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v4.28.2
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- Done with league meet #3
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@shuhul
shuhul committed Jan 21, 2023
1 parent b687f23 commit 5194345
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Showing 4 changed files with 58 additions and 59 deletions.
6 changes: 3 additions & 3 deletions TeamCode/src/main/java/automodules/AutoModuleUser.java
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Original file line number Diff line number Diff line change
Expand Up @@ -268,7 +268,7 @@ public void define() {
double x = (i*0.0); double y = i*0.0;
if(i+1 == 1){
addAutoModule(leds.autoModuleColor(OLed.LEDColor.OFF));
addWaypoint(0.7, x, 18+y, 0);
addWaypoint(0.7, x, 17+y, 0);
addWaypoint(0.4, x, 21+y, 0);
}
if(i+1 != 11){
Expand All @@ -278,9 +278,9 @@ public void define() {
addWaypoint(i == 0 ? 0.5 : 0.6, x, -15+y, 0);
addSegment(0.2, 0.5, mecanumNonstopSetPoint, x, -23+y, 0);
addConcurrentAutoModuleWithCancel(ForwardCycle2);
addWaypoint(0.6, x, y, 0);
// addWaypoint(0.6, x, y, 0);
// addSegment(0.5, 1.0, mecanumNonstopSetPoint, x, 10+y, 0);
addWaypoint(0.35, x, 25+y, 0);
addWaypoint(0.4, x, 30+y, 0);


} else{
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95 changes: 46 additions & 49 deletions TeamCode/src/main/java/auton/TerraAutoMega.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ public void initialize() {
ExceptionCatcher.catchInterrupted(() -> Thread.sleep(500));
outtake.readyStart();
scan(false);
x = 0; s = 0; y = 125;
x = 0; s = 0; y = 119;
}

// AutoModule BackwardReadyFirst = new AutoModule(
Expand All @@ -53,23 +53,21 @@ public void initialize() {

AutoModule BackwardFirst = new AutoModule(
outtake.stageMiddle(0.0),
RobotPart.pause(0.5),
lift.stageLift(1.0, heightMode.getValue(HIGH)+4.0).attach(outtake.stageReadyEndAfter(0.2))
RobotPart.pause(0.45),
lift.stageLift(1.0, heightMode.getValue(HIGH)+1.0).attach(outtake.stageReadyEndAfter(0.28))
);

AutoModule Backward = new AutoModule(
RobotPart.pause(0.1),
outtake.stageFlip(0.0),
RobotPart.pause(0.1),
lift.stageLift(1.0, heightMode.getValue(HIGH)+4.0).attach(outtake.stageReadyEndAfter(0.2))
);
static AutoModule Backward(double height){return new AutoModule(
outtake.stage(0.67, 0.1),
lift.stageLift(1.0, heightMode.getValue(HIGH)+height).attach(outtake.stageReadyEndAfter(0.1))
);}

AutoModule Forward(int i){return new AutoModule(
outtake.stageEnd(0.05),
outtake.stageOpen(0.0),
lift.moveTime(-1, 0.2),
outtake.stageAfter(0.03*(5-i) + 0.03, 0.0),
lift.stageLift(1.0, 0)
lift.moveTime(-0.7, 0.2),
outtake.stageAfter(0.025*(5-i) + 0.03, 0.0),
lift.stageLift(1.0, i < 2 ? 5 : 0)
// lift.stageLift(1.0, i == 0 ? 14.5 : Math.max(15.0 - (i*15.0/5.0), 0)).attach(outtake.stageStartAfter(0.15))
// outtake.stageEnd(0.05),
// outtake.stageOpen(0.0),
Expand All @@ -79,7 +77,8 @@ AutoModule Forward(int i){return new AutoModule(

AutoModule Grab = new AutoModule(
outtake.stageClose(0.15),
outtake.stageMiddleWithoutFlip(0.0),
outtake.stage(0.67, 0.0),
// outtake.stageMiddleWithoutFlip(0.0),
lift.moveTime(1,0.3)
);

