasses - drivetrain.init(myOpMode, initialPose); + drivetrain.init(myOpMode, initialPose, selectedAlliance); + turret.init(myOpMode); + intake.init(myOpMode); + + // Misc telemetry + myOpMode.telemetry.addData(">", "Hardware Initialized"); + myOpMode.telemetry.update(); + } + + /** + * Initializes all hardware for the robot. + * Must be called once at the start of each op-mode. + */ + public void init(Pose initialPose, Follower follower) { + // Initialize all subclasses + drivetrain.init(myOpMode, initialPose, selectedAlliance, follower); turret.init(myOpMode); intake.init(myOpMode); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index a5f79ab5faa7..fff9cfefe75f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -105,6 +105,7 @@ public void runOpMode() { // Initialize all hardware of the robot Robot.init(startPose); + Robot.drivetrain.startTeleOpDrive(); // run until the end of the match (driver presses STOP) while (opModeIsActive()) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 1cbabd505c3d..39976888d7a7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -1,7 +1,5 @@ //TODO, implement all our external libraries and functionality. -//TODO, add 2 generic autos for preloads and shooting and stuff - //DONE, Implement controls graph to TeleOp //DONE, Consolidate the generic actuator functionalities folder into one file @@ -20,4 +18,14 @@ //DONE, Finish translating Dylan's December 6th controls into the program. -//DONE, Figure out how to use NextFTC's Pedropathing extension for auto. \ No newline at end of file +//DONE, Figure out how to use NextFTC's Pedropathing extension for auto. + + + +//1. TODO, test the auto paths used in the generic autos +//2. TODO, create two generic autos for testing and competition +//3. TODO, test the turret rotation autoaim with shooting +//4. TODO, establish static (non-changing) flywheel speeds for near/far zones +//5. TODO, make hood autoaim using InterpLUT +//6. TODO, test turret hood and rotation autoaim together +//7. TODO, test turret autoaim with the generic autos \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java index 10b4639b554f..d4338b8b7e58 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java @@ -16,16 +16,17 @@ public class Constants { public static FollowerConstants followerConstants = new FollowerConstants() - .mass(5) // TODO: Change this to the actual weight of the robot - .forwardZeroPowerAcceleration(-45.7735) - .lateralZeroPowerAcceleration(-53.7000) + .mass(13.6) // TODO: Change this to the actual weight of the robot + .forwardZeroPowerAcceleration(-42.5878) + .lateralZeroPowerAcceleration(-68.2022) // Set following parameters to true to enable dual PID .useSecondaryTranslationalPIDF(false) .useSecondaryHeadingPIDF(false) .useSecondaryDrivePIDF(false) - .translationalPIDFCoefficients(new PIDFCoefficients(.1, 0, 0.01, 0.05)) - .headingPIDFCoefficients(new PIDFCoefficients(3, 0.3, 0.2, 0.05)) - .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.3, 0.1, 0.01, 0.6, 0.6)); + .centripetalScaling(0.0002) + .translationalPIDFCoefficients(new PIDFCoefficients(0.15, 0, 0.01, 0.05)) + .headingPIDFCoefficients(new PIDFCoefficients(2, 0, 0.1, 0.026)) + .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.02, 0, 0.001, 0.6, 0.02)); public static PathConstraints pathConstraints = new PathConstraints( 0.99, @@ -48,12 +49,12 @@ public class Constants { .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE) .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD) .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD) - .xVelocity(59.3402) - .yVelocity(46.4157); + .xVelocity(65.1356) + .yVelocity(39.2622); public static PinpointConstants localizerConstants = new PinpointConstants() - .forwardPodY((double) 3/8) - .strafePodX(6) + .forwardPodY(-3.25) + .strafePodX(-6.25) .distanceUnit(DistanceUnit.INCH) .hardwareMapName("pinpoint") .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java index b2688ac39e13..5e656da719d4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java @@ -1,8 +1,8 @@ package org.firstinspires.ftc.teamcode.pedroPathing; import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.changes; -import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.drawOnlyCurrent; import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.draw; +import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.drawOnlyCurrent; import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.follower; import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.stopRobot; import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.telemetryM; @@ -15,13 +15,16 @@ import com.bylazar.field.Style; import com.bylazar.telemetry.PanelsTelemetry; import com.bylazar.telemetry.TelemetryManager; -import com.pedropathing.ErrorCalculator; import com.pedropathing.follower.Follower; -import com.pedropathing.geometry.*; -import com.pedropathing.math.*; -import com.pedropathing.paths.*; +import com.pedropathing.geometry.BezierCurve; +import com.pedropathing.geometry.BezierLine; +import com.pedropathing.geometry.Pose; +import com.pedropathing.math.Vector; +import com.pedropathing.paths.HeadingInterpolator; +import com.pedropathing.paths.Path; +import com.pedropathing.paths.PathChain; import com.pedropathing.telemetry.SelectableOpMode; -import com.pedropathing.util.*; +import com.pedropathing.util.PoseHistory; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; @@ -537,7 +540,7 @@ public void loop() { */ class ForwardZeroPowerAccelerationTuner extends OpMode { private final ArrayList accelerations = new ArrayList<>(); - public static double VELOCITY = 30; + public static double VELOCITY = 60; private double previousVelocity; private long previousTimeNano; @@ -643,7 +646,7 @@ public void loop() { */ class LateralZeroPowerAccelerationTuner extends OpMode { private final ArrayList accelerations = new ArrayList<>(); - public static double VELOCITY = 30; + public static double VELOCITY = 35; private double previousVelocity; private long previousTimeNano; private boolean stopping; From e1d80a28179889c3241e0fc4ec24a0295f23f653 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Fri, 19 Dec 2025 19:21:27 -0500 Subject: [PATCH 106/152] Fixed bug with accessing auto paths and tested pathing, intake, and transfer commands. --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 43 +++++++++++-------- .../Main_/Hardware_/Actuators_/Intake.java | 7 +++ .../LOADCode/Main_/Hardware_/Commands.java | 14 +++--- .../Drivetrain_/MecanumDrivetrainClass.java | 8 +--- .../Hardware_/Drivetrain_/Pedro_Paths.java | 27 ++++++------ .../Main_/Hardware_/LoadHardwareClass.java | 4 +- 6 files changed, 55 insertions(+), 48 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 4ae1a0e636f2..da840d0fb149 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -1,10 +1,9 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Auto_; import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; +import static dev.nextftc.extensions.pedro.PedroComponent.follower; -import com.pedropathing.geometry.BezierCurve; import com.pedropathing.geometry.Pose; -import com.pedropathing.paths.Path; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -21,7 +20,6 @@ import dev.nextftc.core.commands.delays.WaitUntil; import dev.nextftc.core.commands.groups.ParallelGroup; import dev.nextftc.core.commands.groups.SequentialGroup; -import dev.nextftc.extensions.pedro.FollowPath; import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; @@ -40,13 +38,13 @@ private enum Auto { private Auto selectedAuto = null; private boolean turretOn = true; - Pedro_Paths paths = new Pedro_Paths(); - // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); + // Create a Paths object for accessing modular auto paths + Pedro_Paths paths = new Pedro_Paths(); public Auto_Main_() { addComponents( @@ -86,20 +84,24 @@ public void onWaitForStart() { @Override public void onStartButtonPressed() { + // Build paths + paths.buildPaths(selectedAlliance, follower()); // Schedule the proper auto switch (selectedAuto) { case LEAVE_NEAR_LAUNCH: Leave_Near_Launch().schedule(); - return; + break; case LEAVE_FAR_HP: Leave_Far_HP().schedule(); - return; + break; case TEST_AUTO: test_Auto().schedule(); + break; } // Initialize all hardware of the robot - Robot.init(startPose, PedroComponent.follower()); - paths.buildPaths(selectedAlliance, PedroComponent.follower()); + Robot.init(startPose, follower()); + telemetry.addData("Initialized", ""); + telemetry.update(); } @Override @@ -107,14 +109,20 @@ public void onUpdate() { if (turretOn){ switch (selectedAlliance) { case RED: + telemetry.addData("Aimbot Target", "RED"); Robot.turret.updateAimbot(Robot, true); - return; + break; case BLUE: + telemetry.addData("Aimbot Target", "BLUE"); Robot.turret.updateAimbot(Robot, false); - return; + break; } } + Robot.turret.updateFlywheel(); + + telemetry.addData("Path", paths.farStart_to_farLeave.endPose()); + telemetry.addLine(); telemetry.addData("selectedAuto", selectedAuto); telemetry.addData("currentPose", Robot.drivetrain.follower.getPose()); telemetry.update(); @@ -127,11 +135,10 @@ public void onUpdate() { */ private Command Leave_Far_HP() { turretOn = true; - startPose = Robot.drivetrain.paths.farStart; + startPose = paths.farStart; return new SequentialGroup( - Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( - new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.onSpeed), + // Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new Delay(5) ), Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), @@ -145,7 +152,7 @@ private Command Leave_Far_HP() { Commands.setTransferState(Robot, Intake.transferState.DOWN), Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), - Commands.runPath(Robot.drivetrain.paths.farStart_to_farLeave, true, 0.6) + Commands.runPath(paths.farStart_to_farLeave, true, 0.6) ); } @@ -156,7 +163,7 @@ private Command Leave_Far_HP() { */ private Command Leave_Near_Launch() { turretOn = true; - startPose = Robot.drivetrain.paths.nearStart; + startPose = paths.nearStart; return new SequentialGroup( Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( @@ -174,11 +181,11 @@ private Command Leave_Near_Launch() { Commands.setTransferState(Robot, Intake.transferState.DOWN), Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), - Commands.runPath(Robot.drivetrain.paths.nearShoot_to_nearLeave, true, 0.6) + Commands.runPath(paths.nearShoot_to_nearLeave, true, 0.6) ); } private Command test_Auto(){ - return new FollowPath(new Path(new BezierCurve(paths.farStart, paths.farLeave)), true, 0.6); + return Commands.runPath(paths.farStart_to_nearPreload, true); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index aa619ed9d38d..13d4379fd9ec 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -32,6 +32,10 @@ public void init(OpMode opmode){ belt.init(opmode, "belt"); transfer.init(opmode, "transfer"); color1.init(opmode, "color1"); + color2.init(opmode, "color2"); + color3.init(opmode, "color3"); + color4.init(opmode, "color4"); + intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); intake.setDirection(DcMotorSimple.Direction.REVERSE); @@ -39,6 +43,9 @@ public void init(OpMode opmode){ belt.setDirection(DcMotorSimple.Direction.REVERSE); color1.setGain(2); + color2.setGain(2); + color3.setGain(2); + color4.setGain(2); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index cfba3a807f2f..86a881bdbff7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -12,10 +12,6 @@ public class Commands { - public static Object driveSystem = null; - public static Object turretSystem = null; - public static Object intakeSystem = null; - public static Command runPath(PathChain path, boolean holdEnd) { return new FollowPath(path, holdEnd); } @@ -29,24 +25,26 @@ public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheels .setStart(() -> Robot.turret.setFlywheelState(state)) .setIsDone(() -> { if (state == Turret.flywheelstate.ON){ - return Robot.turret.getFlywheelRPM() > 5900; + return Robot.turret.getFlywheelRPM() > Turret.onSpeed; }else{ return Robot.turret.getFlywheelRPM() < 100; } }) - .requires(turretSystem); + ; } public static Command setIntakeMode(LoadHardwareClass Robot, Intake.intakeMode state) { return new InstantCommand(new LambdaCommand("setIntakeMode()") .setStart(() -> Robot.intake.setMode(state)) - .requires(intakeSystem)); + .setIsDone(() -> true) + ); } public static Command setTransferState(LoadHardwareClass Robot, Intake.transferState state) { return new InstantCommand(new LambdaCommand("setIntakeMode()") .setStart(() -> Robot.intake.setTransfer(state)) - .requires(intakeSystem)); + .setIsDone(() -> true) + ); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index 5eebc1484a7a..f933e60d4a40 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -7,7 +7,6 @@ import com.pedropathing.paths.PathChain; import com.qualcomm.robotcore.eventloop.opmode.OpMode; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; public class MecanumDrivetrainClass { @@ -16,7 +15,6 @@ public class MecanumDrivetrainClass { // Misc Constants public Follower follower = null; - public Pedro_Paths paths = new Pedro_Paths(); /** * Initializes the PedroPathing follower. @@ -24,12 +22,11 @@ public class MecanumDrivetrainClass { * @param myOpMode Allows the follower access to the robot hardware. * @param initialPose The starting pose of the robot. */ - public void init (@NonNull OpMode myOpMode, Pose initialPose, LoadHardwareClass.Alliance alliance){ + public void init (@NonNull OpMode myOpMode, Pose initialPose){ // PedroPathing initialization follower = Constants.createFollower(myOpMode.hardwareMap); // Initializes the PedroPathing path follower follower.setStartingPose(initialPose); // Sets the initial position of the robot on the field follower.update(); // Applies the initialization - //TODO uncommment this: paths.buildPaths(alliance, follower); } /** @@ -39,12 +36,11 @@ public void init (@NonNull OpMode myOpMode, Pose initialPose, LoadHardwareClass. * @param initialPose The starting pose of the robot. * @param follow The PedroPathing follower object */ - public void init (@NonNull OpMode myOpMode, Pose initialPose, LoadHardwareClass.Alliance alliance, Follower follow){ + public void init (@NonNull OpMode myOpMode, Pose initialPose, Follower follow){ // PedroPathing initialization follower = follow; // Initializes the PedroPathing path follower follower.setPose(initialPose); // Sets the initial position of the robot on the field follower.update(); // Applies the initialization - //TODO uncommment this: paths.buildPaths(alliance, follower); } public void startTeleOpDrive(){ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index 6955f64d93ef..713559941a20 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -19,7 +19,7 @@ public class Pedro_Paths { public Pose nearStart = new Pose(112, 136.6, Math.toRadians(270)); public Pose farStart = new Pose(88, 7.4, Math.toRadians(90)); // Preload Poses - public Pose nearPreload = new Pose(130.000, 83.500, Math.toRadians(90)); + public Pose nearPreload = new Pose(128.000, 83.500, Math.toRadians(90)); public Pose midPreload = new Pose(132.000, 59.500, Math.toRadians(90)); public Pose farPreload = new Pose(132.000, 35.500, Math.toRadians(90)); // Shooting Poses @@ -27,13 +27,13 @@ public class Pedro_Paths { public Pose midShoot = new Pose(85, 85, Math.toRadians(-15)); public Pose farShoot = new Pose(85, 15, Math.toRadians(60)); // Leave Poses - public Pose nearLeave = new Pose(90,120); - public Pose midLeave = new Pose(95,55); - public Pose farLeave = new Pose(115,20); + public Pose nearLeave = new Pose(90,120, Math.toRadians(90)); + public Pose midLeave = new Pose(95,55, Math.toRadians(90)); + public Pose farLeave = new Pose(115,20, Math.toRadians(90)); - // Define all path variables - // Dummy Paths - public PathChain basicMoveRPPath; + /** + *

Define all path variables

