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Merged
gatorgrad96 merged 1 commit into from
Jan 28, 2026
Merged

Red Auto Front #41

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20 changes: 9 additions & 11 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoMain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,22 +26,14 @@
import org.firstinspires.ftc.teamcode.Utils_13233.CommonAutoMethods;
import org.firstinspires.ftc.teamcode.Utils_13233.MotorConstructor;

@Autonomous(name = "AutoMain", group = "Auto")
//@Autonomous(name = "AutoMain", group = "Auto")
public class AutoMain extends LinearOpMode {
// Global Variables to store Game Specific Information
AutoMode autoMode = AutoMode.AUTO_MODE_NOT_SELECTED; // store autonomous mode selected
private AutoDrive drive;
private AutoTurn turn;
private CommonAutoMethods autoMethods;

// Possible Autonomous Modes
public enum AutoMode {
AUTO_MODE_NOT_SELECTED,
AUTO_MODE_DEFAULT,
}

// Global Variables to store Game Specific Information
AutoMode autoMode = AutoMode.AUTO_MODE_NOT_SELECTED; // store autonomous mode selected


// OpMode for autonomous code
@Override
public void runOpMode() throws InterruptedException {
Expand Down Expand Up @@ -119,4 +111,10 @@ public void runOpMode() throws InterruptedException {
private void defaultAuto() {
drive.driveForward(10.0, AutoConstants.quarterPower);
}

// Possible Autonomous Modes
public enum AutoMode {
AUTO_MODE_NOT_SELECTED,
AUTO_MODE_DEFAULT,
}
}
7 changes: 4 additions & 3 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LimeLightAutoBlue.java
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Expand Up @@ -18,7 +18,7 @@

import java.util.List;

@Autonomous(name = "LimeLightAutoBlue", group = "Auto")
//@Autonomous(name = "LimeLightAutoBlue", group = "Auto")

public class LimeLightAutoBlue extends LinearOpMode {

Expand Down Expand Up @@ -207,7 +207,8 @@ public void runOpMode() {
break;

}
}switch (limelightCont.getTagID()) {
}
switch (limelightCont.getTagID()) {
case 23:
//runs PPG
telemetry.addLine("AUTO: Purple Purple Green");
Expand Down Expand Up @@ -254,6 +255,6 @@ public void runOpMode() {
sleep(1000);
drive.setDrivePower(1.0f);//strafes over to balls, ensuring ally has space to shoot, and moves off line
sleep(1000);
}
}
}
}
2 changes: 1 addition & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LimeLightAutoBlueTEST.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
import org.firstinspires.ftc.teamcode.Utils_13233.MotorConstructor;
import org.firstinspires.ftc.teamcode.Utils_13233.SorterControls;

@Autonomous(name = "LimeLightBlueTEST ", group = "Auto")
@Autonomous(name = "LimeLightBlue", group = "Auto")
public class LimeLightAutoBlueTEST extends LinearOpMode {

// ================= HARDWARE =================
Expand Down
317 changes: 317 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LimeLightAutoRed.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,317 @@
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.hardware.limelightvision.Limelight3A;
import com.qualcomm.hardware.limelightvision.LLResult;
import com.qualcomm.hardware.limelightvision.LLResultTypes.FiducialResult;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Servo;


import org.firstinspires.ftc.teamcode.Utils_13233.DriveControls;
import org.firstinspires.ftc.teamcode.Utils_13233.LaunchControls;
import org.firstinspires.ftc.teamcode.Utils_13233.LimelightControls;
import org.firstinspires.ftc.teamcode.Utils_13233.MotorConstructor;
import org.firstinspires.ftc.teamcode.Utils_13233.SorterControls;

@Autonomous(name = "LimeLightRed", group = "Auto")
public class LimeLightAutoRed extends LinearOpMode {

// ================= HARDWARE =================

private DriveControls drive;
private LaunchControls launch;
private SorterControls sorter;
private MotorConstructor motors;
private LimelightControls limelightCont;

@Override
public void runOpMode() {

//INIT
drive = new DriveControls(hardwareMap);
launch = new LaunchControls(hardwareMap);
motors = new MotorConstructor(hardwareMap);
limelightCont = new LimelightControls(hardwareMap);
sorter = new SorterControls(motors);
telemetry.addLine("Initialized. Waiting for start...");
telemetry.update();

waitForStart();

if (isStopRequested()) return;

// - PHASE 1: MOVE TO SEE TAG
// preMove();
drive.setDrivePower(0, 1.0f, 0, 0);//strafes over to launch
sleep(1400);

int tagID = scanTag();

drive.setDrivePower(0.0f, 0.0f, 1.0f, 0.0f);
sleep(550);

drive.setDrivePower(0.0f);

// - PHASE 2: DETECT TAG

telemetry.addData("ID", limelightCont.getTagID());
telemetry.update();
sleep(500);

// PHASE 3: RUN AUTO
runAuto(tagID);

// END
requestOpModeStop();
}

// ==========================================================
// ===================== PHASE METHODS ======================
// ==========================================================

