Skip to content

Commit

Permalink
2024-11-23 autonomous herding
Browse files Browse the repository at this point in the history
  • Loading branch information
@OviedoRobotics
OviedoRobotics committed Nov 23, 2024
1 parent 813c3ba commit 5faec3c
Show file tree
Hide file tree
Showing 25 changed files with 63 additions and 6,321 deletions.
117 changes: 0 additions & 117 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagProcessorImplCallback.java
View file

This file was deleted.

47 changes: 0 additions & 47 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagTarget.java
View file

This file was deleted.

39 changes: 16 additions & 23 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonomousBase.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,24 +11,15 @@
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
import com.qualcomm.robotcore.util.ReadWriteFile;

import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Pose2D;
import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;

import java.io.File;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.List;
import java.util.Locale;
import java.util.concurrent.TimeUnit;

public abstract class AutonomousBase extends LinearOpMode {
/* Declare OpMode members. */
Expand Down Expand Up @@ -101,10 +92,11 @@ public abstract class AutonomousBase extends LinearOpMode {
int startDelaySec = 0; // 1: wait [seconds] at startup -- applies to both left/rigth starting positions
int parkDelaySec = 0; // 2: wait [seconds] before parking in observation zone -- applies to that parking zone

boolean audienceYellow = false; // 3: score yellow pixel on audience side (true=yes; false=just park?)
boolean yellowOnLeft = true; // 4: drop yellow pixel in backdrop on left? (true=LEFT; false=RIGHT)
boolean scorePreloadSpecimen = true; // 3: score preloaded specimen (true=yes; false=no)
boolean onlyPark = false; // 4: only park no scoring (true=yes; false=no)

int parkLocation = 0; // 5: park 0=NONE, 1=LEFT, 2=RIGHT
int spikeSamples = 3;
final int PARK_NONE = 0;
final int PARK_LEFT = 1;
final int PARK_RIGHT = 2;
Expand Down Expand Up @@ -234,14 +226,14 @@ else if( gamepad1_cross_now && !gamepad1_cross_last ) {
}
} // prev
break;
case 3 : // SCORE YELLOW PIXEL FROM AUDIENCE SIDE?
case 3 : // SCORE PRELOADED SPECIMEN?
if( nextValue || prevValue) {
audienceYellow = !audienceYellow;
scorePreloadSpecimen = !scorePreloadSpecimen;
} // next
break;
case 4 : // WHERE ON BACKDROP DO WE PLACE THE YELLOW PIXEL? (LEFT/RIGHT)
case 4 : // immediately park
if( nextValue || prevValue) {
yellowOnLeft = !yellowOnLeft;
onlyPark = !onlyPark;
} // next
break;

Expand All @@ -261,15 +253,15 @@ else if( gamepad1_cross_now && !gamepad1_cross_last ) {

case 6 : // HOW MANY PIXELS DO WE SCORE FROM 5-STACK?
if( nextValue ) {
// if (fiveStackCycles < 1) {
// fiveStackCycles++;
// }
if (spikeSamples < 3) {
spikeSamples++;
}
} // next

if( prevValue ) {
// if (fiveStackCycles > 0) {
// fiveStackCycles--;
// }
if (spikeSamples > 0) {
spikeSamples--;
}
} // prev
break;
default : // recover from bad state
Expand All @@ -280,10 +272,11 @@ else if( gamepad1_cross_now && !gamepad1_cross_last ) {
// Update our telemetry
telemetry.addData("Start Delay", "%d sec %s", startDelaySec, ((initMenuSelected==1)? "<-":" ") );
telemetry.addData("Park Delay", "%d sec %s", parkDelaySec, ((initMenuSelected==2)? "<-":" ") );
telemetry.addData("Specimen Preload", "%s %s",((scorePreloadSpecimen)? "yes":"no"), ((initMenuSelected==3)? "<-":" ") );
telemetry.addData("Only Park", "%s %s",((onlyPark)? "yes":"no"), ((initMenuSelected==4)? "<-":" ") );
telemetry.addData("Park Location","%s %s", parkLocationStr[parkLocation],
((initMenuSelected==5)? "<-":" "));

// telemetry.addData("5-stack cycles", "%d cycles %s",fiveStackCycles,((initMenuSelected==6)? "<-":" ") );
telemetry.addData("spike specimens", "%d %s",spikeSamples,((initMenuSelected==6)? "<-":" ") );
telemetry.addData(">","version 100" );
telemetry.update();
} // processAutonomousInitMenu
Expand Down
5 changes: 3 additions & 2 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonomousLeftRed.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -284,19 +284,20 @@ private void level1Ascent() {
// Back up from submersible
driveToPosition( 32.0, 6.0, 90.0, DRIVE_SPEED_50, TURN_SPEED_50, DRIVE_TO );
// Drive forward toward the wall
driveToPosition( 34.0, -27.0, 90.0, DRIVE_SPEED_50, TURN_SPEED_30, DRIVE_TO );
driveToPosition( 38.0, -27.0, 90.0, DRIVE_SPEED_50, TURN_SPEED_30, DRIVE_TO );
} // opModeIsActive

if( opModeIsActive() ) {
// Strafe towards submersible
driveToPosition( 64.0, -27.0, 90.0, DRIVE_SPEED_70, TURN_SPEED_50, DRIVE_TO );
// Drive backward
driveToPosition( 64.0, -12.0, 90.0, DRIVE_SPEED_20, TURN_SPEED_20, DRIVE_TO );
driveToPosition( 64.0, -15.0, 90.0, DRIVE_SPEED_20, TURN_SPEED_20, DRIVE_TO );
} // opModeIsActive

if( opModeIsActive() ) {
autoViperMotorMoveToTarget( robot.VIPER_EXTEND_GRAB);
autoTiltMotorMoveToTarget( robot.TILT_ANGLE_BASKET);
timeDriveStraight(-DRIVE_SPEED_20,3000);
do {
if( !opModeIsActive() ) break;
// wait for lift/tilt to finish...
Expand Down
Loading

0 comments on commit 5faec3c

Please sign in to comment.