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16750 tuesday auto things, added a net scoring opmode #68

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merged 2 commits into from
Nov 14, 2024
Merged

16750 tuesday auto things, added a net scoring opmode #68

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80657f7
16750 auto things
TechnototesLaptop Nov 13, 2024
4428569
Auto Changes for Observation Parking, not working, it's going berserk…
TechnototesLaptop Oct 30, 2024
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5 changes: 2 additions & 3 deletions Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/AutoConstants.java
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Expand Up @@ -13,17 +13,16 @@ public class AutoConstants {


//New testing constants for this year's game
public static ConfigurablePoseD NET_START = new ConfigurablePoseD(35, 63, 0);
public static ConfigurablePoseD START = new ConfigurablePoseD(35, 63, 0);
public static ConfigurablePoseD OBS_START = new ConfigurablePoseD(22, -65, 90);
public static ConfigurablePoseD NETSCORING = new ConfigurablePoseD(55, 55, 45);
public static ConfigurablePoseD NETSCORING_TEST = new ConfigurablePoseD(55, 55, 45);
public static ConfigurablePoseD NETSCORING_CLEAR = new ConfigurablePoseD(45, 35, -45);
public static ConfigurablePoseD SPLINETEST1 = new ConfigurablePoseD(0, -55, 0);
public static ConfigurablePoseD SPLINETEST2 = new ConfigurablePoseD(55, 0, 0);
public static ConfigurablePoseD OBS_PARK = new ConfigurablePoseD(62, -6, 90);


public static ConfigurablePoseD NETSCORING = new ConfigurablePoseD(55, 55, 45);
public static ConfigurablePoseD NET_START = new ConfigurablePoseD(35, 63, 0);
public static ConfigurablePoseD NETCLEAR = new ConfigurablePoseD(52, 52, 45);
public static ConfigurablePoseD INTAKE1 = new ConfigurablePoseD(47, 40, 90);
public static ConfigurablePoseD INTAKE2 = new ConfigurablePoseD(60, 35, 90);
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2 changes: 1 addition & 1 deletion Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/Setup.java
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Expand Up @@ -11,7 +11,7 @@ public static class Connected {
public static boolean VERTICALSLIDESUBSYSTEM = true;
public static boolean HORIZONTALSLIDESUBSYSTEM = true;
public static boolean BUCKET = false;
public static boolean ODOSUBSYSTEM = false;
public static boolean ODOSUBSYSTEM = true;
public static boolean SAFETYSUBSYSTEM = false;
}

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39 changes: 39 additions & 0 deletions Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/opmodes/auto/NetScoring.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,39 @@
package org.firstinspires.ftc.sixteen750.opmodes.auto;

import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.technototes.library.command.CommandScheduler;
import com.technototes.library.command.SequentialCommandGroup;
import com.technototes.library.structure.CommandOpMode;
import com.technototes.library.util.Alliance;
import org.firstinspires.ftc.sixteen750.AutoConstants;
import org.firstinspires.ftc.sixteen750.Hardware;
import org.firstinspires.ftc.sixteen750.Robot;
import org.firstinspires.ftc.sixteen750.commands.auto.Paths;
import org.firstinspires.ftc.sixteen750.controls.DriverController;
import org.firstinspires.ftc.sixteen750.helpers.StartingPosition;

@Autonomous(name = "NetScoring")
@SuppressWarnings("unused")
public class NetScoring extends CommandOpMode {

public Robot robot;
public DriverController controls;
public Hardware hardware;

@Override
public void uponInit() {
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
hardware = new Hardware(hardwareMap);
robot = new Robot(hardware, Alliance.RED, StartingPosition.Observation);
robot.drivebase.setPoseEstimate(AutoConstants.FORWARD.toPose());
CommandScheduler.scheduleForState(
new SequentialCommandGroup(
Paths.SampleScoring(robot),
CommandScheduler::terminateOpMode
),
OpModeState.RUN
);
}
}
4 changes: 2 additions & 2 deletions Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/opmodes/auto/Obs_Park.java
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Expand Up @@ -27,8 +27,8 @@ public class Obs_Park extends CommandOpMode {
public void uponInit() {
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
hardware = new Hardware(hardwareMap);
robot = new Robot(hardware, Alliance.RED, StartingPosition.Net);
robot.drivebase.setPoseEstimate(AutoConstants.OBS_START.toPose());
robot = new Robot(hardware, Alliance.RED, StartingPosition.Observation);
robot.drivebase.setPoseEstimate(AutoConstants.BACKWARD.toPose());
CommandScheduler.scheduleForState(
new SequentialCommandGroup(Paths.Obs_Parking(robot), CommandScheduler::terminateOpMode),
OpModeState.RUN
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