+ */ // Start Poses to Preloads public PathChain nearStart_to_nearPreload, nearStart_to_midPreload, nearStart_to_farPreload; public PathChain farStart_to_nearPreload, farStart_to_midPreload, farStart_to_farPreload; @@ -54,15 +54,14 @@ public class Pedro_Paths { public PathChain farStart_to_midLeave, farStart_to_farLeave; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ - int mult = 1; if (alliance == LoadHardwareClass.Alliance.BLUE){ - mult = -1; + return new Pose( + 144 - pose.getX(), + 144 - pose.getY(), + Math.atan2(Math.sin(pose.getHeading()), -Math.cos(pose.getHeading())) + ); } - return new Pose( - 144 - pose.getX(), - 144 - pose.getY(), - Math.atan2(Math.sin(pose.getHeading()), mult * Math.cos(pose.getHeading())) - ); + return pose; } public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index 91a7ee9afc51..b0943a033cc5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -89,7 +89,7 @@ public LoadHardwareClass(OpMode opmode) { */ public void init(Pose initialPose) { // Initialize all subclasses - drivetrain.init(myOpMode, initialPose, selectedAlliance); + drivetrain.init(myOpMode, initialPose); turret.init(myOpMode); intake.init(myOpMode); @@ -104,7 +104,7 @@ public void init(Pose initialPose) { */ public void init(Pose initialPose, Follower follower) { // Initialize all subclasses - drivetrain.init(myOpMode, initialPose, selectedAlliance, follower); + drivetrain.init(myOpMode, initialPose, follower); turret.init(myOpMode); intake.init(myOpMode); From 2488e368ffffd7d89910a4b064d61cff02b3baba Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Sat, 20 Dec 2025 12:04:20 -0500 Subject: [PATCH 107/152] Added DualProximitySensorClass to Devices.java and implemented sensor read functions in Intake.java --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 2 +- .../Main_/Hardware_/Actuators_/Devices.java | 26 +++++++++++++++ .../Main_/Hardware_/Actuators_/Intake.java | 33 ++++++++++++------- .../Main_/Hardware_/Actuators_/Turret.java | 4 +-- .../LOADCode/Main_/Hardware_/Commands.java | 2 +- 5 files changed, 51 insertions(+), 16 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index da840d0fb149..ca2d3709d055 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -167,7 +167,7 @@ private Command Leave_Near_Launch() { return new SequentialGroup( Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), new ParallelGroup( - new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.onSpeed), + new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed), new Delay(5) ), Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index 6db114ed4315..0162b89399f8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -292,4 +292,30 @@ public double getDistance(DistanceUnit units){ return ((DistanceSensor) sensor).getDistance(units); } } + + public static class DualProximitySensorClass { + private final REVColorSensorV3Class sensor1 = new REVColorSensorV3Class(); + private final REVColorSensorV3Class sensor2 = new REVColorSensorV3Class(); + + public double threshold = 2; + public DistanceUnit units = DistanceUnit.CM; + + public void init(@NonNull OpMode opmode, String sensor1Name, String sensor2Name){ + sensor1.init(opmode, sensor1Name); + sensor2.init(opmode, sensor2Name); + } + + public void setGain(double gain){ + sensor1.setGain(gain); + sensor2.setGain(gain); + } + + public boolean objectDetected(){ + return (sensor1.getDistance(units) < threshold || sensor2.getDistance(units) < threshold); + } + + public double[] getDistances(){ + return new double[]{sensor1.getDistance(units), sensor2.getDistance(units)}; + } + } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 13d4379fd9ec..3ed7dbf88de4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -4,16 +4,16 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + public class Intake { // RESET THESE TO PRIVATE AFTER DECEMBER 6TH! private final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); private final Devices.CRServoClass belt = new Devices.CRServoClass(); private final Devices.ServoClass transfer = new Devices.ServoClass(); - public final Devices.REVColorSensorV3Class color1 = new Devices.REVColorSensorV3Class(); - public final Devices.REVColorSensorV3Class color2 = new Devices.REVColorSensorV3Class(); - public final Devices.REVColorSensorV3Class color3 = new Devices.REVColorSensorV3Class(); - public final Devices.REVColorSensorV3Class color4 = new Devices.REVColorSensorV3Class(); + public final Devices.DualProximitySensorClass topSensor = new Devices.DualProximitySensorClass(); + public final Devices.DualProximitySensorClass bottomSensor = new Devices.DualProximitySensorClass(); public enum intakeMode { INTAKING, @@ -27,14 +27,14 @@ public enum transferState { DOWN } + public static double proximitySensorThreshold = 20; + public void init(OpMode opmode){ intake.init(opmode, "intake"); belt.init(opmode, "belt"); transfer.init(opmode, "transfer"); - color1.init(opmode, "color1"); - color2.init(opmode, "color2"); - color3.init(opmode, "color3"); - color4.init(opmode, "color4"); + topSensor.init(opmode, "color1", "color2"); + bottomSensor.init(opmode, "color3", "color4"); intake.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); @@ -42,10 +42,12 @@ public void init(OpMode opmode){ belt.setDirection(DcMotorSimple.Direction.REVERSE); - color1.setGain(2); - color2.setGain(2); - color3.setGain(2); - color4.setGain(2); + topSensor.setGain(2); + topSensor.units = DistanceUnit.MM; + topSensor.threshold = proximitySensorThreshold; + bottomSensor.setGain(2); + bottomSensor.units = DistanceUnit.MM; + bottomSensor.threshold = proximitySensorThreshold; } /** @@ -106,4 +108,11 @@ public void setTransfer(transferState state) { transfer.setAngle(.05); } } + + public boolean getTopSensorState(){ + return topSensor.objectDetected(); + } + public boolean getBottomSensorState(){ + return bottomSensor.objectDetected(); + } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index a748086bd5d0..4529d7032eda 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -44,7 +44,7 @@ public enum flywheelstate { } public flywheelstate flywheelState = flywheelstate.OFF; - public static double onSpeed = 4500; + public static double flywheelSpeed = 4500; public void init(OpMode opmode){ rotation.init(opmode, "turret", 145.1 * ((double) 131 /24)); //Previously 103.8 @@ -162,7 +162,7 @@ public void setFlywheelState(flywheelstate state){ */ public void updateFlywheel(){ if (flywheelState == flywheelstate.ON){ - setFlywheelRPM(onSpeed); + setFlywheelRPM(flywheelSpeed); } else if (flywheelState == flywheelstate.OFF){ setFlywheelRPM(0); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 86a881bdbff7..3b05f53fd8ae 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -25,7 +25,7 @@ public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheels .setStart(() -> Robot.turret.setFlywheelState(state)) .setIsDone(() -> { if (state == Turret.flywheelstate.ON){ - return Robot.turret.getFlywheelRPM() > Turret.onSpeed; + return Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed; }else{ return Robot.turret.getFlywheelRPM() < 100; } From 33dc49887f2741068ea5a81a02e89a2f276f967f Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Sat, 20 Dec 2025 20:54:09 -0500 Subject: [PATCH 108/152] Installed Marrow's NextFTC Extension --- TeamCode/build.gradle | 1 + .../LOADCode/Main_/Auto_/Auto_Main_.java | 16 +++++++++++++++- .../ftc/teamcode/LOADCode/Main_/Utils_.java | 18 +++++++++--------- 3 files changed, 25 insertions(+), 10 deletions(-) diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index dd6160908114..651c811d8a36 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -26,6 +26,7 @@ android { dependencies { implementation project(':FtcRobotController') implementation 'io.github.skeleton-army.marrow:core:0.1.2' + implementation 'io.github.skeleton-army.marrow:nextftc:0.1.2' // For NextFTC implementation 'dev.nextftc:ftc:1.0.1' implementation 'dev.nextftc.extensions:pedro:1.0.0' implementation "com.bylazar:graph:1.0.4" diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index ca2d3709d055..03b75b9437e4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -5,6 +5,7 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.skeletonarmy.marrow.TimerEx; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -16,6 +17,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import dev.nextftc.core.commands.Command; +import dev.nextftc.core.commands.conditionals.IfElseCommand; import dev.nextftc.core.commands.delays.Delay; import dev.nextftc.core.commands.delays.WaitUntil; import dev.nextftc.core.commands.groups.ParallelGroup; @@ -41,6 +43,9 @@ private enum Auto { // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; + // Create a TimerEx object for time tracking + TimerEx time = new TimerEx(30); + // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); // Create a Paths object for accessing modular auto paths @@ -100,6 +105,7 @@ public void onStartButtonPressed() { } // Initialize all hardware of the robot Robot.init(startPose, follower()); + telemetry.addData("Initialized", ""); telemetry.update(); } @@ -186,6 +192,14 @@ private Command Leave_Near_Launch() { } private Command test_Auto(){ - return Commands.runPath(paths.farStart_to_nearPreload, true); + return new IfElseCommand( + () -> time.isLessThan(5), + new SequentialGroup( + + ), + new SequentialGroup( + + ) + ); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java index a5de6ba89773..8131e9dfb13b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Utils_.java @@ -6,15 +6,6 @@ public class Utils_ { - public enum telemetrySortCategory { - DRIVETRAIN, - INTAKE, - TRANSFER, - TURRET, - TESTINGVALUES, - OTHER, - } - /** * Performs spline interpolation given a set of control points. */ @@ -158,6 +149,15 @@ public String toString() { } + public enum telemetrySortCategory { + DRIVETRAIN, + INTAKE, + TRANSFER, + TURRET, + TESTINGVALUES, + OTHER, + } + /** * This class is for the runtime per-loop sorting and displaying of every single TelemetryObject. * There should only be one of these per program. 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w1&05|>tjPp*`I#;iC*>Ab$!F_;)6rUI;Xjm`fs~|KmMe8TkBTIjr))P7kb*kwg3PC literal 0 HcmV?d00001 From e9ddffd761392cb4baea8f6b711d2e99712d57db Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 22 Dec 2025 16:45:39 -0500 Subject: [PATCH 110/152] Add LOAD Charts & Diagrams to README Added LOAD Charts & Diagrams section with links to files. --- README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/README.md b/README.md index 1aa865b6cf37..3c6d483ecd98 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,15 @@ This repository contains LOAD Robotics' robot code for the 2025-2026 FTC season This repository contains the public FTC SDK for the DECODE (2025-2026) competition season. + +## LOAD Charts & Diagrams +### Our Filestructure +[File Structure Flowchart](File_Structure.png) +### Robot Control Scheme (Pre December 6th) +[Robot Gamepad 1 & 2 Control Charts](Robot_Controls.png) +### Robot Wiring Diagram +[Wiring Paths and Labels](Robot_Wiring.png) + ## Welcome! This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer. From ae16d8364d3e9213d21fb042a11a39be2d901da7 Mon Sep 17 00:00:00 2001 From: NotABitcoinScam <152728412+NotABitcoinScam@users.noreply.github.com> Date: Mon, 22 Dec 2025 16:46:41 -0500 Subject: [PATCH 111/152] Update README to include image syntax for charts --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 3c6d483ecd98..ee9040542400 100644 --- a/README.md +++ b/README.md @@ -8,11 +8,11 @@ This repository contains the public FTC SDK for the DECODE (2025-2026) competiti ## LOAD Charts & Diagrams ### Our Filestructure -[File Structure Flowchart](File_Structure.png) +![File Structure Flowchart](File_Structure.png) ### Robot Control Scheme (Pre December 6th) -[Robot Gamepad 1 & 2 Control Charts](Robot_Controls.png) +![Robot Gamepad 1 & 2 Control Charts](Robot_Controls.png) ### Robot Wiring Diagram -[Wiring Paths and Labels](Robot_Wiring.png) +![Wiring Paths and Labels](Robot_Wiring.png) ## Welcome! This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer. From cf708cde19442cf79bdb81d58a3310d627422464 Mon Sep 17 00:00:00 2001 From: Professor348 Date: Mon, 22 Dec 2025 17:46:59 -0500 Subject: [PATCH 112/152] Added a few new static variables for Panels tuning --- .../Main_/Hardware_/Actuators_/Turret.java | 4 +++- .../Main_/Teleop_/Teleop_Outreach_.java | 21 ++++--------------- 2 files changed, 7 insertions(+), 18 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 4529d7032eda..888e111241c4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -46,6 +46,8 @@ public enum flywheelstate { public static double flywheelSpeed = 4500; + public static double upperHoodLimit = 260; + public void init(OpMode opmode){ rotation.init(opmode, "turret", 145.1 * ((double) 131 /24)); //Previously 103.8 flywheel.init(opmode, "flywheel", 28); @@ -99,7 +101,7 @@ public void setGateState(gatestate state){ * @param angle An angle in degrees that is constrained to between 0 and 320 degrees */ public void setHood(double angle){ - hood.setAngle(Math.min(Math.max(angle, 0), 260)/(360*5)); + hood.setAngle(Math.min(Math.max(angle, 0), upperHoodLimit)/(360*5)); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 50167883006f..c793e9ce39c8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -64,8 +64,6 @@ public void runOpMode() { Robot.turret.rotation.resetEncoder(); } - double hoodAngle = 0; - // Wait for the game to start (driver presses START) waitForStart(); runtime.reset(); @@ -91,24 +89,13 @@ public void runOpMode() { telemetry.addData("Turret Motor Power", Robot.turret.rotation.getPower()); telemetry.addLine(); - double increment = 2; - if (gamepad1.dpad_up && hoodAngle < 320){ - hoodAngle += increment; - }else if (gamepad1.dpad_down && hoodAngle > 0){ - hoodAngle -= increment; + if (gamepad1.dpad_up){ + Robot.turret.setHood(Robot.turret.getHood() + 2); + }else if (gamepad1.dpad_down){ + Robot.turret.setHood(Robot.turret.getHood() + 2); } - Robot.turret.setHood(hoodAngle); telemetry.addData("Hood Angle", Robot.turret.getHood()); - telemetry.addLine(); - telemetry.addData("Gain", Robot.intake.color1.getGain()); - telemetry.addData("Distance", Robot.intake.color1.getDistance(DistanceUnit.INCH)); - telemetry.addData("Color", Robot.intake.color1.getNormalizedColors().toColor()); - NormalizedRGBA colors = Robot.intake.color1.getNormalizedColors(); - telemetry.addData("R", colors.red); - telemetry.addData("G", colors.green); - telemetry.addData("B", colors.blue); - telemetry.addLine(); telemetry.addData("Robot Pose X", Math.round(Robot.drivetrain.follower.getPose().getX())); telemetry.addData("Robot Pose Y", Math.round(Robot.drivetrain.follower.getPose().getY())); From f7f2012cc8021300318574078ae87bf7c510d088 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 23 Dec 2025 14:01:46 -0500 Subject: [PATCH 113/152] Added a RetryCommand example to Auto_Main_.java for later reference --- .../teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 03b75b9437e4..8990861102b2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -6,6 +6,7 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.skeletonarmy.marrow.TimerEx; +import com.skeletonarmy.marrow.nextftc.RetryCommand; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -17,7 +18,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import dev.nextftc.core.commands.Command; -import dev.nextftc.core.commands.conditionals.IfElseCommand; import dev.nextftc.core.commands.delays.Delay; import dev.nextftc.core.commands.delays.WaitUntil; import dev.nextftc.core.commands.groups.ParallelGroup; @@ -192,14 +192,17 @@ private Command Leave_Near_Launch() { } private Command test_Auto(){ - return new IfElseCommand( - () -> time.isLessThan(5), + /* + This RetryCommand allows for a command/set of commands + to be run as many times as you want unless the time is + less than a given amount + */ + return new RetryCommand( new SequentialGroup( ), - new SequentialGroup( - - ) + () -> time.isLessThan(5), + 10 ); } } From 8cbe5f3d0e7f22187a5c63715b1e66c0f69fcfa9 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Fri, 26 Dec 2025 19:56:48 -0500 Subject: [PATCH 114/152] Integrated Auto-transfer into shooting state machine, and made preliminary auto-zeroing system for turret rotation. --- .../Main_/Hardware_/Actuators_/Devices.java | 13 ++ .../Main_/Hardware_/Actuators_/Intake.java | 3 +- .../Main_/Hardware_/Actuators_/Turret.java | 19 ++- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 15 ++ .../Main_/Teleop_/Teleop_Outreach_.java | 8 +- .../Main_/Teleop_/Teleop_Tuning_.java | 134 ++++++++++++++++++ 6 files changed, 184 insertions(+), 8 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Tuning_.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java index 0162b89399f8..194b17122755 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Devices.java @@ -7,6 +7,7 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.DigitalChannel; import com.qualcomm.robotcore.hardware.DistanceSensor; import com.qualcomm.robotcore.hardware.NormalizedColorSensor; import com.qualcomm.robotcore.hardware.NormalizedRGBA; @@ -318,4 +319,16 @@ public double[] getDistances(){ return new double[]{sensor1.getDistance(units), sensor2.getDistance(units)}; } } + + public static class REVHallEffectSensorClass { + private DigitalChannel sensor; + + public void init(@NonNull OpMode opMode, String sensorName){ + sensor = opMode.hardwareMap.get(DigitalChannel.class, sensorName); + } + + public Boolean getTriggered(){ + return sensor.getState(); + } + } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 3ed7dbf88de4..f56721bef0cf 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -1,12 +1,13 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; +import com.bylazar.configurables.annotations.Configurable; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; - +@Configurable public class Intake { // RESET THESE TO PRIVATE AFTER DECEMBER 6TH! private final Devices.DcMotorExClass intake = new Devices.DcMotorExClass(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 888e111241c4..5f728aaf38e8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -23,6 +23,7 @@ public class Turret { private final Devices.DcMotorExClass flywheel2 = new Devices.DcMotorExClass(); private final Devices.ServoClass hood = new Devices.ServoClass(); private final Devices.ServoClass gate = new Devices.ServoClass(); + private final Devices.REVHallEffectSensorClass hall = new Devices.REVHallEffectSensorClass(); // Turret PID coefficients public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.06, 0, 0); // 223RPM @@ -44,16 +45,24 @@ public enum flywheelstate { } public flywheelstate flywheelState = flywheelstate.OFF; + /** Controls the target speed of the flywheel when it is on */ public static double flywheelSpeed = 4500; - + /** Controls the upper software limit of the hood */ public static double upperHoodLimit = 260; + /** Controls the speed at which the turret will zero itself */ + public static double zeroSpeed = 0.2; + + // Stores the opmode object for later access + OpMode opMode = null; public void init(OpMode opmode){ + opMode = opmode; rotation.init(opmode, "turret", 145.1 * ((double) 131 /24)); //Previously 103.8 flywheel.init(opmode, "flywheel", 28); flywheel2.init(opmode, "flywheel2", 28); hood.init(opmode, "hood"); gate.init(opmode, "gate"); + hall.init(opmode, "hall"); rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); rotation.setDirection(DcMotorSimple.Direction.REVERSE); @@ -159,6 +168,14 @@ public void setFlywheelState(flywheelstate state){ flywheelState = state; } + public void zeroTurret(boolean stopIsCalled){ + while (!