2.1

535tobor · Feb 12, 2024 · 76f78d4 · 76f78d4
1 parent c3a5e7e
commit 76f78d4
Show file tree

Hide file tree

Showing 19 changed files with 183 additions and 156 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueBoardSide.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueBoardSide.java
@@ -2,7 +2,8 @@
 
 import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.UP;
 import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.UsbFacingDirection.RIGHT;
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.Imu.imuGet;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
@@ -79,11 +80,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
         TouchSensorButton.mapDigital(hardwareMap); // button
 
 

diff --git a/.../src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueBoardSideGuess.java b/.../src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueBoardSideGuess.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.gamecode.autonomous;
 
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.arm.Target_arm.arm;
@@ -62,11 +63,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
         TouchSensorButton.mapDigital(hardwareMap); // button
 
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueFarSide.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueFarSide.java
@@ -2,7 +2,8 @@
 
 import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.UP;
 import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.UsbFacingDirection.RIGHT;
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.Imu.imuGet;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
@@ -79,11 +80,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
         TouchSensorButton.mapDigital(hardwareMap); // button
 
 
@@ -136,7 +133,7 @@ public void runStart() {
         telemetry.update();
 
         closeClaw(); // close
-        rotateArm(800, 1);
+        rotateArm(1000, 1);
 
 
         if (teamprop == 2) { // if the middle team prop is found then go to it and drop the pixel
@@ -193,21 +190,22 @@ public void runStart() {
                 forwardAuto(17, 1, 1000);
                 strafeRightAuto(5, 1, 1000);
                 turnLeftAuto(500 * 3 / 2, 1, 1000);
-                forwardAuto(2,1,1000);
+                forwardAuto(10,2,1000);
                 openClaw();
-                backwardAuto(2,1,1000);
+                backwardAuto(5,1,1000);
                 turnRightAuto(500 * 3, 1, 1000);
-                backwardAuto(30,1,1000);
+                backwardAuto(30,5,1000);
             }
         }
 
         // park
-        forwardAuto(3, 1,1000); //
-        strafeRightAuto(5,1,1000); //
-        forwardAuto(15,1,1000); //
-        strafeRightAuto(17,1,1000); //
-        forwardAuto(38,4,1000);
-        strafeLeftAuto(150,10,1000);
+        forwardAuto(3, 3,500); //
+        strafeLeftAuto(5,3,500);
+        strafeRightAuto(8,3,500); //
+        forwardAuto(15,3,500); //
+        strafeRightAuto(13,3,500); //
+        forwardAuto(30,5,500);
+        strafeLeftAuto(123,10,1000);
 
     }
 

diff --git a/...de/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueFarSideGuess.java b/...de/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueFarSideGuess.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.gamecode.autonomous;
 
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.shaft.Target_shaft.shaft;
@@ -64,11 +65,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
 
         fl.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         fr.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@@ -103,23 +100,24 @@ public void runStart() {
         openClaw(0.5);
 
         // guess that team prop is in middle
-        strafeRightAuto(3,3,500); // away from rigging
-        forwardAuto(25,3,500);
-        backwardAuto(25,3,500);
+        strafeRightAuto(3,3,100); // away from rigging
+        forwardAuto(25,3,100);
+        backwardAuto(25,3,100);
 
         // park
-        forwardAuto(3, 3,500); //
-        strafeRightAuto(8,3,500); //
-        forwardAuto(15,3,500); //
-        strafeRightAuto(17,3,500); //
-        forwardAuto(48,4,500);
-        strafeLeftAuto(123,5,500);
+        forwardAuto(3, 3,100); //
+        strafeLeftAuto(10,3,100);
+        strafeRightAuto(8,3,100); //
+        forwardAuto(15,3,100); //
+        strafeRightAuto(17,3,100); //
+        forwardAuto(48,4,100);
+        strafeLeftAuto(123,5,100);
 
     }
 
     @Override
     public void runLoop() {
-        telemetry.addData("target ", 500);
+        telemetry.addData("target ", 100);
         telemetry.addData("position FL ", fl.getCurrentPosition());
         telemetry.addData("position FR ", fr.getCurrentPosition());
         telemetry.addData("position BL ", bl.getCurrentPosition());

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedBoardSide.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedBoardSide.java
@@ -2,7 +2,8 @@
 
 import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection.UP;
 import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.UsbFacingDirection.RIGHT;
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.Imu.imuGet;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
@@ -79,11 +80,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
         TouchSensorButton.mapDigital(hardwareMap); // button
 
 
@@ -136,28 +133,25 @@ public void runStart() {
         telemetry.update();
 
         closeClaw(); // close
-        sleep(700);
-        // lift arm above ground, holding 1 pixel
-        rotateArm(100, 1);
-        sleep(1000);
+        rotateArm(1000, 1);
 
 
         if (teamprop == 2) { // if the middle team prop is found then go to it and drop the pixel
             telemetry.addData("", "found!");
             telemetry.addData("teamprop", teamprop);
             telemetry.addData("distance", sensorRange.getDistance(DistanceUnit.INCH));
             telemetry.update();
-            forwardAuto(26, 5, 800);
+            forwardAuto(26, 2, 1000);
             openClaw();
-            // park
-            backwardAuto(26, 5, 800);
+            backwardAuto(27,1,1000);
+
 
