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all of the singular auto programs, they still need to be adjusted wit…
…h dimensions
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Ishaan Ghaskadbi
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Ishaan Ghaskadbi
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Nov 21, 2024
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74 changes: 74 additions & 0 deletions
74
...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/basket/right/BlueHighBasketRight.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| package org.firstinspires.ftc.teamcode.opModes.auto.blue.basket.right | ||
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|
||
| import com.arcrobotics.ftclib.hardware.motors.CRServo | ||
| import com.arcrobotics.ftclib.hardware.motors.Motor | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode | ||
| import org.firstinspires.ftc.teamcode.constants.AutoStartPose | ||
| import org.firstinspires.ftc.teamcode.constants.ControlBoard | ||
| import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem | ||
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| @Autonomous(name = "Blue High Basket Right", group = "Basket", preselectTeleOp = "MainTeleOp") | ||
| class BlueHighBasketRight() : OpMode() { | ||
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| private lateinit var armLeft: Motor | ||
| private lateinit var armRight: Motor | ||
| private lateinit var elevatorLeft: Motor | ||
| private lateinit var elevatorRight: Motor | ||
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| private lateinit var intake: CRServo | ||
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| private lateinit var driveSubsystem: DriveSubsystem | ||
| private lateinit var intakeSubsystem: IntakeSubsystem | ||
| private lateinit var armSubsystem: ArmSubsystem | ||
| private lateinit var elevatorSubsystem: SlidesSubsytem | ||
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| override fun init() { | ||
| intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName) | ||
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| armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName) | ||
| armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName) | ||
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| elevatorLeft = Motor(hardwareMap, ControlBoard.SLIDES_LEFT.deviceName) | ||
| elevatorRight = Motor(hardwareMap, ControlBoard.SLIDES_RIGHT.deviceName) | ||
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| driveSubsystem = DriveSubsystem(hardwareMap) | ||
| intakeSubsystem = IntakeSubsystem(intake) | ||
| armSubsystem = ArmSubsystem(armLeft, armRight) | ||
| elevatorSubsystem = SlidesSubsytem(elevatorLeft, elevatorRight) | ||
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| val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_RIGHT.startPose) | ||
| .turn(Math.toRadians(90.0)) | ||
| .forward(35.0) | ||
| .addTemporalMarker(2.0) { | ||
| armSubsystem.setpoint = Math.toRadians(150.0) | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(3.0) { | ||
| elevatorSubsystem.setpoint = 2.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(5.0){ | ||
| intakeSubsystem.outtake() | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(6.0) { | ||
| elevatorSubsystem.setpoint = 0.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(8.0) { | ||
| armSubsystem.setpoint = Math.toRadians(0.0) | ||
| } | ||
| .build() | ||
|
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| driveSubsystem.followTrajectorySequenceAsync(trajectory) | ||
| } | ||
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| override fun loop() { | ||
| driveSubsystem.update() | ||
| } | ||
| } |
73 changes: 73 additions & 0 deletions
73
...tlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/left/BlueHighChamberLeft.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,73 @@ | ||
| package org.firstinspires.ftc.teamcode.opModes.auto.blue.chamber.left | ||
|
|
||
| import com.arcrobotics.ftclib.hardware.motors.CRServo | ||
| import com.arcrobotics.ftclib.hardware.motors.Motor | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode | ||
| import org.firstinspires.ftc.teamcode.constants.AutoStartPose | ||
| import org.firstinspires.ftc.teamcode.constants.ControlBoard | ||
| import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem | ||
|
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| @Autonomous(name = "Blue High Chamber Left", group = "Chamber", preselectTeleOp = "MainTeleOp") | ||