(hall.getTriggered() || stopIsCalled)){ + rotation.setPower(zeroSpeed); + } + rotation.setPower(0); + rotation.resetEncoder(); + } + /** * Updates the flywheel PID. Must be called every loop. */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index fff9cfefe75f..c92f591fa3a3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -74,6 +74,9 @@ public class Teleop_Main_ extends LinearOpMode { // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); + // Timer for the shooting state machine + TimerEx stateTimer = new TimerEx(1); + @Override public void runOpMode() { telemetry.addData("Status", "Initialized"); @@ -136,6 +139,11 @@ public void runOpMode() { telemetry.addLine(); telemetry.addData("Intake Mode", Robot.intake.getMode()); + // Color Sensor Telemetry + telemetry.addLine(); + telemetry.addData("Upper Sensor", Robot.intake.getTopSensorState()); + telemetry.addData("Lower Sensor", Robot.intake.getBottomSensorState()); + // System-related Telemetry telemetry.addLine(); telemetry.addData("Status", "Run Time: " + runtime.toString()); @@ -299,9 +307,16 @@ public void Gamepad2() { telemetry.addData("Shooting State", "OFF"); return; case 1: + if (Robot.intake.getMode() == intakeMode.OFF){ + stateTimer.restart(); + stateTimer.start(); + } Robot.intake.setMode(intakeMode.INTAKING); Robot.turret.setGateState(gatestate.OPEN); telemetry.addData("Shooting State", "STARTED"); + if (stateTimer.isDone() && Robot.intake.getTopSensorState() && !Robot.intake.getBottomSensorState()){ + shootingState++; + } return; case 2: Robot.intake.setMode(Intake.intakeMode.SHOOTING); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index c793e9ce39c8..06350c35c2c9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -34,10 +34,8 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; -import com.qualcomm.robotcore.hardware.NormalizedRGBA; import com.qualcomm.robotcore.util.ElapsedTime; -import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @TeleOp(name="Teleop_Outreach_", group="TeleOp") @@ -59,14 +57,12 @@ public void runOpMode() { LoadHardwareClass Robot = new LoadHardwareClass(this); // Initialize all hardware of the robot Robot.init(startPose); - - if (gamepad1.guide){ - Robot.turret.rotation.resetEncoder(); - } + Robot.turret.zeroTurret(isStopRequested()); // Wait for the game to start (driver presses START) waitForStart(); runtime.reset(); + Robot.drivetrain.startTeleOpDrive(); // run until the end of the match (driver presses STOP) while (opModeIsActive()) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Tuning_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Tuning_.java new file mode 100644 index 000000000000..61d79094d429 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Tuning_.java @@ -0,0 +1,134 @@ +/* Copyright (c) 2017 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; + +import com.bylazar.telemetry.PanelsTelemetry; +import com.bylazar.telemetry.TelemetryManager; +import com.pedropathing.geometry.Pose; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; + +@TeleOp(name="Teleop_Tuning_", group="TeleOp") +public class Teleop_Tuning_ extends LinearOpMode { + + // Declare OpMode members. + private ElapsedTime runtime = new ElapsedTime(); + private TelemetryManager panelsTelemetry = PanelsTelemetry.INSTANCE.getTelemetry(); + + // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. + private final Pose startPose = new Pose(88.5,7.8, Math.toRadians(90)); + + @Override + public void runOpMode() { + telemetry.addData("Status", "Initialized"); + telemetry.update(); + + // Create a new instance of our Robot class + LoadHardwareClass Robot = new LoadHardwareClass(this); + // Initialize all hardware of the robot + Robot.init(startPose); + + if (gamepad1.guide){ + Robot.turret.rotation.resetEncoder(); + } + + // Wait for the game to start (driver presses START) + waitForStart(); + runtime.reset(); + + // Begin TeleOp driving + Robot.drivetrain.startTeleOpDrive(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + + // Pass the joystick positions to our mecanum drive controller + Robot.drivetrain.pedroMecanumDrive( + gamepad1.left_stick_y/2, + gamepad1.left_stick_x/2, + gamepad1.right_stick_x/2, + true + ); + + // Color sensor telemetry + telemetry.addLine("COLOR SENSOR DATA"); + telemetry.addData("Color Sensor Threshold", Intake.proximitySensorThreshold); + telemetry.addData("Upper Sensor Array Triggered", Robot.intake.getTopSensorState()); + telemetry.addData("Lower Sensor Array Triggered", Robot.intake.getBottomSensorState()); + + // Controls for turret rotation testing + if (!gamepad1.x){ + Robot.turret.rotation.setAngle(0); + }else{ + Robot.turret.rotation.setAngle(180); + } + + // Controls for hood testing + if (gamepad1.dpad_up){ + Robot.turret.setHood(Robot.turret.getHood() + 2); + }else if (gamepad1.dpad_down){ + Robot.turret.setHood(Robot.turret.getHood() - 2); + } + telemetry.addLine(); + telemetry.addLine("HOOD DATA"); + telemetry.addData("Hood Angle", Robot.turret.getHood()); + + // Controls for flywheel testing + if (gamepad1.yWasPressed()){ + if (Robot.turret.flywheelState == Turret.flywheelstate.OFF){ + Robot.turret.setFlywheelState(Turret.flywheelstate.ON); + }else{ + Robot.turret.setFlywheelState(Turret.flywheelstate.OFF); + } + } + Robot.turret.updateFlywheel(); + telemetry.addLine(); + telemetry.addLine("FLYWHEEL DATA"); + telemetry.addData("Flywheel Target Velocity", Robot.turret.flywheel.target); + telemetry.addData("Flywheel Actual Velocity", Robot.turret.getFlywheelRPM()); + panelsTelemetry.addData("Flywheel Target Velocity", Robot.turret.flywheel.target); + panelsTelemetry.addData("Flywheel Actual Velocity", Robot.turret.getFlywheelRPM()); + + + // System-related Telemetry + telemetry.addLine(); + telemetry.addLine("SYSTEM DATA"); + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Version: ", "12/26/25"); + telemetry.update(); + panelsTelemetry.update(); + } + } +} From 1cbec0a8d8b97ff318c9607c4fdc8d4dc1f4a9e6 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Sat, 27 Dec 2025 20:39:21 -0500 Subject: [PATCH 115/152] Adjusted aimbot update function to pull the alliance directly from LoadHardwareClass.java --- .../teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 14 ++------------ .../Main_/Hardware_/Actuators_/Intake.java | 2 ++ .../Main_/Hardware_/Actuators_/Turret.java | 11 +++++------ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 7 +------ .../LOADCode/Main_/Teleop_/Teleop_Outreach_.java | 10 ---------- 5 files changed, 10 insertions(+), 34 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 8990861102b2..263851d0d12f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -113,21 +113,11 @@ public void onStartButtonPressed() { @Override public void onUpdate() { if (turretOn){ - switch (selectedAlliance) { - case RED: - telemetry.addData("Aimbot Target", "RED"); - Robot.turret.updateAimbot(Robot, true); - break; - case BLUE: - telemetry.addData("Aimbot Target", "BLUE"); - Robot.turret.updateAimbot(Robot, false); - break; - } + Robot.turret.updateAimbot(Robot); + telemetry.addData("Aimbot Target", selectedAlliance); } - Robot.turret.updateFlywheel(); - telemetry.addData("Path", paths.farStart_to_farLeave.endPose()); telemetry.addLine(); telemetry.addData("selectedAuto", selectedAuto); telemetry.addData("currentPose", Robot.drivetrain.follower.getPose()); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index f56721bef0cf..ef3a5338ea8e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -111,9 +111,11 @@ public void setTransfer(transferState state) { } public boolean getTopSensorState(){ + topSensor.threshold = proximitySensorThreshold; return topSensor.objectDetected(); } public boolean getBottomSensorState(){ + bottomSensor.threshold = proximitySensorThreshold; return bottomSensor.objectDetected(); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 5f728aaf38e8..0cd31300a4ff 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -90,11 +90,10 @@ public void updatePIDs(){ } /** - * @param robot The pose of the robot, gotten from PedroPathing's localization - * @param targetRedGoal Set this to true to target the red goal, otherwise targets the blue goal. + * @param robot The robot object in that opmode */ - public void updateAimbot(@NonNull LoadHardwareClass robot, boolean targetRedGoal){ - rotation.setAngle(calcLocalizer(robot.drivetrain.follower.getPose(), targetRedGoal)); + public void updateAimbot(@NonNull LoadHardwareClass robot){ + rotation.setAngle(calcLocalizer(robot.drivetrain.follower.getPose(), LoadHardwareClass.selectedAlliance)); } public void setGateState(gatestate state){ @@ -136,9 +135,9 @@ public gatestate getGate(){ } } - public double calcLocalizer (Pose robotPose, boolean targetRedGoal){ + public double calcLocalizer (Pose robotPose, LoadHardwareClass.Alliance alliance){ Pose goalPose = new Pose(4,140,0); - if (targetRedGoal) {goalPose = new Pose(140, 140, 0);} + if (alliance == LoadHardwareClass.Alliance.RED) {goalPose = new Pose(140, 140, 0);} return Math.toDegrees(Math.atan2( goalPose.getY()-robotPose.getY(), diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index c92f591fa3a3..cb838d472fac 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -48,7 +48,6 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.flywheelstate; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.gatestate; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.Alliance; @Configurable @@ -260,11 +259,7 @@ public void Gamepad1() { public void Gamepad2() { // Turret Aimbot - if (selectedAlliance == Alliance.RED) { - Robot.turret.updateAimbot(Robot, true); - } else if (selectedAlliance == Alliance.BLUE) { - Robot.turret.updateAimbot(Robot, false); - } + Robot.turret.updateAimbot(Robot); //Intake Controls (Left Stick Y) if (shootingState == 0) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java index 06350c35c2c9..c136b904818d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Outreach_.java @@ -75,16 +75,6 @@ public void runOpMode() { true ); - if (gamepad1.x){ - //Robot.turret.rotation.setAngle(180); - }else{ - //Robot.turret.rotation.setAngle(Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); - } - telemetry.addData("Target Angle", Robot.turret.calcLocalizer(Robot.drivetrain.follower.getPose(), true)); - telemetry.addData("Turret Angle", Robot.turret.rotation.getAngleAbsolute()); - telemetry.addData("Turret Motor Power", Robot.turret.rotation.getPower()); - telemetry.addLine(); - if (gamepad1.dpad_up){ Robot.turret.setHood(Robot.turret.getHood() + 2); }else if (gamepad1.dpad_down){ From 07ea660e18cdcd71503196add474ae4a1fdd1201 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 29 Dec 2025 11:26:35 -0500 Subject: [PATCH 116/152] Wrote wrapper in Commands.java to autoshoot all 3 balls using the proximity sensors, and swapped old shooting sequence in auto for that command. --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 38 +--------------- .../LOADCode/Main_/Hardware_/Commands.java | 44 ++++++++++++++++++- 2 files changed, 44 insertions(+), 38 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 263851d0d12f..d05c0b60b9d1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -10,17 +10,12 @@ import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; -import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; import dev.nextftc.core.commands.Command; -import dev.nextftc.core.commands.delays.Delay; -import dev.nextftc.core.commands.delays.WaitUntil; -import dev.nextftc.core.commands.groups.ParallelGroup; import dev.nextftc.core.commands.groups.SequentialGroup; import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; @@ -133,21 +128,7 @@ private Command Leave_Far_HP() { turretOn = true; startPose = paths.farStart; return new SequentialGroup( - new ParallelGroup( - // Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), - new Delay(5) - ), - Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), - new Delay(2), - Commands.setIntakeMode(Robot, Intake.intakeMode.INTAKING), - new Delay(1), - Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), - new Delay(2), - Commands.setTransferState(Robot, Intake.transferState.UP), - new Delay(1), - Commands.setTransferState(Robot, Intake.transferState.DOWN), - Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), - Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), + Commands.shootBalls(Robot), Commands.runPath(paths.farStart_to_farLeave, true, 0.6) ); } @@ -161,22 +142,7 @@ private Command Leave_Near_Launch() { turretOn = true; startPose = paths.nearStart; return new SequentialGroup( - Commands.setFlywheelState(Robot, Turret.flywheelstate.ON), - new ParallelGroup( - new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed), - new Delay(5) - ), - Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), - new Delay(2), - Commands.setIntakeMode(Robot, Intake.intakeMode.INTAKING), - new Delay(1), - Commands.setIntakeMode(Robot, Intake.intakeMode.SHOOTING), - new Delay(2), - Commands.setTransferState(Robot, Intake.transferState.UP), - new Delay(1), - Commands.setTransferState(Robot, Intake.transferState.DOWN), - Commands.setIntakeMode(Robot, Intake.intakeMode.OFF), - Commands.setFlywheelState(Robot, Turret.flywheelstate.OFF), + Commands.shootBalls(Robot), Commands.runPath(paths.nearShoot_to_nearLeave, true, 0.6) ); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 3b05f53fd8ae..c79e73a9c9b2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -1,19 +1,28 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; import com.pedropathing.paths.PathChain; +import com.skeletonarmy.marrow.TimerEx; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import dev.nextftc.core.commands.Command; +import dev.nextftc.core.commands.delays.WaitUntil; +import dev.nextftc.core.commands.groups.SequentialGroup; import dev.nextftc.core.commands.utility.InstantCommand; import dev.nextftc.core.commands.utility.LambdaCommand; import dev.nextftc.extensions.pedro.FollowPath; public class Commands { + private static final TimerEx shootingTimer = new TimerEx(1); + + private static Command resetShootingTimer() { + return new LambdaCommand("resetShootingTimer"); + } + public static Command runPath(PathChain path, boolean holdEnd) { - return new FollowPath(path, holdEnd); + return runPath(path, holdEnd, 1); } public static Command runPath(PathChain path, boolean holdEnd, double maxPower) { return new FollowPath(path, holdEnd, maxPower); @@ -25,7 +34,7 @@ public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheels .setStart(() -> Robot.turret.setFlywheelState(state)) .setIsDone(() -> { if (state == Turret.flywheelstate.ON){ - return Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed; + return Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed-100; }else{ return Robot.turret.getFlywheelRPM() < 100; } @@ -33,6 +42,12 @@ public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheels ; } + private static Command setGateState(LoadHardwareClass Robot, Turret.gatestate state){ + return new InstantCommand(new LambdaCommand("setGateState") + .setStart(() -> Robot.turret.setGateState(state)) + ); + } + public static Command setIntakeMode(LoadHardwareClass Robot, Intake.intakeMode state) { return new InstantCommand(new LambdaCommand("setIntakeMode()") .setStart(() -> Robot.intake.setMode(state)) @@ -47,4 +62,29 @@ public static Command setTransferState(LoadHardwareClass Robot, Intake.transferS ); } + public static Command shootBalls(LoadHardwareClass Robot){ + return new SequentialGroup( + // Ensure the flywheel is up to speed, if not, spin up first + setFlywheelState(Robot, Turret.flywheelstate.ON), + new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed-100), + + // Shoot the first two balls + setIntakeMode(Robot, Intake.intakeMode.INTAKING), + setGateState(Robot, Turret.gatestate.OPEN), + resetShootingTimer(), + new WaitUntil(() -> Robot.intake.getTopSensorState() && !Robot.intake.getBottomSensorState() && shootingTimer.isDone()), + + // Shoot the last ball + setIntakeMode(Robot, Intake.intakeMode.SHOOTING), + setTransferState(Robot, Intake.transferState.UP), + resetShootingTimer(), + new WaitUntil(shootingTimer::isDone), + + // Reset the systems + setIntakeMode(Robot, Intake.intakeMode.OFF), + setGateState(Robot, Turret.gatestate.CLOSED), + setTransferState(Robot, Intake.transferState.DOWN) + ); + } + } From 44528d11016b0e2862af99aee58c9d275a1f75c8 Mon Sep 17 00:00:00 2001 From: Ari Date: Mon, 29 Dec 2025 18:03:43 -0500 Subject: [PATCH 117/152] Added odometry telemetry to teleop because i was having issues with odometry wires earlier and also added a new test path. --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 7 ++++++- .../ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java | 4 ++++ .../firstinspires/ftc/teamcode/LOADCode/Notes and TODOs | 4 ++-- 3 files changed, 12 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index d05c0b60b9d1..4bdc2e6915ab 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -155,7 +155,12 @@ private Command test_Auto(){ */ return new RetryCommand( new SequentialGroup( - + Commands.runPath(paths.farStart_to_farPreload,true,0.6), + Commands.runPath(paths.farPreload_to_farShoot,true,0.6), + Commands.runPath(paths.farShoot_to_midPreload, true, 