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Competition day things

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This commit is contained in:
Yash Karandikar 2022-11-14 16:50:26 -06:00
parent b74d5a38dd
commit 3076e0b8b7
7 changed files with 258 additions and 16 deletions
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21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
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@ -3,21 +3,30 @@ package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous
public class AutoBlueColorSensor extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color2");
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api);
DcMotor motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
DcMotor motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
waitForStart();
// motorLiftLeft.setPower(1);
// motorLiftRight.setPower(1);
// api.pause(0.1);
// motorLiftLeft.setPower(0);
// motorLiftRight.setPower(0);
movementAPI.move(0, 0.7);
api.pause(0.4);
movementAPI.move(90, 0.7);
api.pause(0.05);
// movementAPI.move(90, 0.7);
// api.pause(0.15);
movementAPI.stop();
api.pause(5);
@ -26,14 +35,14 @@ public class AutoBlueColorSensor extends LinearOpMode {
int b = sensor.blue();
// move back to start position
movementAPI.move(-90, 0.7);
api.pause(0.05);
// movementAPI.move(-90, 0.7);
// api.pause(0.05);
movementAPI.move(-180, 0.7);
api.pause(0.75);
if (r < 100 && g < 100 && b < 100) {
movementAPI.move(90, 0.7);
api.pause(0.7);
api.pause(1);
movementAPI.stop();
terminateOpModeNow();

17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
View file

@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous
public class AutoRedColorSensor extends LinearOpMode {
@ -11,13 +12,21 @@ public class AutoRedColorSensor extends LinearOpMode {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api);
DcMotor motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
DcMotor motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
waitForStart();
// motorLiftLeft.setPower(1);
// motorLiftRight.setPower(1);
// api.pause(0.1);
// motorLiftLeft.setPower(0);
// motorLiftRight.setPower(0);
movementAPI.move(0, 0.7);
api.pause(0.4);
movementAPI.move(-90, 0.7);
api.pause(0.05);
// movementAPI.move(-90, 0.7);
// api.pause(0.05);
movementAPI.stop();
api.pause(5);
@ -26,8 +35,8 @@ public class AutoRedColorSensor extends LinearOpMode {
int b = sensor.blue();
// move back to start position
movementAPI.move(90, 0.7);
api.pause(0.05);
// movementAPI.move(90, 0.7);
// api.pause(0.05);
movementAPI.move(-180, 0.7);
api.pause(0.75);

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/ColorSensorTest.java
View file

@ -16,6 +16,7 @@ public class ColorSensorTest extends LinearOpMode {
api.print("r:", String.valueOf(sensor.red()));
api.print("g:", String.valueOf(sensor.green()));
api.print("b:", String.valueOf(sensor.blue()));
telemetry.update();
}
}
}

106
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/PlaceConeColorSensorBlue.java Normal file
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@ -0,0 +1,106 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
@Autonomous
public class PlaceConeColorSensorBlue extends LinearOpMode {
@Override
public void runOpMode() {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api);
DcMotor motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
DcMotor motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
Servo claw = hardwareMap.get(Servo.class, "claw");
claw.setPosition(0);
waitForStart();
motorLiftLeft.setPower(1);
motorLiftRight.setPower(1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
movementAPI.move(0, 0.5);
api.pause(0.1);
movementAPI.stop();
motorLiftLeft.setPower(-1);
motorLiftRight.setPower(-1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
api.pause(2);
claw.setPosition(1);
api.pause(5);
motorLiftLeft.setPower(1);
motorLiftRight.setPower(1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
movementAPI.move(180, 0.5);
api.pause(0.5);
movementAPI.move(-90, 0.5);
api.pause(0.5);
movementAPI.stop();
movementAPI.move(0, 0.7);
api.pause(0.4);
// movementAPI.move(90, 0.7);
// api.pause(0.15);
movementAPI.stop();
api.pause(5);
int r = sensor.red();
int g = sensor.green();
int b = sensor.blue();
// move back to start position
// movementAPI.move(-90, 0.7);
// api.pause(0.05);
movementAPI.move(-180, 0.7);
api.pause(0.75);
if (r < 100 && g < 100 && b < 100) {
movementAPI.move(90, 0.7);
api.pause(1);
movementAPI.stop();
terminateOpModeNow();
}
int largest = api.getLargest(r, g, b);
api.print("r", String.valueOf(r));
api.print("g", String.valueOf(g));
api.print("b", String.valueOf(b));
if (largest == g) {
// move to position 1
movementAPI.move(90, 0.7);
api.pause(0.75);
movementAPI.move(0, 0.7);
api.pause(0.75);
} else if (largest == r) {
// move to position 2
movementAPI.move(0, 0.7);
api.pause(0.75);
} else if (largest == b) {
// move to position 3
movementAPI.move(-90, 0.7);
api.pause(0.75);
movementAPI.move(0, 0.7);
api.pause(0.75);
}
movementAPI.stop();
}
}