// private void preMove() {
// }

private int scanTag() {
int tagID = -1;
long startTime = System.currentTimeMillis();

while (opModeIsActive()
&& tagID == -1
&& System.currentTimeMillis() - startTime < 2000) {

tagID = limelightCont.getTagID();

telemetry.addData("Scanning Tag", tagID);
telemetry.update();
}

return tagID;
}

private void runAuto(int tagID) {

switch (tagID) {

case 21:
telemetry.addLine("AUTO: Green Purple Purple");
telemetry.update();
auto21();
break;

case 22:
telemetry.addLine("AUTO: Purple Green Purple");
telemetry.update();
auto22();
break;

case 23:
telemetry.addLine("AUTO: Purple Purple Green");
telemetry.update();
auto23();
break;

default:
telemetry.addLine("AUTO: DEFAULT (NO TAG)");
telemetry.update();
auto24();
break;
}
}

// ==========================================================
// ===================== AUTO PATHS =========================
// ==========================================================

private void auto21() {
//runs GPP
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);
//sets position to ensure the ball is correctly lined up
launch.setLaunchPower(true, 0.8f);

sleep(2500);//wait state to wait for launcher to spin up
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.0);
sleep(1000);//runs flipper servo into motor
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);
sleep(2000);

//2nd ball code
sleep(750);//waits to spin turntable
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 2);
sleep(1500);//waits while turntable spins
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 2nd ball
motors.Flipper.setPosition(0.0);
sleep(1000);
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);//brings servo back up to avoid turn table collision
sleep(2000);

//3rd ball code
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 3);
sleep(1000);//turns off ramp
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 3rd ball
motors.Flipper.setPosition(0.0);
sleep(1000);// sets servo back to init pos
motors.Flipper.setDirection(Servo.Direction.REVERSE);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.15);
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);//brings sorter back to init
launch.setLaunchPower(false);//turns off launcher and ramp

//strafing section
drive.setDrivePower(0, -1.0f, 0, 0);
sleep(1000);
drive.setDrivePower(1.0f);//strafes over to balls, ensuring ally has space to shoot, and moves off line
sleep(1000);
//id 21
}

private void auto22() {
//runs PGP
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 2);
//sets position to ensure the ball is correctly lined up
launch.setLaunchPower(true, 0.9f);

sleep(2500);//wait state to wait for launcher to spin up
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.0);
sleep(1000);//runs flipper servo into motor
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);
sleep(2000);

//2nd ball code
sleep(750);//waits to spin turntable
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);
sleep(1500);//waits while turntable spins
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 2nd ball
motors.Flipper.setPosition(0.0);
sleep(1000);
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);//brings servo back up to avoid turn table collision
sleep(2000);

//3rd ball code
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 3);
sleep(1000);//turns off ramp
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 3rd ball
motors.Flipper.setPosition(0.0);
sleep(1000);// sets servo back to init pos
motors.Flipper.setDirection(Servo.Direction.REVERSE);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.15);
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);//brings sorter back to init
launch.setLaunchPower(false);//turns off launcher and ramp

//strafing section
drive.setDrivePower(0, -1.0f, 0, 0);
sleep(1000);
drive.setDrivePower(1.0f);//strafes over to balls, ensuring ally has space to shoot, and moves off line
sleep(1000);
}

private void auto23() {
//runs PPG

sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 2);
//sets position to ensure the ball is correctly lined up
launch.setLaunchPower(true, 0.9f);

sleep(2500);//wait state to wait for launcher to spin up
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.0);
sleep(1000);//runs flipper servo into motor
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);
sleep(2000);

//2nd ball code
sleep(750);//waits to spin turntable
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 3);
sleep(1500);//waits while turntable spins
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 2nd ball
motors.Flipper.setPosition(0.0);
sleep(1000);
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);//brings servo back up to avoid turn table collision
sleep(2000);

//3rd ball code
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);
sleep(1000);//turns off ramp
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 3rd ball
motors.Flipper.setPosition(0.0);
sleep(1000);// sets servo back to init pos
motors.Flipper.setDirection(Servo.Direction.REVERSE);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.15);
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);//brings sorter back to init
launch.setLaunchPower(false);//turns off launcher and ramp

//strafing section
drive.setDrivePower(0, -1.0f, 0, 0);
sleep(1000);
drive.setDrivePower(1.0f);//strafes over to balls, ensuring ally has space to shoot, and moves off line
sleep(1000);

}


private void auto24() {
//runs default (PPG)
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 2);
//sets position to ensure the ball is correctly lined up
launch.setLaunchPower(true, 0.9f);

sleep(2500);//wait state to wait for launcher to spin up
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.0);
sleep(1000);//runs flipper servo into motor
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);
sleep(2000);

//2nd ball code
sleep(750);//waits to spin turntable
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 3);
sleep(1500);//waits while turntable spins
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 2nd ball
motors.Flipper.setPosition(0.0);
sleep(1000);
motors.Flipper.setDirection(Servo.Direction.REVERSE);
motors.Flipper.setPosition(0.15);//brings servo back up to avoid turn table collision
sleep(2000);

//3rd ball code
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);
sleep(1000);//turns off ramp
motors.Flipper.setDirection(Servo.Direction.FORWARD);//runs servo forward, shooting 3rd ball
motors.Flipper.setPosition(0.0);
sleep(1000);// sets servo back to init pos
motors.Flipper.setDirection(Servo.Direction.REVERSE);//runs servo forward, shooting 1st ball
motors.Flipper.setPosition(0.15);
sleep(1000);
sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);//brings sorter back to init
launch.setLaunchPower(false);//turns off launcher and ramp

//strafing section
drive.setDrivePower(0, -1.0f, 0, 0);
sleep(1000);
drive.setDrivePower(1.0f);//strafes over to balls, ensuring ally has space to shoot, and moves off line
sleep(1000);
}


}


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