Skip to content

Commit

Permalink
Placeholder
Browse files Browse the repository at this point in the history
  • Loading branch information
@abirarun
abirarun committed Oct 20, 2024
1 parent cc037d6 commit 7beb03a
Showing 1 changed file with 116 additions and 115 deletions.
231 changes: 116 additions & 115 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FieldCentricBlue.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ public class FieldCentricBlue
extends LinearOpMode {
private static final boolean USE_WEBCAM = true;
private final Position cameraPosition = new Position(DistanceUnit.INCH,
5, 7, 0, 0);
6.5, 7, 0, 0);
private final YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
0, -90, 0, 0);
//this is all copy-pasted from AprilTagYummy
Expand All @@ -57,6 +57,7 @@ public class FieldCentricBlue
IntegratingGyroscope gyro;
NavxMicroNavigationSensor navxMicro;
ElapsedTime timer = new ElapsedTime();

// this is code is code you know what code it is i like coding yippee code epic epic epic epic for robot straferbot coiding code
@Override
public void runOpMode() throws InterruptedException {
Expand Down Expand Up @@ -165,8 +166,7 @@ public void runOpMode() throws InterruptedException {
// handservo(1.0);
display(1);
blinkin(1);
if(gamepad1.dpad_down)
crservo(90);
crservo(90);



Expand All @@ -178,6 +178,7 @@ public void runOpMode() throws InterruptedException {
}

}

private void initAprilTag() {

// Create the AprilTag processor.
Expand Down Expand Up @@ -208,6 +209,7 @@ private void initAprilTag() {
visionPortal = builder.build();

}

@SuppressLint("DefaultLocale")
private void telemetryAprilTag() {

Expand Down Expand Up @@ -251,79 +253,73 @@ String formatAngle(AngleUnit angleUnit, double angle) {
String formatDegrees(double degrees) {
return String.format("%.1f", AngleUnit.DEGREES.normalize(degrees));
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

// public void turn(double target) {
// StraferHardware hardware = new StraferHardware(hardwareMap);
// //DcMotor backRight = hardwareMap.get(DcMotor.class, "backRight");
// //DcMotor backLeft = hardwareMap.get(DcMotor.class, "backLeft");
// //DcMotor frontRight = hardwareMap.get(DcMotor.class, "frontRight");
// //DcMotor frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
// Orientation angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
// double p = 0.7;
// double power = 0;
// double error = angles.firstAngle - target;
// if (target < 0) {
// while (error > 0) {
//
// hardware.frontLeft.setPower(power);
// hardware.backLeft.setPower(power);
// hardware.frontRight.setPower(-power);
// hardware.backRight.setPower(-power);
//
// angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
// error = angles.firstAngle - target;
// power = error * (0.013) * p + 0.2;
//
// telemetry.addData("errorccw", error);
// telemetry.addData("headingccw", angles.firstAngle);
// telemetry.addData("targetccw", target);
// telemetry.update();
// }
// } else {
// while (error < 0) {
//
// hardware.frontLeft.setPower(-power);
// hardware.backLeft.setPower(-power);
// hardware.frontRight.setPower(power);
// hardware.backRight.setPower(power);
//
// angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
// error = angles.firstAngle - target;
// power = error * (-0.013) * p + 0.2;
//
// telemetry.addData("errorcw", error);
// telemetry.addData("headingcw", angles.firstAngle);
// telemetry.addData("targetcw", target);
// telemetry.update();
//
// }
// hardware.frontLeft.setPower(0);
// hardware.backLeft.setPower(0);
// hardware.frontRight.setPower(0);
// hardware.backRight.setPower(0);
//
//
// }
// }
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void crservo(double deltaAngle){
con_servo=hardwareMap.crservo.get("intakeServo");
public void crservo(double deltaAngle) {
con_servo = hardwareMap.crservo.get("intakeServo");
waitForStart();
while (opModeIsActive()){
while (opModeIsActive()) {

if (gamepad1.dpad_left){
if (gamepad1.dpad_left) {
con_servo.setPower(1);
}
if (gamepad1.dpad_right){
if (gamepad1.dpad_right) {
con_servo.setPower(-1);
}
if (gamepad1.atRest()){
// if (gamepad1.atRest()){
// con_servo.setPower(0);
// }
if (gamepad1.a) {
con_servo.setPower(1);
}
if (gamepad1.b) {
con_servo.setPower(0);
}