0.6), + Commands.runPath(paths.midPreload_to_midShoot, true, 0.6), + Commands.runPath(paths.midShoot_to_nearPreload, true, 0.6), + Commands.runPath(paths.nearPreload_to_nearShoot, true, 0.6) ), () -> time.isLessThan(5), 10 diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index cb838d472fac..3add9219b3b5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -119,6 +119,10 @@ public void runOpMode() { telemetry.addData("SpeedMult", Robot.drivetrain.speedMultiplier); telemetry.addLine(); + //positional telemetry + telemetry.addData("X Position: ", Robot.drivetrain.follower.getPose().getX()); + telemetry.addData("Y Position: ", Robot.drivetrain.follower.getPose().getY()); + telemetry.addLine(); // Turret-related Telemetry panelsTelemetry.addData("Turret Target Angle", Robot.turret.rotation.target); panelsTelemetry.addData("Turret Actual Angle", Robot.turret.rotation.getAngleAbsolute()); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs index 39976888d7a7..9e19264603b7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Notes and TODOs @@ -22,10 +22,10 @@ -//1. TODO, test the auto paths used in the generic autos +//1. TODO, test the auto paths used in the generic autos - ARI WORKING ON IT! //2. TODO, create two generic autos for testing and competition //3. TODO, test the turret rotation autoaim with shooting //4. TODO, establish static (non-changing) flywheel speeds for near/far zones //5. TODO, make hood autoaim using InterpLUT //6. TODO, test turret hood and rotation autoaim together -//7. TODO, test turret autoaim with the generic autos \ No newline at end of file +//7. TODO, test turret autoaim with the generic autos - ADD THE TURRET CONTROL FUNCTIONALITY TO COMMANDS \ No newline at end of file From 264d8fc7b0dd9ff11129efd51b0d747d81d4563e Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 29 Dec 2025 18:59:56 -0500 Subject: [PATCH 118/152] More tweaks for auto testing --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 19 ++++------ .../Hardware_/Drivetrain_/Pedro_Paths.java | 36 +++++++++---------- 2 files changed, 24 insertions(+), 31 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 4bdc2e6915ab..d5b9fc0ebd54 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -6,7 +6,6 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.skeletonarmy.marrow.TimerEx; -import com.skeletonarmy.marrow.nextftc.RetryCommand; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -153,17 +152,13 @@ private Command test_Auto(){ to be run as many times as you want unless the time is less than a given amount */ - return new RetryCommand( - new SequentialGroup( - Commands.runPath(paths.farStart_to_farPreload,true,0.6), - Commands.runPath(paths.farPreload_to_farShoot,true,0.6), - Commands.runPath(paths.farShoot_to_midPreload, true, 0.6), - Commands.runPath(paths.midPreload_to_midShoot, true, 0.6), - Commands.runPath(paths.midShoot_to_nearPreload, true, 0.6), - Commands.runPath(paths.nearPreload_to_nearShoot, true, 0.6) - ), - () -> time.isLessThan(5), - 10 + return new SequentialGroup( + Commands.runPath(paths.farStart_to_farPreload,true,0.6), + Commands.runPath(paths.farPreload_to_farShoot,true,0.6), + Commands.runPath(paths.farShoot_to_midPreload, true, 0.6), + Commands.runPath(paths.midPreload_to_midShoot, true, 0.6), + Commands.runPath(paths.midShoot_to_nearPreload, true, 0.6), + Commands.runPath(paths.nearPreload_to_nearShoot, true, 0.6) ); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index 713559941a20..a459ceaf6efe 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -19,9 +19,9 @@ public class Pedro_Paths { public Pose nearStart = new Pose(112, 136.6, Math.toRadians(270)); public Pose farStart = new Pose(88, 7.4, Math.toRadians(90)); // Preload Poses - public Pose nearPreload = new Pose(128.000, 83.500, Math.toRadians(90)); - public Pose midPreload = new Pose(132.000, 59.500, Math.toRadians(90)); - public Pose farPreload = new Pose(132.000, 35.500, Math.toRadians(90)); + public Pose nearPreload = new Pose(128.000, 83.500, Math.toRadians(0)); + public Pose midPreload = new Pose(132.000, 59.500, Math.toRadians(0)); + public Pose farPreload = new Pose(132.000, 35.500, Math.toRadians(0)); // Shooting Poses public Pose nearShoot = new Pose(115, 120, Math.toRadians(-35)); public Pose midShoot = new Pose(85, 85, Math.toRadians(-15)); @@ -65,7 +65,7 @@ public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ } public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { - nearStart_to_nearPreload = follower.pathBuilder() + nearStart_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(nearStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), @@ -78,9 +78,9 @@ public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { autoMirror(new Pose(110.000, 83.500), alliance), autoMirror(nearPreload, alliance) )) - .setTangentHeadingInterpolation() + .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); - nearStart_to_midPreload = follower.pathBuilder() + nearStart_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(nearStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), @@ -93,9 +93,9 @@ public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { autoMirror(new Pose(110.000, 59.500), alliance), autoMirror(midPreload, alliance) )) - .setTangentHeadingInterpolation() + .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); - nearStart_to_farPreload = follower.pathBuilder() + nearStart_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(nearStart, alliance), autoMirror(new Pose(89.000, 136.600), alliance), @@ -108,14 +108,14 @@ public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { autoMirror(new Pose(110.000, 35.500), alliance), autoMirror(farPreload, alliance) )) - .setTangentHeadingInterpolation() + .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); } public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ - farStart_to_nearPreload = follower.pathBuilder() + farStart_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(farStart, alliance), - autoMirror(new Pose(89.000, 89.000), alliance), + autoMirror(new Pose(89.000, 79.000), alliance), autoMirror(new Pose(95.000, 83.500), alliance), autoMirror(new Pose(110.000, 83.500), alliance) )) @@ -124,13 +124,12 @@ public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ autoMirror(new Pose(110.000, 83.500), alliance), autoMirror(nearPreload, alliance) )) - .setTangentHeadingInterpolation() + .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); - farStart_to_midPreload = follower.pathBuilder() + farStart_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(farStart, alliance), - autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 65.000), alliance), + autoMirror(new Pose(89.000, 55.000), alliance), autoMirror(new Pose(95.000, 59.500), alliance), autoMirror(new Pose(110.000, 59.500), alliance) )) @@ -139,13 +138,12 @@ public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ autoMirror(new Pose(110.000, 59.500), alliance), autoMirror(midPreload, alliance) )) - .setTangentHeadingInterpolation() + .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); farStart_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( autoMirror(farStart, alliance), - autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 41.000), alliance), + autoMirror(new Pose(89.000, 25), alliance), autoMirror(new Pose(95.000, 35.500), alliance), autoMirror(new Pose(110.000, 35.500), alliance) )) @@ -154,7 +152,7 @@ public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ autoMirror(new Pose(110.000, 35.500), alliance), autoMirror(farPreload, alliance) )) - .setTangentHeadingInterpolation() + .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); } public void buildPreload1ToShootings(LoadHardwareClass.Alliance alliance){ From e920ee09728456895f31f6735eabbaa40c66ec0c Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 29 Dec 2025 21:26:47 -0500 Subject: [PATCH 119/152] Improved some formatting for auto Commands by passing Robot object in a constructor --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 8 ++-- .../LOADCode/Main_/Hardware_/Commands.java | 43 +++++++++++-------- 2 files changed, 28 insertions(+), 23 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index d5b9fc0ebd54..d38959977763 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -5,7 +5,6 @@ import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.skeletonarmy.marrow.TimerEx; import com.skeletonarmy.marrow.prompts.OptionPrompt; import com.skeletonarmy.marrow.prompts.Prompter; @@ -37,13 +36,12 @@ private enum Auto { // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; - // Create a TimerEx object for time tracking - TimerEx time = new TimerEx(30); - // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); // Create a Paths object for accessing modular auto paths Pedro_Paths paths = new Pedro_Paths(); + // Create a Commands object for auto creation + Commands Commands = new Commands(Robot); public Auto_Main_() { addComponents( @@ -152,6 +150,8 @@ private Command test_Auto(){ to be run as many times as you want unless the time is less than a given amount */ + turretOn = false; + startPose = paths.farStart; return new SequentialGroup( Commands.runPath(paths.farStart_to_farPreload,true,0.6), Commands.runPath(paths.farPreload_to_farShoot,true,0.6), diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index c79e73a9c9b2..04914cc0b7c3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -1,5 +1,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_; +import androidx.annotation.NonNull; + import com.pedropathing.paths.PathChain; import com.skeletonarmy.marrow.TimerEx; @@ -15,20 +17,23 @@ public class Commands { - private static final TimerEx shootingTimer = new TimerEx(1); + // Robot Object for command access + public LoadHardwareClass Robot; + public Commands(@NonNull LoadHardwareClass robot){ + Robot = robot; + } + // Delay timer for shooting sequence + private static final TimerEx shootingTimer = new TimerEx(1); private static Command resetShootingTimer() { - return new LambdaCommand("resetShootingTimer"); + return new LambdaCommand("resetShootingTimer").setStart(shootingTimer::restart); } - public static Command runPath(PathChain path, boolean holdEnd) { - return runPath(path, holdEnd, 1); - } - public static Command runPath(PathChain path, boolean holdEnd, double maxPower) { + public Command runPath(PathChain path, boolean holdEnd, double maxPower) { return new FollowPath(path, holdEnd, maxPower); } - public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheelstate state) { + public Command setFlywheelState(Turret.flywheelstate state) { return new LambdaCommand("setFlywheelState()") .setInterruptible(false) .setStart(() -> Robot.turret.setFlywheelState(state)) @@ -42,48 +47,48 @@ public static Command setFlywheelState(LoadHardwareClass Robot, Turret.flywheels ; } - private static Command setGateState(LoadHardwareClass Robot, Turret.gatestate state){ + private Command setGateState(Turret.gatestate state){ return new InstantCommand(new LambdaCommand("setGateState") .setStart(() -> Robot.turret.setGateState(state)) ); } - public static Command setIntakeMode(LoadHardwareClass Robot, Intake.intakeMode state) { + public Command setIntakeMode(Intake.intakeMode state) { return new InstantCommand(new LambdaCommand("setIntakeMode()") .setStart(() -> Robot.intake.setMode(state)) .setIsDone(() -> true) ); } - public static Command setTransferState(LoadHardwareClass Robot, Intake.transferState state) { + public Command setTransferState(Intake.transferState state) { return new InstantCommand(new LambdaCommand("setIntakeMode()") .setStart(() -> Robot.intake.setTransfer(state)) .setIsDone(() -> true) ); } - public static Command shootBalls(LoadHardwareClass Robot){ + public Command shootBalls(LoadHardwareClass Robot){ return new SequentialGroup( // Ensure the flywheel is up to speed, if not, spin up first - setFlywheelState(Robot, Turret.flywheelstate.ON), + setFlywheelState(Turret.flywheelstate.ON), new WaitUntil(() -> Robot.turret.getFlywheelRPM() > Turret.flywheelSpeed-100), // Shoot the first two balls - setIntakeMode(Robot, Intake.intakeMode.INTAKING), - setGateState(Robot, Turret.gatestate.OPEN), + setIntakeMode(Intake.intakeMode.INTAKING), + setGateState(Turret.gatestate.OPEN), resetShootingTimer(), new WaitUntil(() -> Robot.intake.getTopSensorState() && !Robot.intake.getBottomSensorState() && shootingTimer.isDone()), // Shoot the last ball - setIntakeMode(Robot, Intake.intakeMode.SHOOTING), - setTransferState(Robot, Intake.transferState.UP), + setIntakeMode(Intake.intakeMode.SHOOTING), + setTransferState(Intake.transferState.UP), resetShootingTimer(), new WaitUntil(shootingTimer::isDone), // Reset the systems - setIntakeMode(Robot, Intake.intakeMode.OFF), - setGateState(Robot, Turret.gatestate.CLOSED), - setTransferState(Robot, Intake.transferState.DOWN) + setIntakeMode(Intake.intakeMode.OFF), + setGateState(Turret.gatestate.CLOSED), + setTransferState(Intake.transferState.DOWN) ); } From f3aa71b151990bec7ab5337facd13bd97ccd84c4 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 29 Dec 2025 21:38:43 -0500 Subject: [PATCH 120/152] Improved some formatting for auto Commands by passing Robot object in a constructor --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 4 ++-- .../ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index d38959977763..4d8eb773428f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -125,7 +125,7 @@ private Command Leave_Far_HP() { turretOn = true; startPose = paths.farStart; return new SequentialGroup( - Commands.shootBalls(Robot), + Commands.shootBalls(), Commands.runPath(paths.farStart_to_farLeave, true, 0.6) ); } @@ -139,7 +139,7 @@ private Command Leave_Near_Launch() { turretOn = true; startPose = paths.nearStart; return new SequentialGroup( - Commands.shootBalls(Robot), + Commands.shootBalls(), Commands.runPath(paths.nearShoot_to_nearLeave, true, 0.6) ); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 04914cc0b7c3..5c84305559b9 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -67,7 +67,7 @@ public Command setTransferState(Intake.transferState state) { ); } - public Command shootBalls(LoadHardwareClass Robot){ + public Command shootBalls(){ return new SequentialGroup( // Ensure the flywheel is up to speed, if not, spin up first setFlywheelState(Turret.flywheelstate.ON), From 7ea0b890bbbf82b5402cc3d31f62835292d926a5 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Mon, 29 Dec 2025 21:58:39 -0500 Subject: [PATCH 121/152] Significantly overhauled the way new auto programs are created --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 144 ++++++++++-------- 1 file changed, 79 insertions(+), 65 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 4d8eb773428f..3b70ff5e8d58 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -13,7 +13,6 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; -import dev.nextftc.core.commands.Command; import dev.nextftc.core.commands.groups.SequentialGroup; import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; @@ -21,21 +20,10 @@ @Autonomous(name = "Auto_Main_", group = "Main", preselectTeleOp="Teleop_Main_") public class Auto_Main_ extends NextFTCOpMode { - // Define other PedroPathing constants - private Pose startPose = new Pose(87, 8.8, Math.toRadians(90)); // Start Pose of our robot. - - private enum Auto { - LEAVE_NEAR_LAUNCH, - LEAVE_FAR_HP, - TEST_AUTO - } - + // Variable to store the selected auto program private Auto selectedAuto = null; - private boolean turretOn = true; - // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; - // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); // Create a Paths object for accessing modular auto paths @@ -43,6 +31,10 @@ private enum Auto { // Create a Commands object for auto creation Commands Commands = new Commands(Robot); + // Auto parameter variables + private boolean turretOn = true; + private Pose startPose = paths.farStart; // Start Pose of our robot. + public Auto_Main_() { addComponents( new PedroComponent(Constants::createFollower) @@ -59,15 +51,15 @@ public void onInit() { )); prompter.prompt("auto", new OptionPrompt<>("Select Auto", - Auto.LEAVE_NEAR_LAUNCH, - Auto.LEAVE_FAR_HP, - Auto.TEST_AUTO + new Leave_Far_HP(), + new Leave_Near_Launch(), + new test_Auto() )); prompter.onComplete(() -> { selectedAlliance = prompter.get("alliance"); selectedAuto = prompter.get("auto"); telemetry.addData("Selection", "Complete"); - telemetry.addData("Alliance", selectedAlliance); + telemetry.addData("Alliance", selectedAlliance.toString()); telemetry.addData("Auto", selectedAuto); telemetry.update(); } @@ -83,22 +75,13 @@ public void onWaitForStart() { public void onStartButtonPressed() { // Build paths paths.buildPaths(selectedAlliance, follower()); - // Schedule the proper auto - switch (selectedAuto) { - case LEAVE_NEAR_LAUNCH: - Leave_Near_Launch().schedule(); - break; - case LEAVE_FAR_HP: - Leave_Far_HP().schedule(); - break; - case TEST_AUTO: - test_Auto().schedule(); - break; - } // Initialize all hardware of the robot Robot.init(startPose, follower()); + // Schedule the proper auto + selectedAuto.runAuto(); - telemetry.addData("Initialized", ""); + // Indicate that initialization is done + telemetry.addLine("Initialized"); telemetry.update(); } @@ -117,48 +100,79 @@ public void onUpdate() { } /** - * This auto starts at the far zone, - * shoots it's preloads after 5 seconds, - * and goes to the leave zone next to the human player zone. + * This class serves as a template for all auto programs.
