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Blue bottom meep meep latest #12

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Blue bottom meep meep latest #12

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afaedd3
tweaked values
Jackjkliu Feb 10, 2024
8faa29f
bluebottom
Jackjkliu Feb 10, 2024
db2d0e2
repathed the BlueBottom and RedBottom Autons
Jackjkliu Feb 17, 2024
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105 changes: 82 additions & 23 deletions MeepMeepTesting/src/main/java/com/example/meepmeeptesting/BlueBottomMeepMeep.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,8 @@
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

import java.util.Vector;

public class BlueBottomMeepMeep {

public static void main(String[] args) {
Expand All @@ -20,30 +22,87 @@ public static void main(String[] args) {
.setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
.setColorScheme(new ColorSchemeBlueDark())
.followTrajectorySequence(drive ->
drive.trajectorySequenceBuilder(new Pose2d(-36,60, Math.toRadians(-90)))
.lineToLinearHeading(new Pose2d(-35,-32, Math.toRadians(180)))
drive.trajectorySequenceBuilder(new Pose2d(-36,-60, Math.toRadians(90)))
/* BBM .back(25)
.forward(10)
.splineToConstantHeading(new Vector2d(-54,24),Math.toRadians(-90))
.splineToLinearHeading(new Pose2d(-30,8, Math.toRadians(90)),Math.toRadians(0))
.turn(Math.toRadians(-90))
.lineToConstantHeading(new Vector2d(15,8))
.splineToLinearHeading(new Pose2d(40,36,Math.toRadians(180)), Math.toRadians(0))
.lineToSplineHeading(new Pose2d(52, 36, Math.toRadians(180)))
.forward(6)
.lineTo(new Vector2d(46, 60))
.lineTo(new Vector2d(60, 60)) */

/* RBM .forward(25)
.back(10)
.splineToConstantHeading(new Vector2d(-54,-24),Math.toRadians(90))
.splineToLinearHeading(new Pose2d(-30,-8, Math.toRadians(90)),Math.toRadians(180))
.turn(Math.toRadians(-90))
.lineToConstantHeading(new Vector2d(15,-8))
.splineToLinearHeading(new Pose2d(40,-36,Math.toRadians(180)), Math.toRadians(0))
.lineToSplineHeading(new Pose2d(52, -36, Math.toRadians(180)))
.forward(6)
.lineTo(new Vector2d(46, -60))
.lineTo(new Vector2d(60, -60)) */

/* BBR .lineToLinearHeading(new Pose2d(-36,34, Math.toRadians(90)))
.turn(Math.toRadians(90))
.back(4)
.forward(10)
.lineToLinearHeading(new Pose2d(-36,8, Math.toRadians(0)))
.lineToConstantHeading(new Vector2d(15,8))
.splineToLinearHeading(new Pose2d(40,36,Math.toRadians(180)), Math.toRadians(0))
.lineToSplineHeading(new Pose2d(52, 30, Math.toRadians(180)))
.forward(6)
.lineTo(new Vector2d(46, 60))
.lineTo(new Vector2d(60, 60))
*/

/* RBR .lineToLinearHeading(new Pose2d(-36,-34, Math.toRadians(90)))
.turn(Math.toRadians(90))
.back(4)
.forward(4)

.lineToLinearHeading(new Pose2d(-30,-8, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(10,-8, Math.toRadians(180)))
.splineTo(new Vector2d(40,-36), Math.toRadians(0))

.lineToSplineHeading(new Pose2d(52, -30, Math.toRadians(0)))

.lineTo(new Vector2d(52, -60))
.lineTo(new Vector2d(60, -60))

// .lineToLinearHeading(new Pose2d(-35,-32, Math.toRadians(180)))
// .back(4)
// .forward(4)
//
// .lineToLinearHeading(new Pose2d(-30,-8, Math.toRadians(180)))
// .lineToLinearHeading(new Pose2d(10,-8, Math.toRadians(180)))
// .splineTo(new Vector2d(40,-36), Math.toRadians(0))
// .lineToSplineHeading(new Pose2d(52, -30, Math.toRadians(180)))
// .lineTo(new Vector2d(52, -60))
// .lineTo(new Vector2d(60, -60))
.forward(10)
.lineToLinearHeading(new Pose2d(-36,-8, Math.toRadians(0)))
.lineToConstantHeading(new Vector2d(15,-8))
.splineToLinearHeading(new Pose2d(40,-36,Math.toRadians(180)), Math.toRadians(0))
.lineToSplineHeading(new Pose2d(52, -42, Math.toRadians(180)))
.forward(6)
.lineTo(new Vector2d(46, -60))
.lineTo(new Vector2d(60, -60))*/





