karx/FreeOfCharge2022-23
1
1
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Drafted some Autos

Browse source
This commit is contained in:
Notme2222 2022-02-25 10:49:22 -06:00
parent d0fb478fd8
commit 5107f5882e
13 changed files with 408 additions and 69 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/configs/AutoConfig.java
View file

@ -5,6 +5,8 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class AutoConfig {
//REMEMBER THAT LEFT IS POS 1, RIGHT IS POS 3
public static int OBJECT_CENTER_Y = 135;
public static int MIN_H = 100;
public static int MIN_S = 100;
@ -16,13 +18,20 @@ public class AutoConfig {
//carousel values
public static double CAROUSEL_POWER = 0.2;
public static int CAROUSEL_WAIT = 6000;
//carousel positions
//blue
public static double BLUE_CAROUSEL_X = -60;
public static double BLUE_CAROUSEL_Y = 58;
public static double BLUE_CAROUSEL_ANGLE = 180;
//red
public static double RED_CAROUSEL_X = -60;
public static double RED_CAROUSEL_Y = -58;
public static double RED_CAROUSEL_ANGLE = 180;
// arm positions
//arm positions
public static int ARM_MAX_DIST = 415;
public static int SLIGHTLY_OFF_GROUND = 40;
public static int LAYER_ONE_BACK_ARM_POS = 340;
@ -38,9 +47,27 @@ public class AutoConfig {
public static double GRABBER_OPEN = 0.6;
//storage coords
public static double BLUE_STORAGE__X = -60;
//blue
public static double BLUE_STORAGE_X = -60;
public static double BLUE_STORAGE_Y = 36;
public static double BLUE_STORAGE_ANGLE = 360;
//red
public static double RED_STORAGE_X = -60;
public static double RED_STORAGE_Y = -36;
public static double RED_STORAGE_ANGLE = 0;
//warehouse coords
//blue
public static double BLUE_WAREHOUSE_X = -60;
public static double BLUE_WAREHOUSE_Y = 36;
public static double BLUE_WAREHOUSE_ANGLE = 360;
//red
public static double RED_WAREHOUSE_X = -60;
public static double RED_WAREHOUSE_Y = 36;
public static double RED_WAREHOUSE_ANGLE = 360;
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/ActionObject.java
View file

@ -12,6 +12,7 @@ public class ActionObject {
this.y = y;
this.angle = angle;
}
public ActionObject(double x, double y, double angle, int methodID){
this.x = x;
this.y = y;

21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/EnhancedDriver.java
View file

@ -10,6 +10,7 @@ import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
@ -81,7 +82,8 @@ public class EnhancedDriver extends SampleMecanumDrive{
case 3:
turnCarouselMethods(subIndex);
break;
case 4:
executeAdvancedMovement(subIndex);
}
}
@ -171,6 +173,23 @@ public class EnhancedDriver extends SampleMecanumDrive{
carouselMotor2.setPower(0);
}
private void executeAdvancedMovement(int id) throws IndexOutOfBoundsException{
switch(id){
//moves to the leftmost edge (blue side) and drives into warehouse
case 1:
Trajectory traj = trajectoryBuilder(getPoseEstimate())
.lineToLinearHeading()
.lineToLinearHeading()
//moves to the rightmost edge (red side) and drives into warehouse
case 2:
}
}
private void moveArms(int encoderVal){
armOne.setTargetPosition(armOne.getCurrentPosition() - encoderVal);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/driveobjs/MethodRefrences.txt
View file

@ -5,6 +5,8 @@
13: bottom layer from front
14: max position
2X: grabber motions
20: closes grabber and lifts up a little
START WITH THIS ONE!!!!
21: close grabber
22: open grabber
3X: carousel movements