+ * The methods runAuto() and ToString() must be overridden for each auto. */ - private Command Leave_Far_HP() { - turretOn = true; - startPose = paths.farStart; - return new SequentialGroup( - Commands.shootBalls(), - Commands.runPath(paths.farStart_to_farLeave, true, 0.6) - ); + private static class Auto{ + /** Override this to schedule the auto command*/ + public void runAuto(){} + /** Override this to return the name of the auto*/ + @SuppressWarnings("unused") + public String ToString(){return "";} } /** - * This auto starts at the near zone, - * shoots it's preloads after 5 seconds, + * This auto starts at the far zone, shoots it's preloads,
+ * and goes to the leave zone next to the human player zone. + */ + private class Leave_Far_HP extends Auto{ + Leave_Far_HP(){ + turretOn = true; + startPose = paths.farStart; + } + + @Override + public void runAuto(){ + new SequentialGroup( + Commands.shootBalls(), + Commands.runPath(paths.farStart_to_farLeave, true, 0.6) + ).schedule(); + } + + @Override + public String ToString(){return "Shoot Far Preloads";} + } + /** + * This auto starts at the near zone, shoots it's preloads,
* and goes to the leave pose that is in the launch zone. */ - private Command Leave_Near_Launch() { - turretOn = true; - startPose = paths.nearStart; - return new SequentialGroup( - Commands.shootBalls(), - Commands.runPath(paths.nearShoot_to_nearLeave, true, 0.6) - ); + private class Leave_Near_Launch extends Auto{ + Leave_Near_Launch(){ + turretOn = true; + startPose = paths.nearStart; + } + + @Override + public void runAuto(){ + new SequentialGroup( + Commands.shootBalls(), + Commands.runPath(paths.nearStart_to_nearLeave, true, 0.6) + ).schedule(); + } + + @Override + public String ToString(){return "Shoot Near Preloads";} } - private Command test_Auto(){ - /* - This RetryCommand allows for a command/set of commands - to be run as many times as you want unless the time is - less than a given amount - */ - turretOn = false; - startPose = paths.farStart; - return new SequentialGroup( - Commands.runPath(paths.farStart_to_farPreload,true,0.6), - Commands.runPath(paths.farPreload_to_farShoot,true,0.6), - Commands.runPath(paths.farShoot_to_midPreload, true, 0.6), - Commands.runPath(paths.midPreload_to_midShoot, true, 0.6), - Commands.runPath(paths.midShoot_to_nearPreload, true, 0.6), - Commands.runPath(paths.nearPreload_to_nearShoot, true, 0.6) - ); + private class test_Auto extends Auto{ + test_Auto(){ + turretOn = false; + startPose = paths.farStart; + } + + @Override + public void runAuto(){ + new SequentialGroup( + Commands.runPath(paths.farStart_to_farPreload,true,0.6), + Commands.runPath(paths.farPreload_to_farShoot,true,0.6), + Commands.runPath(paths.farShoot_to_midPreload, true, 0.6), + Commands.runPath(paths.midPreload_to_midShoot, true, 0.6), + Commands.runPath(paths.midShoot_to_nearPreload, true, 0.6), + Commands.runPath(paths.nearPreload_to_nearShoot, true, 0.6) + ).schedule(); + } + + @Override + public String ToString(){return "Test Auto";} } } From 0dd63445a6f2697a4f3c05ee46ab2f098207d818 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 30 Dec 2025 08:37:04 -0500 Subject: [PATCH 122/152] Adjusted the implementation of Auto template class to make it easier to define some additional parameters for the autos --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 40 ++++++++++++------- 1 file changed, 26 insertions(+), 14 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 3b70ff5e8d58..364115c481cd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -21,7 +21,7 @@ public class Auto_Main_ extends NextFTCOpMode { // Variable to store the selected auto program - private Auto selectedAuto = null; + Auto selectedAuto = null; // Create the prompter object for selecting Alliance and Auto Prompter prompter = null; // Create a new instance of our Robot class @@ -35,6 +35,7 @@ public class Auto_Main_ extends NextFTCOpMode { private boolean turretOn = true; private Pose startPose = paths.farStart; // Start Pose of our robot. + @SuppressWarnings("unused") public Auto_Main_() { addComponents( new PedroComponent(Constants::createFollower) @@ -87,6 +88,8 @@ public void onStartButtonPressed() { @Override public void onUpdate() { + telemetry.addData("Running Auto", selectedAuto.toString()); + telemetry.addLine(); if (turretOn){ Robot.turret.updateAimbot(Robot); telemetry.addData("Aimbot Target", selectedAlliance); @@ -94,8 +97,7 @@ public void onUpdate() { Robot.turret.updateFlywheel(); telemetry.addLine(); - telemetry.addData("selectedAuto", selectedAuto); - telemetry.addData("currentPose", Robot.drivetrain.follower.getPose()); + telemetry.addData("Current Robot Pose", Robot.drivetrain.follower.getPose()); telemetry.update(); } @@ -103,22 +105,34 @@ public void onUpdate() { * This class serves as a template for all auto programs.
* The methods runAuto() and ToString() must be overridden for each auto. */ - private static class Auto{ + abstract class Auto{ + /** + * This constructor must be called from the child class using super() + * @param startingPose Indicates the starting pose of the robot + * @param runTurret Indicates whether to run the turret auto aim functions + */ + Auto(Pose startingPose, Boolean runTurret){ + turretOn = runTurret; + startPose = startingPose; + } + Auto(Pose startingPose){ + turretOn = true; + startPose = startingPose; + } + /** Override this to schedule the auto command*/ - public void runAuto(){} - /** Override this to return the name of the auto*/ + abstract void runAuto(); + /** Override this to rename the auto*/ @SuppressWarnings("unused") - public String ToString(){return "";} + abstract String ToString(); } - /** * This auto starts at the far zone, shoots it's preloads,
* and goes to the leave zone next to the human player zone. */ private class Leave_Far_HP extends Auto{ Leave_Far_HP(){ - turretOn = true; - startPose = paths.farStart; + super(paths.farStart); } @Override @@ -138,8 +152,7 @@ public void runAuto(){ */ private class Leave_Near_Launch extends Auto{ Leave_Near_Launch(){ - turretOn = true; - startPose = paths.nearStart; + super(paths.nearStart, true); } @Override @@ -156,8 +169,7 @@ public void runAuto(){ private class test_Auto extends Auto{ test_Auto(){ - turretOn = false; - startPose = paths.farStart; + super(paths.farStart, false); } @Override From 040ac93f559ae0e3b68059946f75c9c6d146adf7 Mon Sep 17 00:00:00 2001 From: Ari Date: Tue, 30 Dec 2025 17:43:37 -0500 Subject: [PATCH 123/152] Added a temp speed value to Auto_Main for David's viewing pleasure --- .../teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 364115c481cd..2425e351afc0 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -174,13 +174,14 @@ private class test_Auto extends Auto{ @Override public void runAuto(){ + double tempSpeed = 1; new SequentialGroup( - Commands.runPath(paths.farStart_to_farPreload,true,0.6), - Commands.runPath(paths.farPreload_to_farShoot,true,0.6), - Commands.runPath(paths.farShoot_to_midPreload, true, 0.6), - Commands.runPath(paths.midPreload_to_midShoot, true, 0.6), - Commands.runPath(paths.midShoot_to_nearPreload, true, 0.6), - Commands.runPath(paths.nearPreload_to_nearShoot, true, 0.6) + Commands.runPath(paths.farStart_to_farPreload,true,tempSpeed), + Commands.runPath(paths.farPreload_to_farShoot,true,tempSpeed), + Commands.runPath(paths.farShoot_to_midPreload, true, tempSpeed), + Commands.runPath(paths.midPreload_to_midShoot, true, tempSpeed), + Commands.runPath(paths.midShoot_to_nearPreload, true, tempSpeed), + Commands.runPath(paths.nearPreload_to_nearShoot, true, tempSpeed) ).schedule(); } From fdc2d0d8eb6508bab3df5c2476c037fafdcbaea1 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 30 Dec 2025 17:47:17 -0500 Subject: [PATCH 124/152] Fixed bug with the toString() method in the auto programs --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 2425e351afc0..ac7fd057f612 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -3,6 +3,8 @@ import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; import static dev.nextftc.extensions.pedro.PedroComponent.follower; +import androidx.annotation.NonNull; + import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.skeletonarmy.marrow.prompts.OptionPrompt; @@ -123,8 +125,9 @@ abstract class Auto{ /** Override this to schedule the auto command*/ abstract void runAuto(); /** Override this to rename the auto*/ - @SuppressWarnings("unused") - abstract String ToString(); + @NonNull + @Override + public abstract String toString(); } /** * This auto starts at the far zone, shoots it's preloads,
@@ -143,8 +146,9 @@ public void runAuto(){ ).schedule(); } + @NonNull @Override - public String ToString(){return "Shoot Far Preloads";} + public String toString(){return "Shoot Far Preloads";} } /** * This auto starts at the near zone, shoots it's preloads,
@@ -163,8 +167,9 @@ public void runAuto(){ ).schedule(); } + @NonNull @Override - public String ToString(){return "Shoot Near Preloads";} + public String toString(){return "Shoot Near Preloads";} } private class test_Auto extends Auto{ @@ -185,7 +190,8 @@ public void runAuto(){ ).schedule(); } + @NonNull @Override - public String ToString(){return "Test Auto";} + public String toString(){return "Test Auto";} } } From 6baa577b149aed2e0f8bf21e3d0589dfaf463ed9 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 30 Dec 2025 17:51:30 -0500 Subject: [PATCH 125/152] Fixed incorrect start position for some of the auto paths --- .../LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index a459ceaf6efe..2d9da6839ca2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -208,7 +208,7 @@ public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ farPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midPreload, alliance), + autoMirror(farPreload, alliance), autoMirror(new Pose(75,30), alliance), autoMirror(new Pose(80,100), alliance), autoMirror(nearShoot, alliance) @@ -217,7 +217,7 @@ public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ .build(); farPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midPreload, alliance), + autoMirror(farPreload, alliance), autoMirror(new Pose(85,32), alliance), autoMirror(midShoot, alliance) )) @@ -225,7 +225,7 @@ public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ .build(); farPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midPreload, alliance), + autoMirror(farPreload, alliance), autoMirror(farShoot, alliance) )) .setLinearHeadingInterpolation(midPreload.getHeading(), farShoot.getHeading()) From 8f17186adb0d23e51a246bc53096caa83c3d997f Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Tue, 30 Dec 2025 21:25:05 -0500 Subject: [PATCH 126/152] Implemented (But did not finish/enable) the InterpLUT within Turret.java for the hood autoaim. --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 2 +- .../Main_/Hardware_/Actuators_/Turret.java | 96 +++++++++++++------ .../Main_/Hardware_/LoadHardwareClass.java | 4 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 6 +- .../ftc/teamcode/LOADCode/Main_/Utils_.java | 3 +- 5 files changed, 77 insertions(+), 34 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index ac7fd057f612..cee21c316753 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -93,7 +93,7 @@ public void onUpdate() { telemetry.addData("Running Auto", selectedAuto.toString()); telemetry.addLine(); if (turretOn){ - Robot.turret.updateAimbot(Robot); + Robot.turret.updateAimbot(); telemetry.addData("Aimbot Target", selectedAlliance); } Robot.turret.updateFlywheel(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 0cd31300a4ff..e5f1484462b5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -1,7 +1,5 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_; -import androidx.annotation.NonNull; - import com.bylazar.configurables.annotations.Configurable; import com.pedropathing.geometry.Pose; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -10,6 +8,7 @@ import com.qualcomm.robotcore.hardware.Servo; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Utils_; import dev.nextftc.control.feedback.PIDCoefficients; import dev.nextftc.control.feedforward.BasicFeedforwardParameters; @@ -26,37 +25,47 @@ public class Turret { private final Devices.REVHallEffectSensorClass hall = new Devices.REVHallEffectSensorClass(); // Turret PID coefficients - public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.06, 0, 0); // 223RPM - //public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.3, 0, 0.007); // 1150RPM + public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.06, 0, 0); // 223RPM Motor + //public static PIDCoefficients turretCoefficients = new PIDCoefficients(0.3, 0, 0.007); // 1150RPM Motor // Flywheel PID coefficients // 4500RPM public static PIDCoefficients flywheelCoefficients = new PIDCoefficients(0.0002, 0, 0); public static BasicFeedforwardParameters flywheelFFCoefficients = new BasicFeedforwardParameters(0.000026,0,0); + // Define any Enums here public enum gatestate { OPEN, CLOSED, } - public enum flywheelstate { ON, OFF } - public flywheelstate flywheelState = flywheelstate.OFF; - /** Controls the target speed of the flywheel when it is on */ + // Define any state variables or important parameters here + /** Stores the current state of the flywheel.*/ + public flywheelstate flywheelState = flywheelstate.OFF; + /** Controls the target speed of the flywheel when it is on.*/ public static double flywheelSpeed = 4500; - /** Controls the upper software limit of the hood */ + /** Controls the upper software limit of the hood.*/ public static double upperHoodLimit = 260; - /** Controls the speed at which the turret will zero itself */ + /** Controls the speed at which the turret will move to zero itself.*/ public static double zeroSpeed = 0.2; - // Stores the opmode object for later access + // Stores important objects for later access OpMode opMode = null; + LoadHardwareClass Robot = null; + + // The variable to store the InterpLUT table for turret hood aimbot + Utils_.InterpLUT hoodLUT = new Utils_.InterpLUT(); - public void init(OpMode opmode){ + public void init(OpMode opmode, LoadHardwareClass robot){ + // Store important objects in their respective variables opMode = opmode; + Robot = robot; + + // Initialize hardware objects rotation.init(opmode, "turret", 145.1 * ((double) 131 /24)); //Previously 103.8 flywheel.init(opmode, "flywheel", 28); flywheel2.init(opmode, "flywheel2", 28); @@ -64,13 +73,17 @@ public void init(OpMode opmode){ gate.init(opmode, "gate"); hall.init(opmode, "hall"); - rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); - rotation.setDirection(DcMotorSimple.Direction.REVERSE); + // Set servos to initial positions + setGateState(gatestate.CLOSED); + setHood(0); - gate.setAngle(0.5); + // Set servo directions hood.setDirection(Servo.Direction.REVERSE); + // Set motor directions and zero power behaviour flywheel2.setDirection(DcMotorSimple.Direction.REVERSE); + rotation.setZeroPowerBehaviour(DcMotor.ZeroPowerBehavior.BRAKE); + rotation.setDirection(DcMotorSimple.Direction.REVERSE); // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); @@ -78,8 +91,13 @@ public void init(OpMode opmode){ flywheel.setFFCoefficients(flywheelFFCoefficients); flywheel2.setPidCoefficients(flywheelCoefficients); flywheel2.setFFCoefficients(flywheelFFCoefficients); + + // TODO Build hood InterpLUT for autoaim +// hoodLUT.add(0,0); +// hoodLUT.add(1,1); } + /** Sets the value of the internal motor PID coefficients */ public void updatePIDs(){ // Pass PID pidCoefficients to motor classes rotation.setPidCoefficients(turretCoefficients); @@ -90,12 +108,21 @@ public void updatePIDs(){ } /** - * @param robot The robot object in that opmode + * Runs the aimbot program to control the turret rotation and hood angle.
+ * Must be called every loop to function properly. */ - public void updateAimbot(@NonNull LoadHardwareClass robot){ - rotation.setAngle(calcLocalizer(robot.drivetrain.follower.getPose(), LoadHardwareClass.selectedAlliance)); + public void updateAimbot(){ + // Set the turret rotation + rotation.setAngle(calcLocalizer()); + // Set the hood angle + Pose goalPose = new Pose(4,140,0); + if (LoadHardwareClass.selectedAlliance == LoadHardwareClass.Alliance.RED) {goalPose = new Pose(140, 140, 0);} + //setHood(hoodLUT.get(Robot.drivetrain.follower.getPose().distanceFrom(goalPose))); } + /** + * Sets the state of the turret gate. + */ public void setGateState(gatestate state){ if (state == gatestate.OPEN){ gate.setAngle(0.5); @@ -106,22 +133,23 @@ public void setGateState(gatestate state){ /** * Sets the angle of the hood. - * @param angle An angle in degrees that is constrained to between 0 and 320 degrees + * @param angle An angle in degrees that is constrained to between 0 and the upper hood limit. */ public void setHood(double angle){ hood.setAngle(Math.min(Math.max(angle, 0), upperHoodLimit)/(360*5)); } /** - * Gets the angle of the hood - * @return A value between 0 and 45 degrees + * Gets the last set position of the turret hood. + * @return The angle of the hood in degrees. */ public double getHood(){ return hood.getAngle() * 360 * 5; } /** - * Outputs one of the following modes + * Gets the current state of the turret gate. + * Outputs one of the following modes. *

*/ public gatestate getGate(){ - if (gate.getAngle() == 0.5){ + if (gate.getAngle() == 0.47){ return gatestate.OPEN; } else { return gatestate.CLOSED; @@ -265,18 +281,13 @@ public void setFlywheelState(flywheelState state){ } public double getFlywheelCurrentMaxSpeed(){ - return flywheel.target; + return targetRPM; } - /** - * Resets the zero position of the turret using the hall effect switch
- * Must be called within the INIT loop in the opmode to work. - * - */ - public static double zeroSpeed = 1; + public boolean zeroTurret(){ if (!zeroed){ - rotation.setPower(zeroSpeed); + rotation.setPower(1); if (hall.getTriggered()){ rotation.setPower(0); rotation.resetEncoder(); @@ -299,16 +310,17 @@ public void updateFlywheel(){ opMode.telemetry.addData("In Far Zone", robotZone.isInside(LoadHardwareClass.FarLaunchZone)); opMode.telemetry.addData("In Near Zone", robotZone.isInside(LoadHardwareClass.NearLaunchZone)); + if (robotZone.isInside(LoadHardwareClass.FarLaunchZone)){ + targetRPM = flywheelFarSpeed; + actualFlywheelCoefficients = flywheelCoefficients4200; + actualFlywheelFFCoefficients = flywheelFFCoefficients4200; + }else{ + targetRPM = flywheelNearSpeed; + actualFlywheelCoefficients = flywheelCoefficients3500; + actualFlywheelFFCoefficients = flywheelFFCoefficients3500; + } + if (flywheelMode == flywheelState.ON){ - if (robotZone.isInside(LoadHardwareClass.FarLaunchZone)){ - targetRPM = flywheelFarSpeed; - actualFlywheelCoefficients = flywheelCoefficients4200; - actualFlywheelFFCoefficients = flywheelFFCoefficients4200; - }else{ - targetRPM = flywheelNearSpeed; - actualFlywheelCoefficients = flywheelCoefficients3500; - actualFlywheelFFCoefficients = flywheelFFCoefficients3500; - } setFlywheelRPM(targetRPM); }else if (flywheelMode == flywheelState.OFF){ setFlywheelRPM(0); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index 910a01ac2f38..d17b84a13742 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -57,7 +57,7 @@ public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ if (alliance == LoadHardwareClass.Alliance.BLUE){ return new Pose( 144 - pose.getX(), - 144 - pose.getY(), + pose.getY(), Math.atan2(Math.sin(pose.getHeading()), -Math.cos(pose.getHeading())) ); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index c042b35be100..ce3842afbd6c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -57,6 +57,7 @@ public class LoadHardwareClass { // Declare various enums & other variables that are useful across files public static Alliance selectedAlliance = null; + public Pose goalPose = new Pose(144, 144); public enum Alliance { RED, BLUE diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 8e78912e2c92..63ee37efd8d8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -83,9 +83,6 @@ public class Teleop_Main_ extends LinearOpMode { @Override public void runOpMode() { - // Initialize all hardware of the robot - Robot.init(startPose); - // Create a new prompter for selecting alliance prompter = new Prompter(this); @@ -98,11 +95,16 @@ public void runOpMode() { } ); + // Initialize all hardware of the robot + Robot.init(Paths.autoMirror(startPose, selectedAlliance)); + // Runs repeatedly while in init while (opModeInInit()) { // If an auto was not run, run the prompter to select the correct alliance if (selectedAlliance == null) { prompter.run(); + }else{ + prompter.run(); } } @@ -283,11 +285,7 @@ public void Gamepad2() { if (gamepad2.aWasPressed()){ turretOn = !turretOn; } - if (turretOn){ - Robot.turret.updateAimbot(); - }else{ - Robot.turret.rotation.setAngle(90); - } + Robot.turret.updateAimbot(turretOn, true); //Intake Controls (Left Stick Y) if (shootingState == 0) { @@ -316,6 +314,7 @@ public void Gamepad2() { } Robot.turret.updateFlywheel(); + /* Uncomment all this if reenableing manual hood controls // Hood Controls if (gamepad2.dpad_up){ Robot.turret.setHood(Robot.turret.getHood() + hoodSpeed); @@ -323,14 +322,9 @@ public void Gamepad2() { Robot.turret.setHood(Robot.turret.getHood() - hoodSpeed); }else if (gamepad2.dpadLeftWasPressed()){ Robot.turret.setHood(152); - }else if (gamepad1.x){ - // Set the hood angle - Pose goalPose = new Pose(0,144,0); - if (LoadHardwareClass.selectedAlliance == LoadHardwareClass.Alliance.RED) {goalPose = new Pose(144, 144, 0);} - - Robot.turret.setHood(Robot.turret.hoodLUT.get(Robot.drivetrain.follower.getPose().distanceFrom(goalPose))); } Robot.turret.setHood(Math.max(Math.min(Robot.turret.getHood(), Turret.upperHoodLimit), 0)); + */ //Shoot (B Button Press) // Increment the shooting state From 3f57e05aa2ae1e7cd8b5d73e31277ebf8cc3c282 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+Professor348@users.noreply.github.com> Date: Fri, 16 Jan 2026 08:50:10 -0500 Subject: [PATCH 149/152] Changed teleop code to use the ending position of auto as it's start position. --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 9 +++++++ .../Drivetrain_/MecanumDrivetrainClass.java | 2 ++ .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 25 +++++++++++-------- 3 files changed, 26 insertions(+), 10 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 0c5ee695103e..7e88fee59df4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -12,6 +12,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; import org.firstinspires.ftc.teamcode.pedroPathing.Constants; @@ -104,11 +105,19 @@ public void onUpdate() { } Robot.turret.updateFlywheel(); + MecanumDrivetrainClass.robotPose = Robot.drivetrain.follower.getPose(); + telemetry.addLine(); telemetry.addData("Current Robot Pose", Robot.drivetrain.follower.getPose()); telemetry.update(); } + @Override + public void onStop(){ + Robot.drivetrain.follower.holdPoint(Robot.drivetrain.follower.getPose()); + MecanumDrivetrainClass.robotPose = Robot.drivetrain.follower.getPose(); + } + /** * This class serves as a template for all auto programs.