/*BBL .strafeLeft(10)
.lineToLinearHeading(new Pose2d(-46,38, Math.toRadians(90)))
.forward(10)
.strafeRight(10)
.lineToLinearHeading(new Pose2d(-36,8, Math.toRadians(0)))
.lineToConstantHeading(new Vector2d(15,8))
.splineToLinearHeading(new Pose2d(40,36,Math.toRadians(180)), Math.toRadians(0))
.lineToSplineHeading(new Pose2d(52, 42, Math.toRadians(180)))
.forward(6)
.lineTo(new Vector2d(46, 60))
.lineTo(new Vector2d(60, 60)) */

/* RBL .strafeLeft(10)
.lineToLinearHeading(new Pose2d(-46,-38, Math.toRadians(90)))
.forward(10)
.strafeRight(10)
.lineToLinearHeading(new Pose2d(-36,-8, Math.toRadians(0)))
.lineToConstantHeading(new Vector2d(15,-8))
.splineToLinearHeading(new Pose2d(40,-36,Math.toRadians(180)), Math.toRadians(0))
.lineToSplineHeading(new Pose2d(52, -30, Math.toRadians(180)))
.forward(6)
.lineTo(new Vector2d(46, -60))
.lineTo(new Vector2d(60, -60))*/




.build());

meepMeep.setBackground(MeepMeep.Background.FIELD_CENTERSTAGE_JUICE_DARK)
Expand Down
59 changes: 49 additions & 10 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EK10582/auton/modes/BlueBottom.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ public class BlueBottom extends AutonBase {
public void runOpMode() {

double distFromAprilTagX, distFromAprilTagForward;
Pose2d startPos = new Pose2d(-36,-60, Math.toRadians(-90));
Pose2d startPos = new Pose2d(-36,-60, Math.toRadians(90));

waitForStart();

Expand All @@ -42,28 +42,67 @@ public void runOpMode() {
switch (pos) {
case LEFT:
traj_pushPixel = robot.roadRunner.trajectorySequenceBuilder(startPos)
.lineToLinearHeading(new Pose2d(-35,-32, Math.toRadians(180)))
.back(4)
.forward(4)
.strafeLeft(10)
.lineToLinearHeading(new Pose2d(-46,38, Math.toRadians(90)))
.forward(10)
.strafeRight(10)
.build();
traj_toBackboard = robot.roadRunner.trajectorySequenceBuilder(traj_pushPixel.end())
.lineToLinearHeading(new Pose2d(-30,-8, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(10,-8, Math.toRadians(180)))
.splineTo(new Vector2d(40,-36), Math.toRadians(0))
.lineToLinearHeading(new Pose2d(-36,8, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(15,8, Math.toRadians(180)))
.splineToLinearHeading(new Pose2d(40,36, Math.toRadians(180)),Math.toRadians(0))
.build();
traj_placePixel = robot.roadRunner.trajectorySequenceBuilder(traj_toBackboard.end())
.lineToSplineHeading(new Pose2d(52, -30, Math.toRadians(0)))
.lineToSplineHeading(new Pose2d(52, 42, Math.toRadians(0)))
.build();
traj_park = robot.roadRunner.trajectorySequenceBuilder(traj_placePixel.end())
.lineTo(new Vector2d(52, -60))
.lineTo(new Vector2d(60, -60))
.lineTo(new Vector2d(52, 60))
.lineTo(new Vector2d(60, 60))
.build();
break;
case RIGHT:
traj_pushPixel = robot.roadRunner.trajectorySequenceBuilder(startPos)
.lineToLinearHeading(new Pose2d(-36,34, Math.toRadians(90)))
.turn(Math.toRadians(90))
.back(4)
.forward(10)
.build();

traj_toBackboard = robot.roadRunner.trajectorySequenceBuilder(traj_pushPixel.end())
.lineToLinearHeading(new Pose2d(-36,8, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(15,8, Math.toRadians(180)))
.splineToLinearHeading(new Pose2d(40,36, Math.toRadians(180)),Math.toRadians(0))
.build();
traj_placePixel = robot.roadRunner.trajectorySequenceBuilder(traj_toBackboard.end())
.lineToSplineHeading(new Pose2d(52, 30, Math.toRadians(0)))
.build();
traj_park = robot.roadRunner.trajectorySequenceBuilder(traj_placePixel.end())
.forward(6)
.lineTo(new Vector2d(46, 60))
.lineTo(new Vector2d(60, 60))
.build();
break;