63
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBase.java
View file

@ -1,18 +1,79 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import static org.firstinspires.ftc.teamcode.createdcode.configs.AutoConfig.*;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@Disabled
@Autonomous
@Config
public class AutoBase extends enhancedAutoMode{
public class AutoBase extends EnhancedAutoMode {
public static double START_POS_X = 0;
public static double START_POS_Y = 0;
public static double START_POS_ANGLE = 0;
public static int START_METHOD = 20;
public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
public static int SHIPPING_ELEMENT_POS_1_X = 0;
public static int SHIPPING_ELEMENT_POS_2_X = 0;
public static int SHIPPING_ELEMENT_POS_3_X = 0;
FtcDashboard dashboard = FtcDashboard.getInstance();
Telemetry dashboardTelemetry = dashboard.getTelemetry();
public static double[] xCoordArr = {};
private static double[] yCoordArr = {};
private static double[] angleArr = {};
private static int[] methodIdArr = {};
public static double[] xCoordArrCase1 = {START_POS_X};
private static double[] yCoordArrCase1 = {START_POS_Y};
private static double[] angleArrCase1 = {START_POS_ANGLE};
private static int[] methodIdArrCase1 = {START_METHOD};
public static double[] xCoordArrCase2 = {START_POS_X};
private static double[] yCoordArrCase2 = {START_POS_Y};
private static double[] angleArrCase2 = {START_POS_ANGLE};
private static int[] methodIdArrCase2 = {START_METHOD};
public static double[] xCoordArrCase3 = {START_POS_X};
private static double[] yCoordArrCase3 = {START_POS_Y};
private static double[] angleArrCase3 = {START_POS_ANGLE};
private static int[] methodIdArrCase3 = {START_METHOD};
@Override
public void runOpMode(){
int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
dashboardTelemetry.addData("Position Detected is", pos);
dashboardTelemetry.update();
if (pos == 1) {
xCoordArr = xCoordArrCase1;
yCoordArr = yCoordArrCase1;
angleArr = angleArrCase1;
methodIdArr = methodIdArrCase1;
}
else if (pos == 2){
xCoordArr = xCoordArrCase2;
yCoordArr = yCoordArrCase2;
angleArr = angleArrCase2;
methodIdArr = methodIdArrCase2;
}
else if (pos == 3) {
xCoordArr = xCoordArrCase3;
yCoordArr = yCoordArrCase3;
angleArr = angleArrCase3;
methodIdArr = methodIdArrCase3;
}
initThings();
setXCoords(xCoordArr);

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueNearParkAuto.java
View file

@ -9,14 +9,16 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@Autonomous
@Autonomous (group = "Blue")
@Config
public class BlueNearParkAuto extends enhancedAutoMode{
public class BlueNearParkAuto extends EnhancedAutoMode {
public static double START_POS_X = -32;
public static double START_POS_Y = 66;
public static double START_POS_ANGLE = 270;
public static int START_METHOD = 20;
public static int BLOCK_DROP_POINT = -30;
public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 135;
public static int SHIPPING_ELEMENT_POS_1_X = 30;
public static int SHIPPING_ELEMENT_POS_2_X = 165;
@ -32,17 +34,17 @@ public class BlueNearParkAuto extends enhancedAutoMode{
private static double[] angleArr = {};
private static int[] methodIdArr = {};
public static double[] xCoordArrCase1 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE__X};
public static double[] xCoordArrCase1 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE_X};
private static double[] yCoordArrCase1 = {START_POS_Y, 48, 24, 24, 24, BLUE_CAROUSEL_Y, BLUE_STORAGE_Y};
private static double[] angleArrCase1 = {START_POS_ANGLE, 180, 90, 0, 0, BLUE_CAROUSEL_ANGLE, BLUE_STORAGE_ANGLE};
private static int[] methodIdArrCase1 = {START_METHOD, 13, 0, 22, 10, 32, 0};
public static double[] xCoordArrCase2 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE__X};
public static double[] xCoordArrCase2 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, BLUE_CAROUSEL_X, BLUE_STORAGE_X};
private static double[] yCoordArrCase2 = {START_POS_Y, 48, 24, 24, 24, BLUE_CAROUSEL_Y, BLUE_STORAGE_Y};
private static double[] angleArrCase2 = {START_POS_ANGLE, 180, 90, 0, 0, BLUE_CAROUSEL_ANGLE, BLUE_STORAGE_ANGLE};
private static int[] methodIdArrCase2 = {START_METHOD, 12 , 0, 22, 10, 32, 0};
public static double[] xCoordArrCase3 = {START_POS_X, BLOCK_DROP_POINT, BLOCK_DROP_POINT, -56, BLUE_CAROUSEL_X, BLUE_STORAGE__X};
public static double[] xCoordArrCase3 = {START_POS_X, BLOCK_DROP_POINT, BLOCK_DROP_POINT, -56, BLUE_CAROUSEL_X, BLUE_STORAGE_X};
private static double[] yCoordArrCase3 = {START_POS_Y, 48, 24, 24, BLUE_CAROUSEL_Y, BLUE_STORAGE_Y};
private static double[] angleArrCase3 = {START_POS_ANGLE, 135, 0, 0, BLUE_CAROUSEL_ANGLE, BLUE_STORAGE_ANGLE};
private static int[] methodIdArrCase3 = {START_METHOD, 11, 22, 10, 32, 0};