* The methods runAuto() and ToString() must be overridden for each auto. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java index b8fe95f4d0f1..6f40ac67922b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/MecanumDrivetrainClass.java @@ -17,6 +17,8 @@ public class MecanumDrivetrainClass { // Misc Constants public Follower follower = null; + public static Pose robotPose = null; + /** * Initializes the PedroPathing follower. * Needs to be run once after all hardware is initialized. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 346e08c9d8b4..40490966f4e3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -29,6 +29,7 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; +import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass.robotPose; import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; import com.bylazar.configurables.annotations.Configurable; @@ -48,6 +49,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.flywheelState; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.gatestate; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @@ -76,22 +78,19 @@ public class Teleop_Main_ extends LinearOpMode { // Create a new Paths instance Pedro_Paths Paths = new Pedro_Paths(); // Create a new instance of Prompter for selecting the alliance - Prompter prompter = null; + Prompter prompterAlliance = null; // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. - private final Pose startPose = Paths.farStart; + private Pose startPose = Paths.farStart; @Override public void runOpMode() { - // Initialize all hardware of the robot - Robot.init(startPose); - // Create a new prompter for selecting alliance - prompter = new Prompter(this); - prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE)); - prompter.onComplete(() -> { - selectedAlliance = prompter.get("alliance"); + prompterAlliance = new Prompter(this); + prompterAlliance.prompt("alliance", new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE)); + prompterAlliance.onComplete(() -> { + selectedAlliance = prompterAlliance.get("alliance"); telemetry.addData("Selection", "Complete"); telemetry.addData("Alliance", selectedAlliance); telemetry.update(); @@ -102,9 +101,15 @@ public void runOpMode() { while (opModeInInit()) { // If an auto was not run, run the prompter to select the correct alliance if (selectedAlliance == null) { - prompter.run(); + prompterAlliance.run(); } } + if (robotPose != null){ + startPose = robotPose; + } + + // Initialize all hardware of the robot + Robot.init(Paths.autoMirror(startPose, selectedAlliance)); telemetry.addData("Status", "Initialized"); telemetry.update(); From 00dae44aaf471654483fa024dc1b474a8869ee96 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Fri, 16 Jan 2026 21:20:34 -0500 Subject: [PATCH 150/152] Auto work --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 153 ++++--- .../Main_/Hardware_/Actuators_/Intake.java | 4 +- .../Main_/Hardware_/Actuators_/Turret.java | 21 +- .../LOADCode/Main_/Hardware_/Commands.java | 7 +- .../Hardware_/Drivetrain_/Pedro_Paths.java | 407 ++++++++++++------ .../Main_/Hardware_/LoadHardwareClass.java | 2 +- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 101 +++-- 7 files changed, 451 insertions(+), 244 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 7baf0f46a474..82501e12efbd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -11,6 +11,7 @@ import com.skeletonarmy.marrow.prompts.Prompter; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Intake; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Commands; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; @@ -19,6 +20,7 @@ import dev.nextftc.core.commands.delays.Delay; import dev.nextftc.core.commands.groups.SequentialGroup; +import dev.nextftc.core.commands.utility.InstantCommand; import dev.nextftc.extensions.pedro.PedroComponent; import dev.nextftc.ftc.NextFTCOpMode; @@ -38,7 +40,6 @@ public class Auto_Main_ extends NextFTCOpMode { // Auto parameter variables private boolean turretOn = true; - private Pose startPose = paths.farStart; // Start Pose of our robot. @SuppressWarnings("unused") public Auto_Main_() { @@ -49,9 +50,6 @@ public Auto_Main_() { @Override public void onInit() { - while (opModeInInit() && Robot.turret.zeroTurret()){ - sleep(0); - } prompter = new Prompter(this); prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", @@ -60,10 +58,10 @@ public void onInit() { )); prompter.prompt("auto", new OptionPrompt<>("Select Auto", - new Leave_Far_HP(), - new Leave_Near_Launch(), - new test_Auto(), - new Complex_Test_Auto() + new Leave_Far_Generic(), + new Leave_Far_Generic() + //new test_Auto(), + //new Complex_Test_Auto() )); prompter.onComplete(() -> { selectedAlliance = prompter.get("alliance"); @@ -72,8 +70,14 @@ public void onInit() { telemetry.addData("Alliance", selectedAlliance.toString()); telemetry.addData("Auto", selectedAuto); telemetry.update(); - } - ); + // Build paths + paths.buildPaths(selectedAlliance, follower()); + // Initialize all hardware of the robot + Robot.init(paths.autoMirror(selectedAuto.getStartPose(), selectedAlliance), follower()); + while (opModeInInit() && Robot.turret.zeroTurret()){ + sleep(0); + } + }); } @Override @@ -83,12 +87,9 @@ public void onWaitForStart() { @Override public void onStartButtonPressed() { - // Build paths - paths.buildPaths(selectedAlliance, follower()); - // Initialize all hardware of the robot - Robot.init(startPose, follower()); // Schedule the proper auto selectedAuto.runAuto(); + turretOn = selectedAuto.getTurretEnabled(); // Indicate that initialization is done telemetry.addLine("Initialized"); @@ -100,15 +101,18 @@ public void onUpdate() { telemetry.addData("Running Auto", selectedAuto.toString()); telemetry.addLine(); if (turretOn){ - Robot.turret.updateAimbot(turretOn, true); telemetry.addData("Aimbot Target", selectedAlliance); + }else{ + telemetry.addLine("Aimbot Off"); } + Robot.turret.updateAimbot(turretOn, true, 0); Robot.turret.updateFlywheel(); MecanumDrivetrainClass.robotPose = Robot.drivetrain.follower.getPose(); telemetry.addLine(); - telemetry.addData("Current Robot Pose", Robot.drivetrain.follower.getPose()); + telemetry.addData("FarStart", paths.farStart); + telemetry.addData("FarShoot", paths.noTurretFarShoot); telemetry.update(); } @@ -122,20 +126,23 @@ public void onStop(){ * This class serves as a template for all auto programs.
* The methods runAuto() and ToString() must be overridden for each auto. */ - abstract class Auto{ - /** - * This constructor must be called from the child class using super() - * @param startingPose Indicates the starting pose of the robot - * @param runTurret Indicates whether to run the turret auto aim functions - */ - Auto(Pose startingPose, Boolean runTurret){ - turretOn = runTurret; - startPose = startingPose; - } - Auto(Pose startingPose){ - turretOn = true; - startPose = startingPose; - } + abstract static class Auto{ +// /** +// * This constructor must be called from the child class using super() +// * @param startingPose Indicates the starting pose of the robot +// * @param runTurret Indicates whether to run the turret auto aim functions +// */ +// Auto(Pose startingPose, Boolean runTurret){ +// turretOn = runTurret; +// startPose = startingPose; +// } +// Auto(Pose startingPose){ +// turretOn = true; +// startPose = startingPose; +// } + + abstract Pose getStartPose(); + abstract boolean getTurretEnabled(); /** Override this to schedule the auto command*/ abstract void runAuto(); @@ -144,55 +151,89 @@ abstract class Auto{ @Override public abstract String toString(); } - /** - * This auto starts at the far zone, shoots it's preloads,
- * and goes to the leave zone next to the human player zone. - */ - private class Leave_Far_HP extends Auto{ - Leave_Far_HP(){ - super(paths.farStart); + + private class Leave_Far_Generic extends Auto{ + public Pose startPose = paths.farStart; + public boolean turretEnabled = false; + + @Override + public Pose getStartPose(){ + return startPose; + } + @Override + public boolean getTurretEnabled(){ + return turretEnabled; } @Override public void runAuto(){ new SequentialGroup( + Commands.runPath(paths.farStart_to_NoTurret_FarShoot, true, 1), Commands.shootBalls(), - Commands.runPath(paths.farStart_to_farLeave, true, 0.6) + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + Commands.runPath(paths.farShoot_noTurret_to_farPreload, true, 1), + Commands.setIntakeMode(Intake.intakeMode.OFF) ).schedule(); } @NonNull @Override - public String toString(){return "Shoot Far Preloads";} + public String toString(){return "Far Zone No Turret Generic";} } - /** - * This auto starts at the near zone, shoots it's preloads,
- * and goes to the leave pose that is in the launch zone. - */ - private class Leave_Near_Launch extends Auto{ - Leave_Near_Launch(){ - super(paths.nearStart, true); + + private class Near_Generic extends Auto{ + public Pose startPose = paths.nearStart; + public boolean turretEnabled = true; + + @Override + public Pose getStartPose(){ + return startPose; + } + @Override + public boolean getTurretEnabled(){ + return turretEnabled; } @Override public void runAuto(){ new SequentialGroup( + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + new InstantCommand(Commands.setFlywheelState(Turret.flywheelState.ON)), + Commands.runPath(paths.nearStart_to_midShoot, true, 1), + Commands.shootBalls(), + Commands.setFlywheelState(Turret.flywheelState.ON), + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + Commands.runPath(paths.midShoot_to_nearPreload, true, 1), + Commands.runPath(paths.nearPreload_to_midShoot, true, 1), + Commands.shootBalls(), + Commands.setFlywheelState(Turret.flywheelState.ON), + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + Commands.runPath(paths.midShoot_to_midPreload, true, 1), + Commands.runPath(paths.midPreload_to_midShoot, true, 1), Commands.shootBalls(), - Commands.runPath(paths.nearStart_to_nearLeave, true, 0.6) + Commands.runPath(paths.midShoot_to_nearLeave, true, 1) ).schedule(); } @NonNull @Override - public String toString(){return "Shoot Near Preloads";} + public String toString(){return "Near Zone No Turret Generic";} } /** * This auto starts at the far zone */ private class Complex_Test_Auto extends Auto{ - Complex_Test_Auto() { - super(paths.farStart, true); + public Pose startPose = paths.farStart; + public boolean turretEnabled = true; + + @Override + public Pose getStartPose(){ + return startPose; + } + @Override + public boolean getTurretEnabled(){ + return turretEnabled; } @Override @@ -222,8 +263,16 @@ public String toString() { } private class test_Auto extends Auto{ - test_Auto(){ - super(paths.farStart, false); + public Pose startPose = paths.farStart; + public boolean turretEnabled = false; + + @Override + public Pose getStartPose(){ + return startPose; + } + @Override + public boolean getTurretEnabled(){ + return turretEnabled; } @Override diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java index 809d5af7393a..5d02127bde55 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Intake.java @@ -64,8 +64,10 @@ public void init(OpMode opmode){ */ public void setMode(intakeMode direction){ if (direction == intakeMode.INTAKING){ + //if (!(getTopSensorState() && getBottomSensorState())){ + belt.setPower(1); + //} intake.setPower(1); - belt.setPower(1); }else if (direction == intakeMode.SHOOTING){ intake.setPower(0); belt.setPower(1); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index e57b6fbd361a..96908ebc72cd 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -66,7 +66,7 @@ public enum flywheelState { /** * Stores the offset of the turret's rotation */ - private double turretOffset = 114; + public static double turretOffset = 116; /** * Stores the zeroing state of the turret */ @@ -118,14 +118,16 @@ public void init(OpMode opmode, LoadHardwareClass robot){ flywheel2.setFFCoefficients(actualFlywheelFFCoefficients); // TODO Build hood InterpLUT for autoaim + // Near zone measurements hoodLUT.add(0, 0); hoodLUT.add(53.5,108); hoodLUT.add(71,168); - hoodLUT.add(77, 184); - hoodLUT.add(88,194); - hoodLUT.add(94.5,188); - hoodLUT.add(103, 188); - hoodLUT.add(204, 188); + hoodLUT.add(77, 181); + hoodLUT.add(88,190); + hoodLUT.add(94.5,190); + // Far zone measurements + hoodLUT.add(103, 200); + hoodLUT.add(204, 100); // Generate Lookup Table & Initialize servo position hoodLUT.createLUT(); @@ -143,6 +145,7 @@ public void updatePIDs(){ flywheel.setFFCoefficients(actualFlywheelFFCoefficients); flywheel2.setPidCoefficients(actualFlywheelCoefficients); flywheel2.setFFCoefficients(actualFlywheelFFCoefficients); + rotation.setOffsetDegrees(turretOffset); } double redOffset = -2; @@ -157,7 +160,7 @@ public void updatePIDs(){ * @param hood If TRUE, enables the hood autoaim. * Otherwise, sets the hood to the highest launch angle. */ - public void updateAimbot(boolean turret, boolean hood){ + public void updateAimbot(boolean turret, boolean hood, double hoodOffset){ if (turret){ // Set the turret rotation if (LoadHardwareClass.selectedAlliance == LoadHardwareClass.Alliance.RED){ @@ -172,7 +175,7 @@ public void updateAimbot(boolean turret, boolean hood){ // Set the hood angle Pose goalPose = new Pose(0,144,0); if (LoadHardwareClass.selectedAlliance == LoadHardwareClass.Alliance.RED) {goalPose = new Pose(144, 144, 0);} - setHood(hoodLUT.get(Robot.drivetrain.follower.getPose().distanceFrom(goalPose))); + setHood(hoodLUT.get(Robot.drivetrain.follower.getPose().distanceFrom(goalPose)) + hoodOffset); }else{ setHood(0); } @@ -308,7 +311,7 @@ public void updateFlywheel(){ robotZone.setRotation(Robot.drivetrain.follower.getPose().getHeading()); opMode.telemetry.addData("In Far Zone", robotZone.isInside(LoadHardwareClass.FarLaunchZone)); - opMode.telemetry.addData("In Near Zone", robotZone.isInside(LoadHardwareClass.NearLaunchZone)); + opMode.telemetry.addData("In Near Zone", robotZone.isInside(LoadHardwareClass.ReallyNearLaunchZoneRed)); if (robotZone.isInside(LoadHardwareClass.FarLaunchZone)){ targetRPM = flywheelFarSpeed; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java index 5116ece8fcde..248a3e8939e8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Commands.java @@ -39,9 +39,9 @@ public Command setFlywheelState(Turret.flywheelState state) { .setStart(() -> Robot.turret.setFlywheelState(state)) .setIsDone(() -> { if (state == Turret.flywheelState.ON){ - return Robot.turret.getFlywheelRPM() > Robot.turret.getFlywheelCurrentMaxSpeed(); + return Robot.turret.getFlywheelRPM() > Robot.turret.getFlywheelCurrentMaxSpeed() - 100; }else{ - return Robot.turret.getFlywheelRPM() < 100; + return true; } }) ; @@ -87,7 +87,8 @@ public Command shootBalls(){ // Reset the systems setIntakeMode(Intake.intakeMode.OFF), setGateState(Turret.gatestate.CLOSED), - setTransferState(Intake.transferState.DOWN) + setTransferState(Intake.transferState.DOWN), + setFlywheelState(Turret.flywheelState.OFF) ); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java index d17b84a13742..5a18905eb4d1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Drivetrain_/Pedro_Paths.java @@ -10,22 +10,24 @@ public class Pedro_Paths { // The variable to store PedroPathing's follower object for path building - public Follower follower; + private Follower follower; /** * Define primary poses to be used in paths */ // Start Poses - public Pose nearStart = new Pose(112, 136.6, Math.toRadians(270)); + public Pose nearStart = new Pose(118, 132, Math.toRadians(306)); public Pose farStart = new Pose(88, 7.4, Math.toRadians(90)); // Preload Poses - public Pose nearPreload = new Pose(128.000, 83.500, Math.toRadians(0)); + public Pose nearPreload = new Pose(127.000, 83.500, Math.toRadians(0)); public Pose midPreload = new Pose(132.000, 59.500, Math.toRadians(0)); public Pose farPreload = new Pose(132.000, 35.500, Math.toRadians(0)); // Shooting