59
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/PlaceConeLeft.java Normal file
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@ -0,0 +1,59 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
@Autonomous
public class PlaceConeLeft extends LinearOpMode {
@Override
public void runOpMode() {
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api);
DcMotor motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
DcMotor motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
Servo claw = hardwareMap.get(Servo.class, "claw");
claw.setPosition(0);
waitForStart();
motorLiftLeft.setPower(1);
motorLiftRight.setPower(1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
api.pause(1);
movementAPI.move(-90, 0.25);
api.pause(1);
movementAPI.stop();
movementAPI.move(0, 0.5);
api.pause(0.1);
movementAPI.stop();
api.pause(1);
motorLiftLeft.setPower(-1);
motorLiftRight.setPower(-1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
api.pause(2);
claw.setPosition(1);
api.pause(5);
movementAPI.move(180, 0.5);
api.pause(0.5);
motorLiftLeft.setPower(1);
motorLiftRight.setPower(1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
movementAPI.move(-90, 0.5);
api.pause(0.75);
movementAPI.stop();
}
}

59
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/PlaceConeRight.java Normal file
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@ -0,0 +1,59 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
@Autonomous
public class PlaceConeRight extends LinearOpMode {
@Override
public void runOpMode() {
API api = new API(this);
MovementAPI movementAPI = new MovementAPI(api);
DcMotor motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
DcMotor motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
Servo claw = hardwareMap.get(Servo.class, "claw");
claw.setPosition(0);
waitForStart();
motorLiftLeft.setPower(1);
motorLiftRight.setPower(1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
api.pause(1);
movementAPI.move(90, 0.25);
api.pause(1);
movementAPI.stop();
movementAPI.move(0, 0.5);
api.pause(0.1);
movementAPI.stop();
api.pause(1);
motorLiftLeft.setPower(-1);
motorLiftRight.setPower(-1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
api.pause(2);
claw.setPosition(1);
api.pause(5);
movementAPI.move(180, 0.5);
api.pause(0.5);
motorLiftLeft.setPower(1);
motorLiftRight.setPower(1);
api.pause(0.25);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
movementAPI.move(90, 0.5);
api.pause(0.75);
movementAPI.stop();
}
}

11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOp.java
View file

@ -17,8 +17,7 @@ public class DriveTeleOp extends OpMode {
private DcMotor motorLiftRight;
private double powerLift;
private Servo claw;
private double clawPos = 0;
private double lastClawPos = 0;
private double clawPos = 1;
private double drive = 0, strafe = 0, turn = 0;
private double speed = 1;
private boolean last_left_bumper = false;
@ -37,13 +36,14 @@ public class DriveTeleOp extends OpMode {
drive = -1 * gamepad1.left_stick_y;
strafe = gamepad1.left_stick_x;
turn = gamepad1.right_stick_x;
powerLift = -1 * gamepad2.left_stick_y;
powerLift = -0.75 * gamepad2.left_stick_y;
if (gamepad1.left_bumper && last_left_bumper != gamepad1.left_bumper) speed = Math.max(0.15, speed - 0.15);
if (gamepad1.right_bumper && last_right_bumper != gamepad1.right_bumper) speed = Math.min(1, speed + 0.15);
if (gamepad2.a && last_claw_control != gamepad2.a) clawPos = (clawPos == 0 ? 1 : 0);
last_left_bumper = gamepad1.left_bumper;
last_right_bumper = gamepad1.right_bumper;
last_claw_control = gamepad2.a;
}
private void drive() {
@ -70,12 +70,11 @@ public class DriveTeleOp extends OpMode {
motorLiftRight.setPower(powerLift);
// TODO: keep / remove these lines based on empirical testing
if (lastClawPos != clawPos) claw.setPosition(clawPos);
lastClawPos = clawPos;
claw.setPosition(clawPos);
DecimalFormat df = new DecimalFormat("#%");
telemetry.addData("speed", df.format(speed));
telemetry.addData("clawPos", df.format(clawPos));
telemetry.update();
}