Merged
Conversation
Co-Authored-By: Jeffrey Mello <61124766+melloCoding@users.noreply.github.com>
Changed intake and launch position variables from double to int for motor compatibility. Added methods to move the sorter to specific intake or launch positions using enums, and introduced a unified moveSorterToPos method. Updated enums for clarity and consistency.
Added error handling to throw a RuntimeException if the position argument in moveSorterToPos is not 1, 2, or 3. This ensures only valid positions are accepted for both intake and launch modes.
Removed redundant motor and servo assignments from CommonControls and moved intake control logic to RampControls. Added SorterControls integration to TeleOpMain, including gamepad mappings for sorter positions. Minor cleanup and typo fix in SorterControls.
Introduced a Flipper servo to MotorConstructor and integrated its control in TeleOpMain. Expanded LaunchControls with overloaded setLaunchPower methods to support variable power and controller rumble feedback.
Replaced manual rumble logic with a single call to launch.setLaunchPower, passing additional parameters. Added a 50ms sleep at the end of the loop to address issues with motors not working properly due to a fast loop rate.
Eliminated the old call to launch.setLaunchPower(gamepad1.x) in favor of the updated method with additional parameters. This streamlines launch motor control and avoids redundant code.
SorterControls now receives MotorConstructor instead of HardwareMap, and intake/launch positions have been updated to new values. MotorConstructor initializes Sorter motor direction, zero power behavior, and encoder settings. Power for sorter movements is reduced from 1 to 0.6 for smoother operation. TeleOpMain now displays additional telemetry for the Sorter motor.
flipper update changes values to correct positions
i have no idea what he did probably something to do with encoders on launch motors
Changing the positions for the sorter when switched to a 20:1 motor. Also changed X as a value for gamepad1
Added zero power brake behavior to launcher motors for better stopping control. Updated TeleOp logic to add a delay after launch actions and prevent flipper activation while the sorter is busy, improving safety and reliability.
Cycles the turntable, shooting all 3 balls (hopefully) sets the framework for a limelight auto and a quick auto red
added inverted quickauto red literally the same thing as blue
yes jeffery i know there are multiple HUGE errors
importing libs
well mostly anyway
cannot resolve fiducial result for some odd reason, i could do it in the other code i put in tho
i lie
Deleted RampControls and its related test, refactored main and auto classes to remove RampControls usage. Added LimelightControls utility for AprilTag detection and updated MotorConstructor to include Limelight3A initialization. Updated MockMotorUtil for Limelight3A and removed ramp servo mocks.
Added JavaDoc comments to LimelightControls for improved clarity. Refactored SorterControls to use a configurable motor speed variable instead of hardcoded values, added comments for position variables, and improved code formatting. Removed an unnecessary blank line in LimeLightAutoBlue.
Introduced a new ballColors enum with PURPLE and GREEN values to SorterControls for improved color handling.
yes i know there are 9 errors but it does work i dont know
Replaced verbose Javadoc comments with concise inline comments for class fields in MotorConstructor. This improves readability and maintains essential documentation without excessive verbosity.
Introduced a lastTagScanned field to retain the last valid fiducial ID detected by the Limelight. If no new tag is found, getTagId() now returns the last scanned tag instead of 0. Also added a call to stop the Limelight after processing tags.
Added a sorterPositions enum and a currentSorterPosition field to track the current position of the sorter. Updated setSorterPos to set currentSorterPosition based on the selected mode and position.
Added telemetry output for each sorter slot's current state in TeleOpMain for improved debugging. Made currentSorterStates public in SorterControls to allow external access. Minor formatting adjustments to exception messages.
Introduces IntakeControls for managing intake wheel direction based on controller input. This class uses MotorConstructor to set intake motor power according to forward and reverse button states.
Added detailed control documentation as a comment block. Simplified launch motor power logic to respond directly to button presses. Updated brake control to use the 'b' button. Improved telemetry formatting for better readability.
Replaced repetitive button handling for sorter positions in TeleOpMain with a new simpleSorterPosition method in SorterControls. This improves code readability and maintainability by centralizing the logic for setting sorter positions based on button input.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
There is too much but basically the robot works now