Poses public Pose nearShoot = new Pose(115, 120, Math.toRadians(-35)); public Pose midShoot = new Pose(85, 85, Math.toRadians(-15)); public Pose farShoot = new Pose(85, 15, Math.toRadians(60)); + public Pose noTurretMidShoot = new Pose(85, 85, Math.toRadians(45)); + public Pose noTurretFarShoot = new Pose(85, 15, Math.toRadians(67.3)); // Leave Poses public Pose nearLeave = new Pose(90,120, Math.toRadians(90)); public Pose midLeave = new Pose(95,55, Math.toRadians(90)); @@ -37,6 +39,10 @@ public class Pedro_Paths { // Start Poses to Preloads public PathChain nearStart_to_nearPreload, nearStart_to_midPreload, nearStart_to_farPreload; public PathChain farStart_to_nearPreload, farStart_to_midPreload, farStart_to_farPreload; + // Start Poses to Shooting Poses + public PathChain nearStart_to_midShoot; + //public PathChain nearStart_to_nearShoot, nearStart_to_midShoot, nearStart_to_farShoot; + //public PathChain farStart_to_nearShoot, farStart_to_midShoot, farStart_to_farShoot; // Preloads to Shooting Positions public PathChain nearPreload_to_nearShoot, nearPreload_to_midShoot, nearPreload_to_farShoot; public PathChain midPreload_to_nearShoot, midPreload_to_midShoot, midPreload_to_farShoot; @@ -45,6 +51,9 @@ public class Pedro_Paths { public PathChain nearShoot_to_nearPreload, nearShoot_to_midPreload, nearShoot_to_farPreload; public PathChain midShoot_to_nearPreload, midShoot_to_midPreload, midShoot_to_farPreload; public PathChain farShoot_to_nearPreload, farShoot_to_midPreload, farShoot_to_farPreload; + // No-turret Shooting Positions to Preloads + public PathChain midShoot_noTurret_to_nearPreload, midShoot_noTurret_to_midPreload, midShoot_noTurret_to_farPreload; + public PathChain farShoot_noTurret_to_nearPreload, farShoot_noTurret_to_midPreload, farShoot_noTurret_to_farPreload; // Shooting Positions to Leave Positions public PathChain nearShoot_to_nearLeave, nearShoot_to_midLeave; public PathChain midShoot_to_nearLeave, midShoot_to_midLeave; @@ -52,367 +61,481 @@ public class Pedro_Paths { // Start Positions to Leave Positions public PathChain nearStart_to_nearLeave, nearStart_to_midLeave; public PathChain farStart_to_midLeave, farStart_to_farLeave; + // Start Positions to No-Turret shoot Positions + public PathChain nearStart_to_NoTurret_MidShoot, farStart_to_NoTurret_FarShoot; public Pose autoMirror(Pose pose, LoadHardwareClass.Alliance alliance){ if (alliance == LoadHardwareClass.Alliance.BLUE){ return new Pose( 144 - pose.getX(), pose.getY(), - Math.atan2(Math.sin(pose.getHeading()), -Math.cos(pose.getHeading())) + mirrorHeading(pose.getHeading(), alliance) ); + }else{ + return pose; + } + } + private double mirrorHeading(double heading, LoadHardwareClass.Alliance alliance){ + if (alliance == LoadHardwareClass.Alliance.BLUE){ + final double v = Math.toDegrees(Math.atan2(Math.sin(heading), Math.cos(heading))); + if (Math.cos(heading) >= 0){ + return Math.toRadians((180 - v)); + }else{ + return Math.toRadians((360 - v)%360); + } + }else{ + return heading; } - return pose; } - public void buildStart1ToPreloads(LoadHardwareClass.Alliance alliance) { + public void buildStart1ToPreloads(){ nearStart_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearStart, alliance), - autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 78.000), alliance), - autoMirror(new Pose(95.000, 83.500), alliance), - autoMirror(new Pose(110.000, 83.500), alliance) + nearStart, + new Pose(89.000, 136.600), + new Pose(89.000, 78.000), + new Pose(95.000, 83.500), + new Pose(110.000, 83.500) )) .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(nearPreload, alliance) + new Pose(110.000, 83.500), + nearPreload )) .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); nearStart_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearStart, alliance), - autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 54.000), alliance), - autoMirror(new Pose(95.000, 59.500), alliance), - autoMirror(new Pose(110.000, 59.500), alliance) + nearStart, + new Pose(89.000, 136.600), + new Pose(89.000, 54.000), + new Pose(95.000, 59.500), + new Pose(110.000, 59.500) )) .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 59.500), alliance), - autoMirror(midPreload, alliance) + new Pose(110.000, 59.500), + midPreload )) .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); nearStart_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearStart, alliance), - autoMirror(new Pose(89.000, 136.600), alliance), - autoMirror(new Pose(89.000, 30.000), alliance), - autoMirror(new Pose(95.000, 35.500), alliance), - autoMirror(new Pose(110.000, 35.500), alliance) + nearStart, + new Pose(89.000, 136.600), + new Pose(89.000, 30.000), + new Pose(95.000, 35.500), + new Pose(110.000, 35.500) )) .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(farPreload, alliance) + new Pose(110.000, 35.500), + farPreload )) .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); } - public void buildStart2ToPreloads(LoadHardwareClass.Alliance alliance){ + public void buildStart2ToPreloads(){ farStart_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farStart, alliance), - autoMirror(new Pose(89.000, 79.000), alliance), - autoMirror(new Pose(95.000, 83.500), alliance), - autoMirror(new Pose(110.000, 83.500), alliance) + farStart, + new Pose(89.000, 79.000), + new Pose(95.000, 83.500), + new Pose(110.000, 83.500) )) .setLinearHeadingInterpolation(farStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 83.500), alliance), - autoMirror(nearPreload, alliance) + new Pose(110.000, 83.500), + nearPreload )) .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); farStart_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farStart, alliance), - autoMirror(new Pose(89.000, 55.000), alliance), - autoMirror(new Pose(95.000, 59.500), alliance), - autoMirror(new Pose(110.000, 59.500), alliance) + farStart, + new Pose(89.000, 55.000), + new Pose(95.000, 59.500), + new Pose(110.000, 59.500) )) .setLinearHeadingInterpolation(nearStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 59.500), alliance), - autoMirror(midPreload, alliance) + new Pose(110.000, 59.500), + midPreload )) .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); farStart_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farStart, alliance), - autoMirror(new Pose(89.000, 25), alliance), - autoMirror(new Pose(95.000, 35.500), alliance), - autoMirror(new Pose(110.000, 35.500), alliance) + farStart, + new Pose(89.000, 25), + new Pose(95.000, 35.500), + new Pose(110.000, 35.500) )) .setLinearHeadingInterpolation(farStart.getHeading(), Math.toRadians(0)) .addPath(new BezierLine( - autoMirror(new Pose(110.000, 35.500), alliance), - autoMirror(farPreload, alliance) + new Pose(110.000, 35.500), + farPreload )) .setConstantHeadingInterpolation(Math.toRadians(0)) .build(); } - public void buildPreload1ToShootings(LoadHardwareClass.Alliance alliance){ + public void buildStart1ToShootings(){ + nearStart_to_midShoot = follower.pathBuilder() + .addPath(new BezierLine( + nearStart, + midShoot + )) + .setLinearHeadingInterpolation(nearStart.getHeading(), midShoot.getHeading()) + .build(); + } + public void buildPreload1ToShootings(){ nearPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(nearPreload, alliance), - autoMirror(nearShoot, alliance) + nearPreload, + nearShoot )) .setLinearHeadingInterpolation(nearPreload.getHeading(), nearShoot.getHeading()) .build(); nearPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(nearPreload, alliance), - autoMirror(midShoot, alliance) + nearPreload, + midShoot )) .setLinearHeadingInterpolation(nearPreload.getHeading(), midShoot.getHeading()) .build(); nearPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearPreload, alliance), - autoMirror(new Pose(80.000, 83.500), alliance), - autoMirror(farShoot, alliance) + nearPreload, + new Pose(80.000, 83.500), + farShoot )) .setLinearHeadingInterpolation(nearPreload.getHeading(), farShoot.getHeading()) .build(); } - public void buildPreload2ToShootings(LoadHardwareClass.Alliance alliance){ + public void buildPreload2ToShootings(){ midPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midPreload, alliance), - autoMirror(new Pose(65,59.5), alliance), - autoMirror(nearShoot, alliance) + midPreload, + new Pose(65,59.5), + nearShoot )) .setLinearHeadingInterpolation(midPreload.getHeading(), nearShoot.getHeading()) .build(); midPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midPreload, alliance), - autoMirror(new Pose(65,59.5), alliance), - autoMirror(midShoot, alliance) + midPreload, + new Pose(65,59.5), + midShoot )) .setLinearHeadingInterpolation(midPreload.getHeading(), midShoot.getHeading()) .build(); midPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midPreload, alliance), - autoMirror(new Pose(90.000, 59.500), alliance), - autoMirror(farShoot, alliance) + midPreload, + new Pose(90.000, 59.500), + farShoot )) .setLinearHeadingInterpolation(midPreload.getHeading(), farShoot.getHeading()) .build(); } - public void buildPreload3ToShootings(LoadHardwareClass.Alliance alliance){ + public void buildPreload3ToShootings(){ farPreload_to_nearShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farPreload, alliance), - autoMirror(new Pose(75,30), alliance), - autoMirror(new Pose(80,100), alliance), - autoMirror(nearShoot, alliance) + farPreload, + new Pose(75,30), + new Pose(80,100), + nearShoot )) .setLinearHeadingInterpolation(midPreload.getHeading(), nearShoot.getHeading()) .build(); farPreload_to_midShoot = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farPreload, alliance), - autoMirror(new Pose(85,32), alliance), - autoMirror(midShoot, alliance) + farPreload, + new Pose(85,32), + midShoot )) .setLinearHeadingInterpolation(midPreload.getHeading(), midShoot.getHeading()) .build(); farPreload_to_farShoot = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(farPreload, alliance), - autoMirror(farShoot, alliance) + farPreload, + farShoot )) .setLinearHeadingInterpolation(midPreload.getHeading(), farShoot.getHeading()) .build(); } - public void buildShooting1ToPreloads(LoadHardwareClass.Alliance alliance){ + public void buildShooting1ToPreloads(){ nearShoot_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearShoot, alliance), - autoMirror(new Pose(60, 80), alliance), - autoMirror(nearPreload, alliance) + nearShoot, + new Pose(60, 80), + nearPreload )) .setLinearHeadingInterpolation(nearShoot.getHeading(), nearPreload.getHeading()) .build(); nearShoot_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearShoot, alliance), - autoMirror(new Pose(60, 55), alliance), - autoMirror(midPreload, alliance) + nearShoot, + new Pose(60, 55), + midPreload )) .setLinearHeadingInterpolation(nearShoot.getHeading(), midPreload.getHeading()) .build(); nearShoot_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(nearShoot, alliance), - autoMirror(new Pose(60, 27), alliance), - autoMirror(farPreload, alliance) + nearShoot, + new Pose(60, 27), + farPreload )) .setLinearHeadingInterpolation(nearShoot.getHeading(), farPreload.getHeading()) .build(); } - public void buildShooting2ToPreloads(LoadHardwareClass.Alliance alliance){ + public void buildShooting2ToPreloads(){ midShoot_to_nearPreload = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(midShoot, alliance), - autoMirror(nearPreload, alliance) + midShoot, + nearPreload )) .setLinearHeadingInterpolation(midShoot.getHeading(), nearPreload.getHeading()) .build(); midShoot_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midShoot, alliance), - autoMirror(new Pose(75, 56), alliance), - autoMirror(midPreload, alliance) + midShoot, + new Pose(75, 56), + midPreload )) .setLinearHeadingInterpolation(midShoot.getHeading(), midPreload.getHeading()) .build(); midShoot_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(midShoot, alliance), - autoMirror(new Pose(68, 30), alliance), - autoMirror(farPreload, alliance) + midShoot, + new Pose(68, 30), + farPreload )) .setLinearHeadingInterpolation(midShoot.getHeading(), farPreload.getHeading()) .build(); } - public void buildShooting3ToPreloads(LoadHardwareClass.Alliance alliance){ + public void buildShooting3ToPreloads(){ farShoot_to_nearPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farShoot, alliance), - autoMirror(new Pose(73, 88), alliance), - autoMirror(nearPreload, alliance) + farShoot, + new Pose(73, 88), + nearPreload )) .setLinearHeadingInterpolation(farShoot.getHeading(), nearPreload.getHeading()) .build(); farShoot_to_midPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farShoot, alliance), - autoMirror(new Pose(78, 62), alliance), - autoMirror(midPreload, alliance) + farShoot, + new Pose(78, 62), + midPreload )) .setLinearHeadingInterpolation(farShoot.getHeading(), midPreload.getHeading()) .build(); farShoot_to_farPreload = follower.pathBuilder() .addPath(new BezierCurve( - autoMirror(farShoot, alliance), - autoMirror(new Pose(82.5, 35), alliance), - autoMirror(farPreload, alliance) + farShoot, + new Pose(82.5, 35), + farPreload )) .setLinearHeadingInterpolation(farShoot.getHeading(), farPreload.getHeading()) .build(); } - public void buildShooting1ToLeaves(LoadHardwareClass.Alliance alliance){ + public void buildShooting2NoTurretToPreloads(){ + midShoot_noTurret_to_nearPreload = follower.pathBuilder() + .addPath(new BezierLine( + noTurretMidShoot, + nearPreload + )) + .setLinearHeadingInterpolation(noTurretMidShoot.getHeading(), nearPreload.getHeading()) + .build(); + midShoot_noTurret_to_midPreload = follower.pathBuilder() + .addPath(new BezierCurve( + noTurretMidShoot, + new Pose(75, 56), + midPreload + )) + .setLinearHeadingInterpolation(noTurretMidShoot.getHeading(), midPreload.getHeading()) + .build(); + midShoot_noTurret_to_farPreload = follower.pathBuilder() + .addPath(new BezierCurve( + noTurretMidShoot, + new Pose(68, 30), + farPreload + )) + .setLinearHeadingInterpolation(noTurretMidShoot.getHeading(), farPreload.getHeading()) + .build(); + } + public void buildShooting3NoTurretToPreloads(){ + farShoot_noTurret_to_nearPreload = follower.pathBuilder() + .addPath(new BezierCurve( + noTurretFarShoot, + new Pose(73, 88), + nearPreload + )) + .setLinearHeadingInterpolation(noTurretFarShoot.getHeading(), nearPreload.getHeading()) + .build(); + farShoot_noTurret_to_midPreload = follower.pathBuilder() + .addPath(new BezierCurve( + noTurretFarShoot, + new Pose(78, 62), + midPreload + )) + .setLinearHeadingInterpolation(noTurretFarShoot.getHeading(), midPreload.getHeading()) + .build(); + farShoot_noTurret_to_farPreload = follower.pathBuilder() + .addPath(new BezierCurve( + noTurretFarShoot, + new Pose(82.5, 35), + farPreload + )) + .setLinearHeadingInterpolation(noTurretFarShoot.getHeading(), farPreload.getHeading()) + .build(); + } + public void buildShooting1ToLeaves(){ nearShoot_to_nearLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(nearShoot, alliance), - autoMirror(nearLeave, alliance) + nearShoot, + nearLeave )) .setConstantHeadingInterpolation(nearShoot.getHeading()) .build(); nearShoot_to_midLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(nearShoot, alliance), - autoMirror(midLeave, alliance) + nearShoot, + midLeave )) .setConstantHeadingInterpolation(nearShoot.getHeading()) .build(); } - public void buildShooting2ToLeaves(LoadHardwareClass.Alliance alliance){ + public void buildShooting2ToLeaves(){ midShoot_to_nearLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(midShoot, alliance), - autoMirror(nearLeave, alliance) + midShoot, + nearLeave )) .setConstantHeadingInterpolation(midShoot.getHeading()) .build(); midShoot_to_midLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(midShoot, alliance), - autoMirror(midLeave, alliance) + midShoot, + midLeave )) .setConstantHeadingInterpolation(midShoot.getHeading()) .build(); } - public void buildShooting3ToLeaves(LoadHardwareClass.Alliance