| class BlueHighChamberLeft() : OpMode() { | ||
| private lateinit var armLeft: Motor | ||
| private lateinit var armRight: Motor | ||
| private lateinit var elevatorLeft: Motor | ||
| private lateinit var elevatorRight: Motor | ||
|
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| private lateinit var intake: CRServo | ||
|
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||
| private lateinit var driveSubsystem: DriveSubsystem | ||
| private lateinit var intakeSubsystem: IntakeSubsystem | ||
| private lateinit var armSubsystem: ArmSubsystem | ||
| private lateinit var elevatorSubsystem: SlidesSubsytem | ||
|
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| override fun init() { | ||
| intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName) | ||
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| armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName) | ||
| armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName) | ||
|
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| elevatorLeft = Motor(hardwareMap, ControlBoard.SLIDES_LEFT.deviceName) | ||
| elevatorRight = Motor(hardwareMap, ControlBoard.SLIDES_RIGHT.deviceName) | ||
|
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| driveSubsystem = DriveSubsystem(hardwareMap) | ||
| intakeSubsystem = IntakeSubsystem(intake) | ||
| armSubsystem = ArmSubsystem(armLeft, armRight) | ||
| elevatorSubsystem = SlidesSubsytem(elevatorLeft, elevatorRight) | ||
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| val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_LEFT.startPose) | ||
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| .forward(28.0) | ||
| .strafeLeft(11.0) | ||
| .addTemporalMarker(2.0) { | ||
| armSubsystem.setpoint = Math.toRadians(150.0) | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(3.0) { | ||
| elevatorSubsystem.setpoint = 2.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(5.0) { | ||
| intakeSubsystem.outtake() | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(6.0) { | ||
| elevatorSubsystem.setpoint = 0.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(8.0) { | ||
| armSubsystem.setpoint = Math.toRadians(0.0) | ||
| } | ||
| .build() | ||
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| driveSubsystem.followTrajectorySequenceAsync(trajectory) | ||
| } | ||
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| override fun loop() { | ||
| driveSubsystem.update() | ||
| } | ||
| } |
73 changes: 73 additions & 0 deletions
73
...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/chamber/right/BlueHighChamberRight.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,73 @@ | ||
| package org.firstinspires.ftc.teamcode.opModes.auto.blue.chamber.right | ||
|
|
||
| import com.arcrobotics.ftclib.hardware.motors.CRServo | ||
| import com.arcrobotics.ftclib.hardware.motors.Motor | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode | ||
| import org.firstinspires.ftc.teamcode.constants.AutoStartPose | ||
| import org.firstinspires.ftc.teamcode.constants.ControlBoard | ||
| import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem | ||
|
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| @Autonomous(name = "Blue High Chamber Right", group = "Chamber", preselectTeleOp = "MainTeleOp") | ||
| class BlueHighChamberRight() : OpMode() { | ||
| private lateinit var armLeft: Motor | ||
| private lateinit var armRight: Motor | ||
| private lateinit var elevatorLeft: Motor | ||
| private lateinit var elevatorRight: Motor | ||
|
|
||
| private lateinit var intake: CRServo | ||
|
|
||
| private lateinit var driveSubsystem: DriveSubsystem | ||
| private lateinit var intakeSubsystem: IntakeSubsystem | ||
| private lateinit var armSubsystem: ArmSubsystem | ||
| private lateinit var elevatorSubsystem: SlidesSubsytem | ||
|
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| override fun init() { | ||
| intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName) | ||
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| armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName) | ||
| armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName) | ||
|
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| elevatorLeft = Motor(hardwareMap, ControlBoard.SLIDES_LEFT.deviceName) | ||
| elevatorRight = Motor(hardwareMap, ControlBoard.SLIDES_RIGHT.deviceName) | ||
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| driveSubsystem = DriveSubsystem(hardwareMap) | ||
| intakeSubsystem = IntakeSubsystem(intake) | ||
