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39 changes: 39 additions & 0 deletions
39
...Planning/src/main/kotlin/com/example/pathplanning/legacy/blue/main/Sample1Plus3Testing.kt
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| package com.example.meepmeeptesting | ||
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|
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| import com.acmerobotics.roadrunner.Pose2d | ||
| import com.acmerobotics.roadrunner.Vector2d | ||
| import com.noahbres.meepmeep.MeepMeep | ||
| import com.noahbres.meepmeep.MeepMeep.Background | ||
| import com.noahbres.meepmeep.core.toRadians | ||
| import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder | ||
|
|
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| object Sample1Plus3Testing { | ||
| @JvmStatic | ||
| fun main(args: Array<String>) { | ||
| val meepMeep = MeepMeep(800) | ||
|
|
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| val myBot = | ||
| DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width | ||
| .setConstraints(50.0, 50.0, Math.toRadians(180.0), Math.toRadians(180.0), 4669.698132939092 * 0.002953423066) | ||
| .build() | ||
|
|
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| myBot.runAction( | ||
| myBot.drive.actionBuilder(Pose2d(10.0, 62.0, -90.0.toRadians())) | ||
| .setTangent(-45.0) | ||
| .splineToLinearHeading(Pose2d(56.0, 56.0, Math.toRadians(225.0)), Math.toRadians(45.0)) | ||
| .turn(Math.toRadians(30.0)) | ||
| .turn(Math.toRadians(-30.0)) | ||
| .turn(Math.toRadians(55.0)) | ||
| .turn(Math.toRadians(-55.0)) | ||
| .turn(Math.toRadians(75.0)) | ||
| .build() | ||
|
|
||
| ) | ||
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| meepMeep.setBackground(Background.FIELD_INTO_THE_DEEP_JUICE_DARK) | ||
| .setDarkMode(true) | ||
| .setBackgroundAlpha(0.95f) | ||
| .addEntity(myBot) | ||
| .start() | ||
| } | ||
| } |
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14 changes: 14 additions & 0 deletions
14
TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/ThrowbackCommand.kt
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| package org.firstinspires.ftc.teamcode.commands.intake | ||
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| import com.arcrobotics.ftclib.command.CommandBase | ||
| import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem | ||
|
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| class ThrowbackCommand( | ||
| private val subsystem: IntakeSubsystem | ||
| ) : CommandBase() { | ||
| override fun execute() = subsystem.wristUp() | ||
|
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| override fun isFinished() = subsystem.isPressed | ||
|
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| override fun end(interrupted: Boolean) = subsystem.reset() | ||
| } |
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55 changes: 55 additions & 0 deletions
55
TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/Sample1Plus3.kt
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| Original file line number | Diff line number | Diff line change |
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| package org.firstinspires.ftc.teamcode.opModes.auto | ||
|
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| import com.acmerobotics.roadrunner.Action | ||
| import com.acmerobotics.roadrunner.Pose2d | ||
| import com.acmerobotics.roadrunner.Vector2d | ||
| import com.arcrobotics.ftclib.command.CommandOpMode | ||
| import com.arcrobotics.ftclib.command.InstantCommand | ||
| import com.arcrobotics.ftclib.command.ParallelCommandGroup | ||
| import com.arcrobotics.ftclib.command.SequentialCommandGroup | ||
| import com.arcrobotics.ftclib.command.WaitCommand | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous | ||
| import org.firstinspires.ftc.teamcode.commands.ActionCommand | ||
| import org.firstinspires.ftc.teamcode.commands.arm.ArmCommand | ||
| import org.firstinspires.ftc.teamcode.commands.elevator.ElevatorCommand | ||
| import org.firstinspires.ftc.teamcode.commands.intake.IntakeBeltCommand | ||
| import org.firstinspires.ftc.teamcode.commands.intake.IntakeCommand | ||
| import org.firstinspires.ftc.teamcode.constants.AutoStartPose | ||
| 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.ElevatorSubsystem | ||
|
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| @Autonomous(name = "Sample 1 + 3") | ||
| class Sample1Plus3 : CommandOpMode() { | ||
| override fun initialize() { | ||
| DriveSubsystem.initialize(hardwareMap) | ||
| ArmSubsystem.initialize(hardwareMap) | ||
| ElevatorSubsystem.initialize(hardwareMap) | ||
| IntakeSubsystem.initialize(hardwareMap) | ||
|
|
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| val scorePreloaded = | ||
| SequentialCommandGroup( | ||
| InstantCommand({ DriveSubsystem.pose = AutoStartPose.BLUE_LEFT.startPose }), | ||
| ParallelCommandGroup( | ||
| ActionCommand( | ||
| DriveSubsystem.actionBuilder(AutoStartPose.BLUE_LEFT::startPose) | ||
| .setTangent(-45.0) | ||
| .splineToLinearHeading(Pose2d(56.0, 56.0, Math.toRadians(225.0)), Math.toRadians(45.0)) .build(), | ||
| DriveSubsystem | ||
| ), | ||
| ArmCommand(Math.toRadians(90.0), ArmSubsystem).withTimeout(2000), | ||
| IntakeBeltCommand(Math.toRadians(-60.0),IntakeSubsystem), | ||
| InstantCommand({ IntakeSubsystem.closeClaw() }), | ||
| ), | ||
| ElevatorCommand(30.0, ElevatorSubsystem).withTimeout(2000), | ||
| IntakeBeltCommand(Math.toRadians(90.0), IntakeSubsystem).withTimeout(1000), | ||
| InstantCommand({ IntakeSubsystem.openClaw() }), | ||
| ) | ||
|
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| schedule( | ||
| scorePreloaded | ||
| ) | ||
| } | ||
|
|
||
| } |
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