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@aravioli108
aravioli108 committed Nov 27, 2024
1 parent d1419e1 commit 72fc791
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Showing 8 changed files with 204 additions and 11 deletions.
1 change: 0 additions & 1 deletion .idea/misc.xml
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2 changes: 1 addition & 1 deletion PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket1.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ object BlueHighBasket1 {
}
var img: Image? = null
try {
img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
img = ImageIO.read(File("C://Users//arava//Downloads//field.png/"))
} catch (_ : IOException) {

}
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117 changes: 117 additions & 0 deletions PathPlanning/src/main/kotlin/com/example/pathplanning/blue/main/BlueAuto.kt
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@@ -0,0 +1,117 @@
package com.example.pathplanning.blue.main

import com.acmerobotics.roadrunner.geometry.Pose2d
import com.noahbres.meepmeep.MeepMeep
import com.noahbres.meepmeep.core.toRadians
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
import java.awt.Image
import java.io.File
import java.io.IOException
import javax.imageio.ImageIO

object BlueAuto {
@JvmStatic

fun main(args: Array<String>) {
val meepMeep = MeepMeep(800)

val myBot =
DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
.setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
.followTrajectorySequence { drive ->
drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
.addTemporalMarker(0.1,) {
//add the command for the arm to go up
//add command for belt servo to go backwards
//add the command to add the slides go up
}
.splineToLinearHeading(Pose2d(55.0, 55.0, Math.toRadians(225.0)), Math.toRadians(0.0))
.addDisplacementMarker {
//add command for rollers servo to outtake
}
.turn(Math.toRadians(30.0)) //
.addTemporalMarker(6.0) {
//add command for arm to go down
//add command for slides to go out
//add command to belt servo to go at [x] angle
}
.addDisplacementMarker {
//add command to intake
}
.turn(Math.toRadians(-30.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm up
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to outtake
}
.turn(Math.toRadians(55.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm down
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to intake
}
.turn(Math.toRadians(-55.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm up
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to outtake
}
.turn(Math.toRadians(80.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm down
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to intake
}
.turn(Math.toRadians(-80.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm up
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to outtake
}
.splineToSplineHeading(Pose2d(36.0, 12.0, Math.toRadians(-180.0)), Math.toRadians(-90.0))
.addDisplacementMarker {
//add command to bring arm up
//add command to bring slides out
}




.build()
}
var img: Image? = null
try {
img = ImageIO.read(File("C://Users//arava//Downloads//field.png/"))
} catch (_ : IOException) {

}

if (img != null) {
meepMeep.setBackground(img)
.setDarkMode(true)
.setBackgroundAlpha(0.95f)
.addEntity(myBot)
.start()
}
}
}
81 changes: 77 additions & 4 deletions PathPlanning/src/main/kotlin/com/example/pathplanning/blue/main/BlueAutoLeft.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,15 +20,88 @@ object BlueAutoLeft {
.setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
.followTrajectorySequence { drive ->
drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
.turn((90.0).toRadians())
.forward(60.0)
.waitSeconds(4.0)
.addTemporalMarker(0.1,) {
//add the command for the arm to go up
//add command for belt servo to go backwards
//add the command to add the slides go up
}
.splineToLinearHeading(Pose2d(55.0, 55.0, Math.toRadians(225.0)), Math.toRadians(0.0))
.addDisplacementMarker {
//add command for rollers servo to outtake
}
.turn(Math.toRadians(30.0)) //
.addTemporalMarker(6.0) {
//add command for arm to go down
//add command for slides to go out
//add command to belt servo to go at [x] angle
}
.addDisplacementMarker {
//add command to intake
}
.turn(Math.toRadians(-30.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm up
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to outtake
}
.turn(Math.toRadians(55.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm down
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to intake
}
.turn(Math.toRadians(-55.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm up
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to outtake
}
.turn(Math.toRadians(80.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm down
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to intake
}
.turn(Math.toRadians(-80.0)) //
.addTemporalMarker() {
//add command to bring slides in
//add command to bring arm up
//add command to put slides out
//add command to turn belt servo
}
.addDisplacementMarker {
//add command to outtake
}
.splineToSplineHeading(Pose2d(36.0, 12.0, Math.toRadians(-180.0)), Math.toRadians(-90.0))
.addDisplacementMarker {
//add command to bring arm up
//add command to bring slides out
}




.build()
}
var img: Image? = null
try {
img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
img = ImageIO.read(File("C://Users//arava//Downloads//field.png/"))
} catch (_ : IOException) {

}
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2 changes: 1 addition & 1 deletion ...kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/ManualFeedforwardTuner.kt
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Expand Up @@ -121,7 +121,7 @@ class ManualFeedforwardTuner : LinearOpMode() {
}

companion object {
private var DISTANCE = 110.0 // in
private var DISTANCE = 90.0 // in
private fun generateProfile(movingForward: Boolean): MotionProfile {
val start = MotionState(if (movingForward) 0.0 else DISTANCE, 0.0, 0.0, 0.0)
val goal = MotionState(if (movingForward) DISTANCE else 0.0, 0.0, 0.0, 0.0)
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1 change: 1 addition & 0 deletions .../src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/StraightTest.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ class StraightTest : LinearOpMode() {
}

companion object {
@JvmField
var DISTANCE = 60.0 // in
}
}
3 changes: 2 additions & 1 deletion ...Code/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/roadrunner/TurnTest.kt
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Expand Up @@ -22,6 +22,7 @@ class TurnTest : LinearOpMode() {
}

companion object {
var ANGLE = 90.0 // deg
@JvmField
var ANGLE = 180.0 // deg
}
}
8 changes: 5 additions & 3 deletions TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/drive/DriveSubsystem.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -272,9 +272,11 @@ class DriveSubsystem @JvmOverloads constructor(
override fun getExternalHeadingVelocity() = 0.0

companion object {
var TRANSLATIONAL_PID = PIDCoefficients(8.0, 0.0, 0.0)
var HEADING_PID = PIDCoefficients(8.0, 0.0, 0.0)
var LATERAL_MULTIPLIER = 1.0126582278481012658227848101266
@JvmField
var TRANSLATIONAL_PID = PIDCoefficients(10.0, 0.0, 0.01)
@JvmField
var HEADING_PID = PIDCoefficients(10.0, 0.0, 0.01)
var LATERAL_MULTIPLIER = 1.0179744056670780318264660644901
var VX_WEIGHT = 1.0
var VY_WEIGHT = 1.0
var OMEGA_WEIGHT = 1.0
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