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Remove all Top autos

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This commit is contained in:
Yash Karandikar 2022-11-05 18:32:03 -05:00
parent 351655cd62
commit 79d5fd24eb
12 changed files with 0 additions and 400 deletions
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0
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensorBottom.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
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88
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensorTop.java
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@ -1,88 +0,0 @@
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.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoBlueColorSensorTop extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
mecanumDrive = new SampleMecanumDrive(hardwareMap);
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(36, 60), 0),
new int[]{36},
new int[]{40}
);
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
}
int r = sensor.red();
int g = sensor.green();
int b = sensor.blue();
int largest = getLargest(r, g, b);
Trajectory endpos;
if (largest == r) {
// move to position 1
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 12, 12},
new int[]{60, 60, 12}
);
} else if (largest == g) {
// move to position 2
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 12, 12, 36},
new int[]{60, 60, 12, 12}
);
} else if (largest == b) {
// move to position 3
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 70, 60},
new int[]{60, 60, 30}
);
} else {
// Color sensor broke, move to backup position
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 70},
new int[]{60, 60}
);
}
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)));
}
}

0
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehaviorBottom.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehavior.java
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56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueSubstationParkingBehaviorTop.java
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@ -1,56 +0,0 @@
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.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoBlueSubstationParkingBehaviorTop extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(36, 60), 0),
new int[]{36},
new int[]{40}
);
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
}
// init move to default terminal
Trajectory endpos = makeTrajectories(firstMove.end(),
new int[]{36, 1},
new int[]{60, 60}
);
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();
}
}

0
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehaviorBottom.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehavior.java
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueTerminalParkingBehaviorTop.java
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@ -1,56 +0,0 @@
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.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoBlueTerminalParkingBehaviorTop extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(36, 60), 0),
new int[]{36},
new int[]{40}
);
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
}
// init move to default terminal
Trajectory endpos = makeTrajectories(firstMove.end(),
new int[]{36, -70},
new int[]{60, 60}
);
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();
}
}

0
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensorBottom.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensor.java
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedColorSensorTop.java
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@ -1,88 +0,0 @@
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.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoRedColorSensorTop extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
ColorSensor sensor = hardwareMap.get(ColorSensor.class, "color");
mecanumDrive = new SampleMecanumDrive(hardwareMap);
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(36, -60), 0),
new int[]{36},
new int[]{-40}
);
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
}
int r = sensor.red();
int g = sensor.green();
int b = sensor.blue();
int largest = getLargest(r, g, b);
Trajectory endpos;
if (largest == r) {
// move to position 1
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 12, 12},
new int[]{-60, -60, -12}
);
} else if (largest == g) {
// move to position 2
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 12, 12, 34},
new int[]{-60, -60, -12, -12}
);
} else if (largest == b) {
// move to position 3
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 70, 60},
new int[]{-60, -60, -30}
);
} else {
// Color sensor broke, move to backup position
endpos = makeTrajectories(firstMove.end(),
new int[]{36, 70},
new int[]{-60, -60}
);
}
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)));
}
}

0
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehaviorBottom.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehavior.java
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedSubstationParkingBehaviorTop.java
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@ -1,56 +0,0 @@
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.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoRedSubstationParkingBehaviorTop extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(36, -60), 0),
new int[]{36},
new int[]{-40}
);
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
}
// init move to default terminal
Trajectory endpos = makeTrajectories(firstMove.end(),
new int[]{36, 1},
new int[]{-60, -60}
);
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();
}
}

0
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehaviorBottom.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehavior.java
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoRedTerminalParkingBehaviorTop.java
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@ -1,56 +0,0 @@
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.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Autonomous
public class AutoRedTerminalParkingBehaviorTop extends LinearOpMode {
SampleMecanumDrive mecanumDrive;
@Override
public void runOpMode() throws InterruptedException {
mecanumDrive = new SampleMecanumDrive(hardwareMap);
waitForStart();
Trajectory firstMove = makeTrajectories(
new Pose2d(new Vector2d(36, -60), 0),
new int[]{36},
new int[]{-40}
);
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
}
// init move to default terminal
Trajectory endpos = makeTrajectories(firstMove.end(),
new int[]{36, -70},
new int[]{-60, -60}
);
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();
}
}