94
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/BlueWarehouseSideAuto.java Normal file
View file

@ -0,0 +1,94 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@Autonomous (group = "Blue")
@Config
public class BlueWarehouseSideAuto extends EnhancedAutoMode {
public static double START_POS_X = 16;
public static double START_POS_Y = 66;
public static double START_POS_ANGLE = -90;
public static int START_METHOD = 20;
//TODO: Get vals
public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
public static int SHIPPING_ELEMENT_POS_1_X = 0;
public static int SHIPPING_ELEMENT_POS_2_X = 0;
public static int SHIPPING_ELEMENT_POS_3_X = 0;
FtcDashboard dashboard = FtcDashboard.getInstance();
Telemetry dashboardTelemetry = dashboard.getTelemetry();
public static double[] xCoordArr = {};
private static double[] yCoordArr = {};
private static double[] angleArr = {};
private static int[] methodIdArr = {};
public static double[] xCoordArrCase1 = {START_POS_X, -12. -12, 36};
private static double[] yCoordArrCase1 = {START_POS_Y, 64, 36, 68};
private static double[] angleArrCase1 = {START_POS_ANGLE, -90, -90, 0};
private static int[] methodIdArrCase1 = {START_METHOD, 13, 22, 10, 0};
public static double[] xCoordArrCase2 = {START_POS_X, -12. -12, 36};
private static double[] yCoordArrCase2 = {START_POS_Y, 64, 36, 68};
private static double[] angleArrCase2 = {START_POS_ANGLE, -90, -90, 0};
private static int[] methodIdArrCase2 = {START_METHOD, 12, 22, 10, 0};
public static double[] xCoordArrCase3 = {START_POS_X, -12. -12, 36};
private static double[] yCoordArrCase3 = {START_POS_Y, 64, 36, 68};
private static double[] angleArrCase3 = {START_POS_ANGLE, -90, -90, 0};
private static int[] methodIdArrCase3 = {START_METHOD, 11, 22, 10, 0};
@Override
public void runOpMode(){
int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
dashboardTelemetry.addData("Position Detected is", pos);
dashboardTelemetry.update();
if (pos == 1) {
xCoordArr = xCoordArrCase1;
yCoordArr = yCoordArrCase1;
angleArr = angleArrCase1;
methodIdArr = methodIdArrCase1;
}
else if (pos == 2){
xCoordArr = xCoordArrCase2;
yCoordArr = yCoordArrCase2;
angleArr = angleArrCase2;
methodIdArr = methodIdArrCase2;
}
else if (pos == 3) {
xCoordArr = xCoordArrCase3;
yCoordArr = yCoordArrCase3;
angleArr = angleArrCase3;
methodIdArr = methodIdArrCase3;
}
initThings();
setXCoords(xCoordArr);
setYCoords(yCoordArr);
setAngles(angleArr);
setMethodIDS(methodIdArr);
try {
makeActionObjects();
} catch (Exception e) {
e.printStackTrace();
}
waitForStart();
run();
}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/enhancedAutoMode.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/EnhancedAutoMode.java
View file

@ -15,8 +15,7 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
@Config
public abstract class enhancedAutoMode extends LinearOpMode {
public abstract class EnhancedAutoMode extends LinearOpMode {
private static List<Double> xCoords = new ArrayList<>(0);
private static List<Double> yCoords = new ArrayList<>(0);
private static List<Double> angles = new ArrayList<>(0);

95
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedNearParkAuto.java Normal file
View file

