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API episode 3: revenge of the sith

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This commit is contained in:
Yash Karandikar 2022-11-05 19:14:00 -05:00
parent d489794dc7
commit 2dcd1aa28e
7 changed files with 82 additions and 101 deletions
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40
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/API.java Normal file
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@ -0,0 +1,40 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
public class API {
OpMode opMode;
public API(OpMode opMode) {
this.opMode = opMode;
}
public void pause(double seconds) {
double time = opMode.getRuntime() + seconds;
while (true) {
if (!(opMode.getRuntime() < time)) break; // stop android studio from yelling
}
}
public Trajectory makeTrajectories(SampleMecanumDrive mecanumDrive, Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
public int getLargest(int x, int y, int z) {
return Math.max(z, Math.max(x, y));
}
}

44
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
View file

@ -18,11 +18,12 @@ public class AutoBlueColorSensor extends LinearOpMode {
public void runOpMode() throws InterruptedException {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
waitForStart();
Trajectory firstMove = makeTrajectories(
Trajectory firstMove = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, 60), 0),
new int[]{-34},
new int[]{40}
@ -30,39 +31,43 @@ public class AutoBlueColorSensor extends LinearOpMode {
mecanumDrive.followTrajectory(firstMove);
double time = getRuntime() + 5;
/* wait for 5 seconds to allow color sensor to settle */
while (true) {
if (!(getRuntime() < time)) break; // needed to stop android studio from yelling
}
api.pause(5);
int r = sensor.red();
int g = sensor.green();
int b = sensor.blue();
int largest = getLargest(r, g, b);
int largest = api.getLargest(r, g, b);
Trajectory endpos;
if (largest == r) {
// move to position 1
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(
mecanumDrive,
firstMove.end(),
new int[]{-34, -12, -12},
new int[]{60, 60, 12}
);
} else if (largest == g) {
// move to position 2
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(
mecanumDrive,
firstMove.end(),
new int[]{-34, -12, -12, -34},
new int[]{60, 60, 12, 12}
);
} else if (largest == b) {
// move to position 3
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(
mecanumDrive,
firstMove.end(),
new int[]{-34, -70, -60},
new int[]{60, 60, 30}
);
} else {
// Color sensor broke, move to backup position
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(
mecanumDrive,
firstMove.end(),
new int[]{-34, -70},
new int[]{60, 60}
);
@ -70,19 +75,4 @@ public class AutoBlueColorSensor extends LinearOpMode {
mecanumDrive.followTrajectory(endpos);
}
private Trajectory makeTrajectories(Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
private int getLargest(int x, int y, int z) {
return Math.max(z, (Math.max(x, y)));
}
}

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java
View file

@ -16,12 +16,14 @@ public class AutoBlueSubstationParkingBehavior extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
waitForStart();
// init move to default terminal
Trajectory endpos = makeTrajectories(
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, 60), 0),
new int[]{-34, 1},
new int[]{60, 60}
@ -29,15 +31,4 @@ public class AutoBlueSubstationParkingBehavior extends LinearOpMode {
mecanumDrive.followTrajectory(endpos);
}
private Trajectory makeTrajectories(Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
}

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java
View file

@ -16,12 +16,14 @@ public class AutoBlueTerminalParkingBehavior extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
waitForStart();
// init move to default terminal
Trajectory endpos = makeTrajectories(
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, 60), 0),
new int[]{-34, -70},
new int[]{60, 60}
@ -29,15 +31,4 @@ public class AutoBlueTerminalParkingBehavior extends LinearOpMode {
mecanumDrive.followTrajectory(endpos);
}
private Trajectory makeTrajectories(Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
}

39
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
View file

@ -18,11 +18,13 @@ public class AutoRedColorSensor extends LinearOpMode {
public void runOpMode() throws InterruptedException {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
waitForStart();
Trajectory firstMove = makeTrajectories(
Trajectory firstMove = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, -60), 0),
new int[]{-34},
new int[]{-40}
@ -30,39 +32,39 @@ public class AutoRedColorSensor extends LinearOpMode {
mecanumDrive.followTrajectory(firstMove);
double time = getRuntime() + 5;
/* wait for 5 seconds to allow color sensor to settle */
while (true) {
if (!(getRuntime() < time)) break; // needed to stop android studio from yelling
}
api.pause(5);
int r = sensor.red();
int g = sensor.green();
int b = sensor.blue();
int largest = getLargest(r, g, b);
int largest = api.getLargest(r, g, b);
Trajectory endpos;
if (largest == r) {
// move to position 1
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(
mecanumDrive,
firstMove.end(),
new int[]{-34, -12, -12},
new int[]{-60, -60, -12}
);
} else if (largest == g) {
// move to position 2
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(
mecanumDrive,
firstMove.end(),
new int[]{-34, -12, -12, -34},
new int[]{-60, -60, -12, -12}
);
} else if (largest == b) {
// move to position 3
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(mecanumDrive, firstMove.end(),
new int[]{-34, -70, -60},
new int[]{-60, -60, -30}
);
} else {
// Color sensor broke, move to backup position
endpos = makeTrajectories(firstMove.end(),
endpos = api.makeTrajectories(mecanumDrive, firstMove.end(),
new int[]{-34, -70},
new int[]{-60, -60}
);
@ -70,19 +72,4 @@ public class AutoRedColorSensor extends LinearOpMode {
mecanumDrive.followTrajectory(endpos);
}
private Trajectory makeTrajectories(Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
private int getLargest(int x, int y, int z) {
return Math.max(z, (Math.max(x, y)));
}
}

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java
View file

@ -16,12 +16,14 @@ public class AutoRedSubstationParkingBehavior extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
waitForStart();
// init move to default terminal
Trajectory endpos = makeTrajectories(
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, -60), 0),
new int[]{-34, 1},
new int[]{-60, -60}
@ -29,15 +31,4 @@ public class AutoRedSubstationParkingBehavior extends LinearOpMode {
mecanumDrive.followTrajectory(endpos);
}
private Trajectory makeTrajectories(Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
}

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java
View file

@ -16,12 +16,13 @@ public class AutoRedTerminalParkingBehavior extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
API api = new API(this);
waitForStart();
// init move to default terminal
Trajectory endpos = makeTrajectories(
Trajectory endpos = api.makeTrajectories(
mecanumDrive,
new Pose2d(new Vector2d(-34, -60), 0),
new int[]{-34, -70},
new int[]{-60, -60}
@ -30,14 +31,4 @@ public class AutoRedTerminalParkingBehavior extends LinearOpMode {
mecanumDrive.followTrajectory(endpos);
}
private Trajectory makeTrajectories(Pose2d startPos, int[] x, int[] y) {
assert x.length == y.length;
TrajectoryBuilder builder = mecanumDrive.trajectoryBuilder(startPos);
for (int i = 0; i < x.length; i++) {
builder.splineTo(new Vector2d(x[i], y[i]), 0);
}
return builder.build();
}
}