         } else {
             scanTimes = 0;
             found = false;
             // if the middle team prop is not found then search for the team prop on zone 1
-            forwardAuto(8,1,10000);
-            strafeRightAuto(5, 1, 800);
+            forwardAuto(14,1,1000);
+            strafeRightAuto(10, 1, 1000);
             /*turnLeftAuto(500 * 3, 2, 500); // 90 degrees
             openClaw();*/
 
@@ -179,37 +173,33 @@ public void runStart() {
             }
 
             if (teamprop == 3) {
+                sleep(10000);
                 telemetry.addData("", "found!");
                 telemetry.addData("teamprop", teamprop);
                 telemetry.addData("distance", sensorRange.getDistance(DistanceUnit.INCH));
                 telemetry.update();
-                forwardAuto(23, 5, 800);
-                strafeRightAuto(10, 1, 800);
+                forwardAuto(16, 1, 1000);
+                strafeRightAuto(5, 1, 1000);
                 openClaw(0.5);
-                // park
-                strafeLeftAuto(5,1,800);
-                backwardAuto(26, 5, 800);
+                backwardAuto(10,1,1000);
+                strafeLeftAuto(20,1,1000);
+                backwardAuto(30,1,1000);
             } else {
                 // zone 1
-                strafeLeftAuto(10, 1, 800);
-                forwardAuto(25, 5, 800);
-                strafeRightAuto(5, 1, 800);
-                turnLeftAuto(500 * 3, 1, 800);
-                forwardAuto(2,1,800);
+                strafeLeftAuto(10, 1, 1000);
+                forwardAuto(17, 1, 1000);
+                strafeRightAuto(5, 1, 1000);
+                turnLeftAuto(500 * 3 / 2, 1, 1000);
+                forwardAuto(10,2,1000);
                 openClaw();
-                // park
-                turnRightAuto(500 * 3,1,800);
-                backwardAuto(26, 5, 800);
+                backwardAuto(5,1,1000);
+                turnRightAuto(500 * 3, 1, 1000);
+                backwardAuto(30,5,1000);
             }
         }
 
         // park
-        forwardAuto(3, 3,500); //
-        strafeLeftAuto(8,3,500); //
-        forwardAuto(15,3,500); //
-        strafeLeftAuto(17,3,500); //
-        forwardAuto(48,4,500);
-        strafeRightAuto(123,5,500);
+        strafeRightAuto(30,5,1000);
 
     }
 

diff --git a/...e/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedBoardSideGuess.java b/...e/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedBoardSideGuess.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.gamecode.autonomous;
 
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.arm.Target_arm.arm;
@@ -62,11 +63,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
         TouchSensorButton.mapDigital(hardwareMap); // button
 
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.gamecode.autonomous;
 
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.arm.Target_arm.arm;
@@ -67,11 +68,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
 
         fl.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         fr.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

diff --git a/...ode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSideGuess.java b/...ode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSideGuess.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.gamecode.autonomous;
 
-import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.sensorRange;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.mapOtherThings;
+import static org.firstinspires.ftc.teamcode.operations.inOut.Configs.sensorRange;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.TouchSensorButton.button;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.arm.Target_arm.arm;
@@ -63,11 +64,7 @@ public void runInit() {
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
         Encoders.clear();
 
-        sensorRange = hardwareMap.get(DistanceSensor.class, "left_eye");
-
-        arm = hardwareMap.get(DcMotorEx.class, "arm");
-        shaft = hardwareMap.get(DcMotor.class, "shaft");
-        claw = hardwareMap.get(Servo.class, "claw");
+        mapOtherThings(hardwareMap);
 
         fl.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         fr.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/teleop/FieldCentric.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/teleop/FieldCentric.java
@@ -5,6 +5,8 @@
 import static org.firstinspires.ftc.teamcode.operations.inOut.driverControlled.RobotCentric.initRobotCentric;
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.visionPortal;
 import static org.firstinspires.ftc.teamcode.operations.inputs.Target_inputs.cameraConnected;
+import static org.firstinspires.ftc.teamcode.operations.outputs.driverStation.DriverStation.output;
+import static org.firstinspires.ftc.teamcode.operations.outputs.driverStation.DriverStation.outputMake;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.arm.Target_arm.arm;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.armLift.shaft.Target_shaft.shaft;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.bl;
@@ -42,15 +44,18 @@ public void runOpMode() {
 
     @Override
     public void runInit() {
+        outputMake(telemetry,"running init");
         initFieldCentric(hardwareMap,telemetry);
     }
 
     @Override
     public void runInitLoop() {
+        outputMake(telemetry,"running init loop");
     }
 
     @Override
     public void runStart() {
+        outputMake(telemetry,"running start");
         //claw.setPosition(claw.getPosition()+2000);
         fl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         fr.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
@@ -64,13 +69,14 @@ public void runStart() {
 
     @Override
     public void runLoop() {
-
+        output(telemetry, "running loop");
         runLoopFieldCentric(telemetry,gamepad1,gamepad2,speed);
 
     }
 
     @Override
     public void runStop() {
+        outputMake(telemetry,"running stop");
         if (cameraConnected) {
             visionPortal.close();
         }