@ -0,0 +1,95 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import static org.firstinspires.ftc.teamcode.createdcode.configs.AutoConfig.*;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@Autonomous (group = "Red")
@Config
public class RedNearParkAuto extends EnhancedAutoMode {
public static double START_POS_X = -40;
public static double START_POS_Y = -66;
public static double START_POS_ANGLE = 90;
public static int START_METHOD = 20;
public static int BLOCK_DROP_POINT = -30;
//TODO: GET THESE VALUES
public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
public static int SHIPPING_ELEMENT_POS_1_X = 0;
public static int SHIPPING_ELEMENT_POS_2_X = 0;
public static int SHIPPING_ELEMENT_POS_3_X = 0;
public static double[] xCoordArr = {};
private static double[] yCoordArr = {};
private static double[] angleArr = {};
private static int[] methodIdArr = {};
public static double[] xCoordArrCase1 = {START_POS_X, BLOCK_DROP_POINT, BLOCK_DROP_POINT, -56, RED_CAROUSEL_Y, RED_STORAGE_Y};
private static double[] yCoordArrCase1 = {START_POS_Y, -48, -24, -24, RED_CAROUSEL_Y, RED_STORAGE_Y};
private static double[] angleArrCase1 = {START_POS_ANGLE, 0, 0, 0, RED_CAROUSEL_ANGLE, RED_STORAGE_ANGLE};
private static int[] methodIdArrCase1 = {START_METHOD, 11, 22, 10, 31, 0};
public static double[] xCoordArrCase2 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, RED_CAROUSEL_X, RED_STORAGE_X};
private static double[] yCoordArrCase2 = {START_POS_Y, -48, -24, -24, -24, RED_CAROUSEL_Y, RED_STORAGE_Y};
private static double[] angleArrCase2 = {START_POS_ANGLE, 0, 0, 0, 0, RED_CAROUSEL_ANGLE, RED_STORAGE_ANGLE};
private static int[] methodIdArrCase2 = {START_METHOD, 12 , 0, 22, 10, 31, 0};
public static double[] xCoordArrCase3 = {START_POS_X, -48, -48, BLOCK_DROP_POINT, -48, RED_CAROUSEL_X, RED_STORAGE_X};
private static double[] yCoordArrCase3 = {START_POS_Y, -48, -24, -24, -24, RED_CAROUSEL_Y, RED_STORAGE_Y};
private static double[] angleArrCase3 = {START_POS_ANGLE, 0, 0, 0, 0, RED_CAROUSEL_ANGLE, RED_STORAGE_ANGLE};
private static int[] methodIdArrCase3 = {START_METHOD, 13, 0, 22, 10, 31, 0};
FtcDashboard dashboard = FtcDashboard.getInstance();
Telemetry dashboardTelemetry = dashboard.getTelemetry();
@Override
public void runOpMode(){
int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
dashboardTelemetry.addData("Position Detected is", pos);
dashboardTelemetry.update();
if (pos == 1) {
xCoordArr = xCoordArrCase1;
yCoordArr = yCoordArrCase1;
angleArr = angleArrCase1;
methodIdArr = methodIdArrCase1;
}
else if (pos == 2){
xCoordArr = xCoordArrCase2;
yCoordArr = yCoordArrCase2;
angleArr = angleArrCase2;
methodIdArr = methodIdArrCase2;
}
else if (pos == 3) {
xCoordArr = xCoordArrCase3;
yCoordArr = yCoordArrCase3;
angleArr = angleArrCase3;
methodIdArr = methodIdArrCase3;
}
initThings();
setXCoords(xCoordArr);
setYCoords(yCoordArr);
setAngles(angleArr);
setMethodIDS(methodIdArr);
try {
makeActionObjects();
} catch (Exception e) {
e.printStackTrace();
}
waitForStart();
run();
}
}

94
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/RedWarehouseSideAuto.java Normal file
View file