| armSubsystem = ArmSubsystem(armLeft, armRight) | ||
| elevatorSubsystem = SlidesSubsytem(elevatorLeft, elevatorRight) | ||
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| val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_RIGHT.startPose) | ||
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| .forward(28.0) | ||
| .strafeRight(11.0) | ||
| .addTemporalMarker(2.0) { | ||
| armSubsystem.setpoint = Math.toRadians(150.0) | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(3.0) { | ||
| elevatorSubsystem.setpoint = 2.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(5.0) { | ||
| intakeSubsystem.outtake() | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(6.0) { | ||
| elevatorSubsystem.setpoint = 0.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(8.0) { | ||
| armSubsystem.setpoint = Math.toRadians(0.0) | ||
| } | ||
| .build() | ||
|
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| driveSubsystem.followTrajectorySequenceAsync(trajectory) | ||
| } | ||
|
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| override fun loop() { | ||
| driveSubsystem.update() | ||
| } | ||
| } |
73 changes: 73 additions & 0 deletions
73
...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/red/basket/left/RedHighBasketLeft.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,73 @@ | ||
| package org.firstinspires.ftc.teamcode.opModes.auto.red.basket.left | ||
|
|
||
| import com.arcrobotics.ftclib.hardware.motors.CRServo | ||
| import com.arcrobotics.ftclib.hardware.motors.Motor | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode | ||
| import org.firstinspires.ftc.teamcode.constants.AutoStartPose | ||
| import org.firstinspires.ftc.teamcode.constants.ControlBoard | ||
| import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem | ||
| import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsytem | ||
|
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| @Autonomous(name = "Red High Basket Left", group = "Basket", preselectTeleOp = "MainTeleOp") | ||
| class RedHighBasketLeft() : OpMode() { | ||
|
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| private lateinit var armLeft: Motor | ||
| private lateinit var armRight: Motor | ||
| private lateinit var elevatorLeft: Motor | ||
| private lateinit var elevatorRight: Motor | ||
|
|
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| private lateinit var intake: CRServo | ||
|
|
||
| private lateinit var driveSubsystem: DriveSubsystem | ||
| private lateinit var intakeSubsystem: IntakeSubsystem | ||
| private lateinit var armSubsystem: ArmSubsystem | ||
| private lateinit var elevatorSubsystem: SlidesSubsytem | ||
|
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| override fun init() { | ||
| intake = CRServo(hardwareMap, ControlBoard.INTAKE.deviceName) | ||
|
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| armLeft = Motor(hardwareMap, ControlBoard.ARM_LEFT.deviceName) | ||
| armRight = Motor(hardwareMap, ControlBoard.ARM_RIGHT.deviceName) | ||
|
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| elevatorLeft = Motor(hardwareMap, ControlBoard.SLIDES_LEFT.deviceName) | ||
| elevatorRight = Motor(hardwareMap, ControlBoard.SLIDES_RIGHT.deviceName) | ||
|
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| driveSubsystem = DriveSubsystem(hardwareMap) | ||
| intakeSubsystem = IntakeSubsystem(intake) | ||
| armSubsystem = ArmSubsystem(armLeft, armRight) | ||
| elevatorSubsystem = SlidesSubsytem(elevatorLeft, elevatorRight) | ||
|
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| val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_LEFT.startPose) | ||
| .turn(Math.toRadians(90.0)) | ||
| .forward(35.0) | ||
| .addTemporalMarker(2.0) { | ||
| armSubsystem.setpoint = Math.toRadians(150.0) | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(3.0) { | ||
| elevatorSubsystem.setpoint = 2.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(5.0){ | ||
| intakeSubsystem.outtake() | ||
| } | ||
| .waitSeconds(1.0) | ||
| .addTemporalMarker(6.0) { | ||
| elevatorSubsystem.setpoint = 0.0 | ||
| } | ||
| .waitSeconds(2.0) | ||
| .addTemporalMarker(8.0) { | ||
| armSubsystem.setpoint = Math.toRadians(0.0) | ||
| } | ||
| .build() | ||
|
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| driveSubsystem.followTrajectorySequenceAsync(trajectory) | ||
| } | ||
|
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| override fun loop() { | ||
| driveSubsystem.update() | ||
| } | ||
| } |
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