Expand All @@ -88,9 +87,9 @@ public void define() {

// Pre-loaded cone move
addConcurrentAutoModule(BackwardFirst);
addWaypoint(1.0, 0, 112, 10);
addWaypoint(1.0, 0, 90, 0);
// Pre-loaded cone place
addTimedSetpoint(1.0, 0.5, 0.7, -6.5, 138, 45);
addTimedSetpoint(1.0, 0.65, 0.9, -6.5, 138, 40);
addConcurrentAutoModule(Forward(0));
// Start 5 cycle
customNumber(5, i -> {
Expand All @@ -99,77 +98,75 @@ public void define() {
case 1: x = 0.6; s = 1.0; break;
case 2: x = 0.6; s = 1.5; break;
case 3: x = 1.0; s = 2.0; break;
case 4: x = 1.0; s = 2.5; break;
case 4: x = 1.0; s = 3.0; break;
}
// Move to pick
addSegment(0.8, mecanumDefaultWayPoint, 18-x, 128 + s, 80);
addSegment(0.8, mecanumDefaultWayPoint, 52-x, 125 + s, 87);
addSegment(0.3, mecanumDefaultWayPoint, 66-x, 125 + s, 87);
addTimedWaypoint( 0.2, 0.2, 66-x, 126 + s, 87);
// Pick
addConcurrentAutoModuleWithCancel(Grab);
addTimedWaypoint( 0.3, 0.3, 60-x, 126 + s, 89);
// Move to place
addConcurrentAutoModuleWithCancel(Backward);
addConcurrentAutoModuleWithCancel(Backward(4));
addSegment(0.9, mecanumDefaultWayPoint, 30-x, 124 + s, 75);
addSegment(0.7, mecanumDefaultWayPoint, 15-x, 130 + s, 47);
addSegment(0.8, mecanumDefaultWayPoint, 15-x, 135 + s, 47);
// Place
addTimedSetpoint(1.0, 0.7, 0.5, -9 - x, 143 + s, 53);
addConcurrentAutoModuleWithCancel(Forward(i+1 == 5 ? 0 : i+1));
});
addPause(0.05);
addTimedSetpoint(2.0, 0.6, 0.6, -8.5, y, -95);
addTimedSetpoint(2.0, 0.6, 0.6, -8.5, 129, -95);
// Move to other side
addSegment(1.0, mecanumDefaultWayPoint, -225.0, y, -95);
addSegment(0.2, mecanumDefaultWayPoint, -234.0, y, -95);
// First cone pick up
addTimedWaypoint(0.3, 0.2, -240, y+1, -93);
addConcurrentAutoModule(GrabAuto2);
addTimedWaypoint(0.2, 0.3, -237, y+1, -93);
addSegment(1.0, mecanumDefaultWayPoint, -214.0, y+11, -93);
addSegment(0.2, mecanumDefaultWayPoint, -231.0, y+15, -93);
// // First cone pick up
addTimedWaypoint(0.2, 0.1, -236, y+15, -93);
addConcurrentAutoModule(Grab);
addTimedWaypoint(0.3, 0.3, -233, y+15, -93);
// First cone move to place
addConcurrentAutoModuleWithCancel(Backward);
addSegment(0.8, mecanumDefaultWayPoint, -200, y, -85);
addSegment(0.7, mecanumDefaultWayPoint, -183, y+10, -52);
addConcurrentAutoModuleWithCancel(Backward(4));
addSegment(0.8, mecanumDefaultWayPoint, -200, y+12, -85);
addSegment(0.8, mecanumDefaultWayPoint, -180, y+15, -52);
// First cone place
addTimedSetpoint(1.0, 0.6, 0.7, -167, y+10.5, -52);
addTimedSetpoint(1.0, 0.7, 0.5, -160, y+22, -52);
addConcurrentAutoModuleWithCancel(Forward(1));
// Start 2 cycle
customNumber(1, i -> {
// Check enough time?
// addBreakpoint(() -> timer.seconds() > 25.2);
customNumber(caseDetected.equals(Case.SECOND) ? 3 : 2, i -> {
switch (i){
case 0: x = 0.0; s = -0.0; break;
case 1: x = 0.0; s = 0.0; break;
case 0: x = 0.0; s = 1.0; break;
case 1: x = 0.0; s = 1.5; break;
case 2: x = 0.0; s = 2.0; break;
case 3: x = 0.0; s = 2.5; break;
}
// Move to pick
addSegment(1.0, mecanumDefaultWayPoint, -186, y+10, -65);
addSegment(0.5, mecanumDefaultWayPoint, -226, y, -93);
addSegment(0.8, mecanumDefaultWayPoint, -186, y+16+s, -65);
addSegment(0.8, mecanumDefaultWayPoint, -223, y+10+s, -93);
// Pick
addTimedWaypoint(0.3, 0.2, -239, y, -93);
addTimedWaypoint(0.2, 0.2, -235, y+10+s, -93);
addConcurrentAutoModule(Grab);
addTimedWaypoint(0.2, 0.3, -236, y, -93);
addTimedWaypoint(0.3, 0.3, -231, y+10+s, -93);
// Move to place
addConcurrentAutoModuleWithCancel(Backward);
addSegment(0.8, mecanumDefaultWayPoint, -200, y, -85);
addSegment(0.7, mecanumDefaultWayPoint, -183, y+8.5, -52);
addConcurrentAutoModuleWithCancel(Backward(5));
addSegment(0.9, mecanumDefaultWayPoint, -200, y+10+s, -85);
addSegment(0.8, mecanumDefaultWayPoint, -180, y+13+s, -52);
// Place
addTimedSetpoint(1.0, 0.6, 0.7, -165, y+10.5, -52);
addConcurrentAutoModuleWithCancel(Forward(i+1 == 1 ? 5 : i+2));
addTimedSetpoint(1.0, 0.7, 0.5, -160, y+21+s, -52);
addConcurrentAutoModuleWithCancel(Forward(i+1 == (caseDetected.equals(Case.SECOND) ? 3 : 2) ? 5 : i+2));
});