@ -0,0 +1,94 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@Autonomous (group = "Red")
@Config
public class RedWarehouseSideAuto extends EnhancedAutoMode {
public static double START_POS_X = 8;
public static double START_POS_Y = -66;
public static double START_POS_ANGLE = -90;
public static int START_METHOD = 20;
//TODO: Get vals
public static int SHIPPING_ELEMENT_CENTER_HEIGHT = 0;
public static int SHIPPING_ELEMENT_POS_1_X = 0;
public static int SHIPPING_ELEMENT_POS_2_X = 0;
public static int SHIPPING_ELEMENT_POS_3_X = 0;
FtcDashboard dashboard = FtcDashboard.getInstance();
Telemetry dashboardTelemetry = dashboard.getTelemetry();
public static double[] xCoordArr = {};
private static double[] yCoordArr = {};
private static double[] angleArr = {};
private static int[] methodIdArr = {};
public static double[] xCoordArrCase1 = {START_POS_X, -12. -12, 36};
private static double[] yCoordArrCase1 = {START_POS_Y, -64, -36, -68};
private static double[] angleArrCase1 = {START_POS_ANGLE, -90, -90, 0};
private static int[] methodIdArrCase1 = {START_METHOD, 11, 22, 10, 0};
public static double[] xCoordArrCase2 = {START_POS_X, -12. -12, 36};
private static double[] yCoordArrCase2 = {START_POS_Y, -64, -36, -68};
private static double[] angleArrCase2 = {START_POS_ANGLE, -90, -90, 0};
private static int[] methodIdArrCase2 = {START_METHOD, 12, 22, 10, 0};
public static double[] xCoordArrCase3 = {START_POS_X, -12. -12, 36};
private static double[] yCoordArrCase3 = {START_POS_Y, -64, -36, -68};
private static double[] angleArrCase3 = {START_POS_ANGLE, -90, -90, 0};
private static int[] methodIdArrCase3 = {START_METHOD, 13, 22, 10, 0};
@Override
public void runOpMode(){
int pos = getShippingElementPos(SHIPPING_ELEMENT_CENTER_HEIGHT, SHIPPING_ELEMENT_POS_1_X, SHIPPING_ELEMENT_POS_2_X, SHIPPING_ELEMENT_POS_3_X);
dashboardTelemetry.addData("Position Detected is", pos);
dashboardTelemetry.update();
if (pos == 1) {
xCoordArr = xCoordArrCase1;
yCoordArr = yCoordArrCase1;
angleArr = angleArrCase1;
methodIdArr = methodIdArrCase1;
}
else if (pos == 2){
xCoordArr = xCoordArrCase2;
yCoordArr = yCoordArrCase2;
angleArr = angleArrCase2;
methodIdArr = methodIdArrCase2;
}
else if (pos == 3) {
xCoordArr = xCoordArrCase3;
yCoordArr = yCoordArrCase3;
angleArr = angleArrCase3;
methodIdArr = methodIdArrCase3;
}
initThings();
setXCoords(xCoordArr);
setYCoords(yCoordArr);
setAngles(angleArr);
setMethodIDS(methodIdArr);
try {
makeActionObjects();
} catch (Exception e) {
e.printStackTrace();
}
waitForStart();
run();
}
}

37
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/redAuto.java
View file

@ -1,37 +0,0 @@
package org.firstinspires.ftc.teamcode.createdcode.enhancedautos;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
@Autonomous
@Config
public class redAuto extends enhancedAutoMode{
public static double[] xCoordArr = {0, -30, -50};
private static double[] yCoordArr = {0, 10, 50};
private static double[] angleArr = {0, 90, 90};
private static int[] methodIdArr = {0, 0, 0};
@Override
public void runOpMode(){
initThings();
setXCoords(xCoordArr);
setYCoords(yCoordArr);
setAngles(angleArr);
setMethodIDS(methodIdArr);
try {
makeActionObjects();
} catch (Exception e) {
e.printStackTrace();
}
waitForStart();
run();
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/oldthings/automodes/AutoConstants.java
View file

@ -1,8 +1,10 @@
package org.firstinspires.ftc.teamcode.createdcode.oldthings.automodes;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
@Config
@Disabled
//@Config
public class AutoConstants {
public static double CAROUSEL_POWER = 0.7;

20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java
View file

@ -65,27 +65,7 @@ public class DriveConstants {
* small and gradually increase them later after everything is working. All distance units are
* inches.
*/
/*
* Note from LearnRoadRunner.com:
* The velocity and acceleration constraints were calculated based on the following equation:
* ((MAX_RPM / 60) * GEAR_RATIO * WHEEL_RADIUS * 2 * Math.PI) * 0.85
* Resulting in 41.065033847087705 in/s.
* This is only 85% of the theoretical maximum velocity of the bot, following the recommendation above.
* This is capped at 85% because there are a number of variables that will prevent your bot from actually
* reaching this maximum velocity: voltage dropping over the game, bot weight, general mechanical inefficiencies, etc.
* However, you can push this higher yourself if you'd like. Perhaps raise it to 90-95% of the theoretically
* max velocity. The theoretically maximum velocity is 48.311804525985536 in/s.
* Just make sure that your bot can actually reach this maximum velocity. Path following will be detrimentally
* affected if it is aiming for a velocity not actually possible.
*
* The maximum acceleration is somewhat arbitrary and it is recommended that you tweak this yourself based on
* actual testing. Just set it at a reasonable value and keep increasing until your path following starts
* to degrade. As of now, it simply mirrors the velocity, resulting in 41.065033847087705 in/s/s
*
* Maximum Angular Velocity is calculated as: maximum velocity / trackWidth * (180 / Math.PI) but capped at 360°/s.
* You are free to raise this on your own if you would like. It is best determined through experimentation.
*/
public static double MAX_VEL = 41.065033847087705;
public static double MAX_ACCEL = 41.065033847087705;
public static double MAX_ANG_VEL = Math.toRadians(200.24281914893615);