alliance){ + public void buildShooting3ToLeaves(){ farShoot_to_midLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(farShoot, alliance), - autoMirror(midLeave, alliance) + farShoot, + midLeave )) .setConstantHeadingInterpolation(farShoot.getHeading()) .build(); farShoot_to_farLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(farShoot, alliance), - autoMirror(farLeave, alliance) + farShoot, + farLeave )) .setConstantHeadingInterpolation(farShoot.getHeading()) .build(); } - public void buildStart1ToLeaves(LoadHardwareClass.Alliance alliance){ + public void buildStart1ToLeaves(){ nearStart_to_nearLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(nearStart, alliance), - autoMirror(nearLeave, alliance) + nearStart, + nearLeave )) .setConstantHeadingInterpolation(nearStart.getHeading()) .build(); nearStart_to_midLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(nearStart, alliance), - autoMirror(farLeave, alliance) + nearStart, + farLeave )) .setConstantHeadingInterpolation(nearStart.getHeading()) .build(); } - public void buildStart2ToLeaves(LoadHardwareClass.Alliance alliance){ + public void buildStart2ToLeaves(){ farStart_to_midLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(farStart, alliance), - autoMirror(nearLeave, alliance) + farStart, + nearLeave )) .setConstantHeadingInterpolation(farStart.getHeading()) .build(); farStart_to_farLeave = follower.pathBuilder() .addPath(new BezierLine( - autoMirror(farStart, alliance), - autoMirror(farLeave, alliance) + farStart, + farLeave )) .setConstantHeadingInterpolation(farStart.getHeading()) .build(); } + public void buildStartsToNoTurretShoots(){ + nearStart_to_NoTurret_MidShoot = follower.pathBuilder() + .addPath(new BezierLine( + nearStart, + noTurretMidShoot + )) + .setLinearHeadingInterpolation(nearStart.getHeading(), noTurretMidShoot.getHeading()) + .build(); + farStart_to_NoTurret_FarShoot = follower.pathBuilder() + .addPath(new BezierLine( + farStart, + noTurretFarShoot + )) + .setLinearHeadingInterpolation(farStart.getHeading(), noTurretFarShoot.getHeading()) + .build(); + } + /** * Builds all the paths, mirroring them to the other side of the field if necessary */ - public void buildPaths(LoadHardwareClass.Alliance alliance, Follower follow){ + public void buildPaths(LoadHardwareClass.Alliance Alliance, Follower follow){ follower = follow; + nearStart = autoMirror(nearStart, Alliance); + farStart = autoMirror(farStart, Alliance); + nearPreload = autoMirror(nearPreload, Alliance); + midPreload = autoMirror(midPreload, Alliance); + farPreload = autoMirror(farPreload, Alliance); + nearShoot = autoMirror(nearShoot, Alliance); + midShoot = autoMirror(midShoot, Alliance); + farShoot = autoMirror(farShoot, Alliance); + noTurretMidShoot = autoMirror(noTurretMidShoot, Alliance); + noTurretFarShoot = autoMirror(noTurretFarShoot, Alliance); + nearLeave = autoMirror(nearLeave, Alliance); + midLeave = autoMirror(midLeave, Alliance); + farLeave = autoMirror(farLeave, Alliance); + + /// All paths are for the RED side of the field. they will be mirrored if necessary. // Paths going from each start position to each of the preloads. - buildStart1ToPreloads(alliance); - buildStart2ToPreloads(alliance); + buildStart1ToPreloads(); + buildStart2ToPreloads(); + // Paths going from each start position to each of the shooting positions. + buildStart1ToShootings(); // Paths going from each preload to each shooting position - buildPreload1ToShootings(alliance); - buildPreload2ToShootings(alliance); - buildPreload3ToShootings(alliance); + buildPreload1ToShootings(); + buildPreload2ToShootings(); + buildPreload3ToShootings(); // Paths going from each shooting position to each preload - buildShooting1ToPreloads(alliance); - buildShooting2ToPreloads(alliance); - buildShooting3ToPreloads(alliance); + buildShooting1ToPreloads(); + buildShooting2ToPreloads(); + buildShooting3ToPreloads(); + // Paths going from each no-turret shooting position to each preload + buildShooting2NoTurretToPreloads(); + buildShooting3NoTurretToPreloads(); // Paths going from each shooting position to the leave positions. - buildShooting1ToLeaves(alliance); - buildShooting2ToLeaves(alliance); - buildShooting3ToLeaves(alliance); + buildShooting1ToLeaves(); + buildShooting2ToLeaves(); + buildShooting3ToLeaves(); // Paths going from the start positions to the leave positions - buildStart1ToLeaves(alliance); - buildStart2ToLeaves(alliance); + buildStart1ToLeaves(); + buildStart2ToLeaves(); + // Paths going from the start positions to the no-turret shooting positions + buildStartsToNoTurretShoots(); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java index ce3842afbd6c..2e023e363459 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/LoadHardwareClass.java @@ -69,7 +69,7 @@ public enum Alliance { new Point(48, 0), new Point(72, 24) ); - public static PolygonZone NearLaunchZone = new PolygonZone( + public static PolygonZone ReallyNearLaunchZoneRed = new PolygonZone( new Point(72, 72), new Point(144, 144), new Point(0, 144) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 3bcfb2fee56a..40003293eb05 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -29,7 +29,6 @@ package org.firstinspires.ftc.teamcode.LOADCode.Main_.Teleop_; -import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass.robotPose; import static org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass.selectedAlliance; import com.bylazar.configurables.annotations.Configurable; @@ -49,6 +48,7 @@ import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.flywheelState; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Actuators_.Turret.gatestate; +import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.MecanumDrivetrainClass; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.Drivetrain_.Pedro_Paths; import org.firstinspires.ftc.teamcode.LOADCode.Main_.Hardware_.LoadHardwareClass; @@ -68,9 +68,9 @@ public class Teleop_Main_ extends LinearOpMode { public static double DylanStickDeadzones = 0.2; public int shootingState = 0; - public boolean turretOn = true; + public boolean turretOn = false; public TimerEx stateTimer = new TimerEx(1); - public static double hoodSpeed = 4; + public double hoodOffset = 0; // Create a new instance of our Robot class LoadHardwareClass Robot = new LoadHardwareClass(this); @@ -78,6 +78,10 @@ public class Teleop_Main_ extends LinearOpMode { Pedro_Paths Paths = new Pedro_Paths(); // Create a new instance of Prompter for selecting the alliance Prompter prompter = null; + enum startPoses { + FAR, + NEAR + } // Contains the start Pose of our robot. This can be changed or saved from the autonomous period. private Pose startPose = Paths.farStart; @@ -87,36 +91,55 @@ public void runOpMode() { // Create a new prompter for selecting alliance prompter = new Prompter(this); - prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE)); + prompter.prompt("alliance", () -> { + if (selectedAlliance == null){ + return new OptionPrompt<>("Select Alliance", LoadHardwareClass.Alliance.RED, LoadHardwareClass.Alliance.BLUE); + }else{ + return null; + } + }); + prompter.prompt("startPose", () -> { + if (MecanumDrivetrainClass.robotPose == null){ + return new OptionPrompt<>("Select Start Pose", + startPoses.FAR, + startPoses.NEAR + ); + }else{ + startPose = MecanumDrivetrainClass.robotPose; + return null; + } + }); prompter.onComplete(() -> { - selectedAlliance = prompter.get("alliance"); - telemetry.addData("Selection", "Complete"); - telemetry.addData("Alliance", selectedAlliance); - telemetry.update(); + if (selectedAlliance == null){ + selectedAlliance = prompter.get("alliance"); + } + telemetry.addData("Selection", "Complete"); + telemetry.addData("Alliance", selectedAlliance); + if (MecanumDrivetrainClass.robotPose == null){ + startPoses pose = prompter.get("startPose"); + if (pose.equals(startPoses.FAR)) { + startPose = Paths.autoMirror(Paths.farStart, selectedAlliance); + telemetry.addData("Start Pose", "Far Start Pose"); + } else if (pose.equals(startPoses.NEAR)) { + startPose = Paths.autoMirror(Paths.nearStart, selectedAlliance); + telemetry.addData("Start Pose", "Near Start Pose"); } - ); + }else{ + startPose = MecanumDrivetrainClass.robotPose; + telemetry.addData("Start Pose", "Ending Pose of Auto"); + } + telemetry.update(); + }); // Runs repeatedly while in init while (opModeInInit()) { - // If an auto was not run, run the prompter to select the correct alliance - if (selectedAlliance == null) { - prompter.run(); - }else{ - prompter.run(); - } + prompter.run(); } - if (robotPose != null){ - startPose = robotPose; - } - - // Initialize all hardware of the robot - Robot.init(Paths.autoMirror(startPose, selectedAlliance)); - - telemetry.addData("Status", "Initialized"); - telemetry.update(); // Wait for the game to start (driver presses START) waitForStart(); + // Initialize all hardware of the robot + Robot.init(startPose); runtime.reset(); Paths.buildPaths(selectedAlliance, Robot.drivetrain.follower); Robot.drivetrain.startTeleOpDrive(); @@ -141,8 +164,9 @@ public void runOpMode() { telemetry.addData("SpeedMult", Robot.drivetrain.speedMultiplier); telemetry.addLine(); //positional telemetry - telemetry.addData("X Position: ", Robot.drivetrain.follower.getPose().getX()); - telemetry.addData("Y Position: ", Robot.drivetrain.follower.getPose().getY()); + telemetry.addData("X Position", Robot.drivetrain.follower.getPose().getX()); + telemetry.addData("Y Position", Robot.drivetrain.follower.getPose().getY()); + telemetry.addData("Heading", Math.toDegrees(Robot.drivetrain.follower.getPose().getHeading())); telemetry.addData("Distance From Goal", Robot.drivetrain.distanceFromGoal()); telemetry.addLine(); @@ -292,7 +316,7 @@ public void Gamepad2() { if (gamepad2.aWasPressed()){ turretOn = !turretOn; } - Robot.turret.updateAimbot(turretOn, true); + Robot.turret.updateAimbot(turretOn, true, hoodOffset); //Intake Controls (Left Stick Y) if (shootingState == 0) { @@ -310,6 +334,15 @@ public void Gamepad2() { }else{ // OFF Robot.intake.setMode(intakeMode.OFF); } + + /* TODO Uncomment once autobelt control is finished + if (Math.abs(gamepad2.left_stick_y) >= DylanStickDeadzones) { + Robot.intake.setMode(intakeMode.INTAKING); + }else{ // OFF + Robot.intake.setMode(intakeMode.OFF); + } + */ + //Flywheel Toggle Control (Y Button) if (gamepad2.yWasPressed()) { if (Robot.turret.flywheelMode == flywheelState.OFF) { @@ -321,17 +354,13 @@ public void Gamepad2() { } Robot.turret.updateFlywheel(); - /* Uncomment all this if reenableing manual hood controls // Hood Controls - if (gamepad2.dpad_up){ - Robot.turret.setHood(Robot.turret.getHood() + hoodSpeed); - }else if (gamepad2.dpad_down){ - Robot.turret.setHood(Robot.turret.getHood() - hoodSpeed); - }else if (gamepad2.dpadLeftWasPressed()){ - Robot.turret.setHood(152); + if (gamepad2.dpadUpWasPressed()){ + hoodOffset += 10; + }else if (gamepad2.dpadDownWasPressed()){ + hoodOffset -= 10; } - Robot.turret.setHood(Math.max(Math.min(Robot.turret.getHood(), Turret.upperHoodLimit), 0)); - */ + //Shoot (B Button Press) // Increment the shooting state From bca8d0c32f5fc682e0adf28a9de0acfe8ad7bcce Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Sat, 17 Jan 2026 09:42:04 -0500 Subject: [PATCH 151/152] Quick bugfix with one of the InterpLUT points for hood autoaim --- .../teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java index 96908ebc72cd..e2682fb4795e 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Hardware_/Actuators_/Turret.java @@ -127,7 +127,7 @@ public void init(OpMode opmode, LoadHardwareClass robot){ hoodLUT.add(94.5,190); // Far zone measurements hoodLUT.add(103, 200); - hoodLUT.add(204, 100); + hoodLUT.add(204, 200); // Generate Lookup Table & Initialize servo position hoodLUT.createLUT(); From 007b91dc8ffbef07553dd84406ff124e4014d142 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Sat, 17 Jan 2026 15:44:47 -0500 Subject: [PATCH 152/152] Auto & teleop work during scrimmage --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 51 +++++++++++++++++-- .../LOADCode/Main_/Teleop_/Teleop_Main_.java | 12 ++++- 2 files changed, 58 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 82501e12efbd..978d0c6fa1e8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -58,7 +58,8 @@ public void onInit() { )); prompter.prompt("auto", new OptionPrompt<>("Select Auto", - new Leave_Far_Generic(), + new Near_12Ball(), + new Near_9Ball(), new Leave_Far_Generic() //new test_Auto(), //new Complex_Test_Auto() @@ -181,7 +182,7 @@ public void runAuto(){ public String toString(){return "Far Zone No Turret Generic";} } - private class Near_Generic extends Auto{ + private class Near_9Ball extends Auto{ public Pose startPose = paths.nearStart; public boolean turretEnabled = true; @@ -217,7 +218,51 @@ public void runAuto(){ @NonNull @Override - public String toString(){return "Near Zone No Turret Generic";} + public String toString(){return "Near Zone 9 Ball Auto";} + } + + private class Near_12Ball extends Auto{ + public Pose startPose = paths.nearStart; + public boolean turretEnabled = true; + + @Override + public Pose getStartPose(){ + return startPose; + } + @Override + public boolean getTurretEnabled(){ + return turretEnabled; + } + + @Override + public void runAuto(){ + new SequentialGroup( + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + new InstantCommand(Commands.setFlywheelState(Turret.flywheelState.ON)), + Commands.runPath(paths.nearStart_to_midShoot, true, 1), + Commands.shootBalls(), + Commands.setFlywheelState(Turret.flywheelState.ON), + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + Commands.runPath(paths.midShoot_to_nearPreload, true, 1), + Commands.runPath(paths.nearPreload_to_midShoot, true, 1), + Commands.shootBalls(), + Commands.setFlywheelState(Turret.flywheelState.ON), + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + Commands.runPath(paths.midShoot_to_midPreload, true, 1), + Commands.runPath(paths.midPreload_to_midShoot, true, 1), + Commands.shootBalls(), + Commands.setFlywheelState(Turret.flywheelState.ON), + Commands.setIntakeMode(Intake.intakeMode.INTAKING), + Commands.runPath(paths.midShoot_to_farPreload, true, 1), + Commands.runPath(paths.farPreload_to_midShoot, true, 1), + Commands.shootBalls(), + Commands.runPath(paths.midShoot_to_nearLeave, true, 1) + ).schedule(); + } + + @NonNull + @Override + public String toString(){return "Near Zone 12 Ball Auto";} } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java index 40003293eb05..7f80337d4b8f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java @@ -68,7 +68,7 @@ public class Teleop_Main_ extends LinearOpMode { public static double DylanStickDeadzones = 0.2; public int shootingState = 0; - public boolean turretOn = false; + public boolean turretOn = true; public TimerEx stateTimer = new TimerEx(1); public double hoodOffset = 0; @@ -255,6 +255,14 @@ public void Gamepad1() { Robot.drivetrain.speedMultiplier = 0.66; } + if (gamepad1.bWasPressed()){ + if (selectedAlliance == LoadHardwareClass.Alliance.RED){ + Robot.drivetrain.follower.setPose(new Pose(8, 8, Math.toRadians(90))); + }else if (selectedAlliance == LoadHardwareClass.Alliance.BLUE){ + Robot.drivetrain.follower.setPose(new Pose(136, 8, Math.toRadians(90))); + } + } + double turnMult = 2; // if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){ // turnMult = 1; @@ -364,7 +372,7 @@ public void Gamepad2() { //Shoot (B Button Press) // Increment the shooting state - if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > Robot.turret.getFlywheelCurrentMaxSpeed()-200) { + if (gamepad2.bWasPressed() && shootingState < 1 && Robot.turret.getFlywheelRPM() > Robot.turret.getFlywheelCurrentMaxSpeed()-100) { shootingState++; } switch (shootingState) {

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