addBreakpointReturn();
// Park other side
// // Park other side
customCase(() -> {
addTimedWaypoint(1.0, 0.2, -170.0, y, -93);
addWaypoint(0.7, -215.0, y, -45);
addTimedSetpoint(1.0, 0.5,1.0, -227.0, 120, 0);
}, () -> {
addTimedSetpoint(1.0, 0.7, 1.0, -170.0, y, 0);
addTimedSetpoint(1.0, 0.7, 1.0, -170.0, y, -93);
}, () -> {
addTimedWaypoint(1.0, 0.2, -170.0, y, -93);
addWaypoint(0.7, -120.0, y, -45);
addTimedSetpoint(1.0, 0.7, 1.0, -115.0, 120, 0);
});
// addPause(0.1);
addPause(0.1);
// End
}

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14 changes: 8 additions & 6 deletions TeamCode/src/main/java/auton/TerraAutoNormal.java
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,10 @@ public void initialize() {
);

AutoModule Backward = new AutoModule(
outtake.stageMiddle(0.2),
lift.stageLift(1.0, heightMode.getValue(HIGH)+4.0).attach(outtake.stageReadyEndAfter(0.4))
// outtake.stageMiddle(0.2),
RobotPart.pause(0.05),
outtake.stageFlip(0.0),
lift.stageLift(1.0, heightMode.getValue(HIGH)+4.2).attach(outtake.stageReadyEndAfter(0.25))
);

AutoModule Forward(int i){return new AutoModule(
Expand Down Expand Up @@ -111,15 +113,15 @@ public void define() {
});
// Move to pick
addSegment(0.7, mecanumDefaultWayPoint, 18-x, 128 + s, 80);
addSegment(0.6, mecanumDefaultWayPoint, 59-x, 125 + s, 87);
addSegment(0.6, mecanumDefaultWayPoint, 61-x, 125 + s, 87);
// Pick
addTimedWaypoint( 0.2, 0.3, 66-x, 126 + s, 87);
addTimedWaypoint( 0.2, 0.3, 67-x, 126 + s, 87);
addConcurrentAutoModuleWithCancel(Grab);
addTimedWaypoint( 0.2, 0.3, 62-x, 126 + s, 89);
addTimedWaypoint( 0.2, 0.3, 60.5-x, 126 + s, 89);
// Move to place
addConcurrentAutoModuleWithCancel(Backward);
addSegment(0.7, mecanumDefaultWayPoint, 30-x, 124 + s, 80);
addSegment(0.65, mecanumDefaultWayPoint, 11-x, 132 + s, 50);
addSegment(0.6, mecanumDefaultWayPoint, 11-x, 132 + s, 50);
// Place
customFlipped(() -> {
addTimedSetpoint(1.0, 0.6, 0.4, -1.3 - x, 134 + s, 53);
Expand Down
2 changes: 1 addition & 1 deletion TeamCode/src/main/java/robotparts/electronics/positional/PMotor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ public class PMotor extends Electronic {
public PMotor(DcMotor m, DcMotor.Direction dir, DcMotor.ZeroPowerBehavior zpb, DcMotor.RunMode mode){
motor = (DcMotorEx) m;
motorEncoder = new IEncoder(motor, IEncoder.EncoderType.PMOTOR);
detector = new StallDetector(motorEncoder, 10, 10);
detector = new StallDetector(motorEncoder, 10, 13);
positionHolder.setProcessVariable(motorEncoder::getAngularVelocity);
defaultCoeffs = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER);
currentCoeffs = defaultCoeffs;
Expand Down

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