case MIDDLE:
traj_pushPixel = robot.roadRunner.trajectorySequenceBuilder(startPos)
.back(25)
.forward(10)
.splineToConstantHeading(new Vector2d(-54,24),Math.toRadians(-90))
.splineToLinearHeading(new Pose2d(-30,8, Math.toRadians(90)),Math.toRadians(0))
.build();
traj_toBackboard = robot.roadRunner.trajectorySequenceBuilder(traj_pushPixel.end())
.turn(Math.toRadians(-90))
.lineToLinearHeading(new Pose2d(15,8, Math.toRadians(180)))
.splineToLinearHeading(new Pose2d(40,36, Math.toRadians(180)),Math.toRadians(0))
.build();
traj_placePixel = robot.roadRunner.trajectorySequenceBuilder(traj_toBackboard.end())
.lineToSplineHeading(new Pose2d(52, 36, Math.toRadians(180)))
.build();
traj_park = robot.roadRunner.trajectorySequenceBuilder(traj_placePixel.end())
.forward(6)
.lineTo(new Vector2d(46, 60))
.lineTo(new Vector2d(60, 60))
.build();

break;
}
Expand Down
56 changes: 47 additions & 9 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EK10582/auton/modes/RedBottom.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,28 +42,66 @@ public void runOpMode() {
switch (pos) {
case LEFT:
traj_pushPixel = robot.roadRunner.trajectorySequenceBuilder(startPos)
.lineToLinearHeading(new Pose2d(-35,-32, Math.toRadians(180)))
.back(4)
.forward(4)
.strafeLeft(10)
.lineToLinearHeading(new Pose2d(-46,-38, Math.toRadians(90)))
.forward(10)
.strafeRight(10)
.build();
traj_toBackboard = robot.roadRunner.trajectorySequenceBuilder(traj_pushPixel.end())
.lineToLinearHeading(new Pose2d(-30,-8, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(10,-8, Math.toRadians(180)))
.splineTo(new Vector2d(40,-36), Math.toRadians(0))
.lineToLinearHeading(new Pose2d(-36,-8, Math.toRadians(0)))
.lineToConstantHeading(new Vector2d(15,-8))
.splineToLinearHeading(new Pose2d(40,-36,Math.toRadians(180)), Math.toRadians(0))
.build();
traj_placePixel = robot.roadRunner.trajectorySequenceBuilder(traj_toBackboard.end())
.lineToSplineHeading(new Pose2d(52, -30, Math.toRadians(0)))
.lineToSplineHeading(new Pose2d(52, -30, Math.toRadians(180)))
.build();
traj_park = robot.roadRunner.trajectorySequenceBuilder(traj_placePixel.end())
.lineTo(new Vector2d(52, -60))
.forward(6)
.lineTo(new Vector2d(46, -60))
.lineTo(new Vector2d(60, -60))
.build();
break;
case RIGHT:

traj_pushPixel = robot.roadRunner.trajectorySequenceBuilder(startPos)
.turn(Math.toRadians(90))
.back(4)
.forward(10)
.build();
traj_toBackboard = robot.roadRunner.trajectorySequenceBuilder(traj_pushPixel.end())
.lineToLinearHeading(new Pose2d(-36,-8, Math.toRadians(0)))
.lineToConstantHeading(new Vector2d(15,-8))
.splineToLinearHeading(new Pose2d(40,-36,Math.toRadians(180)), Math.toRadians(0))
.build();
traj_placePixel = robot.roadRunner.trajectorySequenceBuilder(traj_toBackboard.end())
.lineToSplineHeading(new Pose2d(52, -42, Math.toRadians(180)))
.build();
traj_park = robot.roadRunner.trajectorySequenceBuilder(traj_placePixel.end())
.forward(6)
.lineTo(new Vector2d(46, -60))
.lineTo(new Vector2d(60, -60))
.build();
break;

case MIDDLE:
traj_pushPixel = robot.roadRunner.trajectorySequenceBuilder(startPos)
.forward(25)
.back(10)
.splineToConstantHeading(new Vector2d(-54,-24),Math.toRadians(90))
.splineToLinearHeading(new Pose2d(-30,-8, Math.toRadians(90)),Math.toRadians(180))
.build();
traj_toBackboard = robot.roadRunner.trajectorySequenceBuilder(traj_pushPixel.end())
.turn(Math.toRadians(-90))
.lineToConstantHeading(new Vector2d(15,-8))
.splineToLinearHeading(new Pose2d(40,-36,Math.toRadians(180)), Math.toRadians(0))
.build();
traj_placePixel = robot.roadRunner.trajectorySequenceBuilder(traj_toBackboard.end())
.lineToSplineHeading(new Pose2d(52, -36, Math.toRadians(180)))
.build();
traj_park = robot.roadRunner.trajectorySequenceBuilder(traj_placePixel.end())
.forward(6)
.lineTo(new Vector2d(46, -60))
.lineTo(new Vector2d(60, -60))
.build();

break;
}
Expand Down