}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void blinkin ( double color){
//Allows the LED lights to hand from red to blue using the a nd b buttons on gamepad 2.
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class, "lights");
if (gamepad2.a)
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
if (gamepad2.b)
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);

}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void display ( double color){
//This code tells the LED lights to light up to whatever color the color sensor is detecting.
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class, "lights");
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "ribbit");
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
//Equations taken from ColorSensorTeleOp
boolean rred = ((red - blue > 100) && (red - green > 100));
boolean bblue = ((blue - green > 100) && (blue - red > 100));
boolean yellow = ((green - blue) > 100) && ((green - red) > 100) && (red >= 350);

if (rred) {
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
telemetry.addLine("VERYRED");
} else if (bblue) {
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
telemetry.addLine("VERYBLUE");
} else if (yellow) {
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
} else {
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLACK);

}
}
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// public void turn2(double deltaAngle) {
// //turn to an angle accurately.
// ElapsedTime timer = new ElapsedTime();
Expand Down Expand Up @@ -370,8 +366,7 @@ public void crservo(double deltaAngle){
//
// }
// }

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// public void handservo(double deltaAngle) {
// //hand teleop controls :}
// //allows the claw/hand to open and close using left and right bumper
Expand All @@ -384,8 +379,7 @@ public void crservo(double deltaAngle){
// hardware.hand.setPosition(1.0);
// }
// }

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// public void straightline(double power, double distance, double heading) {
// //drives in a straight line from robots current orientation
// ElapsedTime timer = new ElapsedTime();
Expand Down Expand Up @@ -451,53 +445,60 @@ public void crservo(double deltaAngle){
//
//
// }
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void blinkin (double color){
//Allows the LED lights to hand from red to blue using the a nd b buttons on gamepad 2.
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");
if(gamepad2.a)
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
if(gamepad2.b)
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);

}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public void display (double color){
//This code tells the LED lights to light up to whatever color the color sensor is detecting.
StraferHardware hardware = new StraferHardware(hardwareMap);
RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");
ColorSensor ribbit = hardwareMap.get(ColorSensor.class, "ribbit");
double red = ribbit.red();
double blue = ribbit.blue();
double green = ribbit.green();
//Equations taken from ColorSensorTeleOp
boolean rred = ((red - blue > 100) && (red - green > 100));
boolean bblue = ((blue - green > 100) && (blue - red > 100));
boolean yellow = ((green - blue) > 100) && ((green - red) > 100) && (red >= 350);

if (rred){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
telemetry.addLine("VERYRED");
}


else if(bblue) {
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
telemetry.addLine("VERYBLUE");
}

else if(yellow){
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
}
else {
lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLACK);

}
}
}


/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// public void turn(double target) {
// StraferHardware hardware = new StraferHardware(hardwareMap);
// //DcMotor backRight = hardwareMap.get(DcMotor.class, "backRight");
// //DcMotor backLeft = hardwareMap.get(DcMotor.class, "backLeft");
// //DcMotor frontRight = hardwareMap.get(DcMotor.class, "frontRight");
// //DcMotor frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
// Orientation angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
// double p = 0.7;
// double power = 0;
// double error = angles.firstAngle - target;
// if (target < 0) {
// while (error > 0) {
//
// hardware.frontLeft.setPower(power);
// hardware.backLeft.setPower(power);
// hardware.frontRight.setPower(-power);
// hardware.backRight.setPower(-power);
//
// angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
// error = angles.firstAngle - target;
// power = error * (0.013) * p + 0.2;
//
// telemetry.addData("errorccw", error);
// telemetry.addData("headingccw", angles.firstAngle);
// telemetry.addData("targetccw", target);
// telemetry.update();
// }
// } else {
// while (error < 0) {
//
// hardware.frontLeft.setPower(-power);
// hardware.backLeft.setPower(-power);
// hardware.frontRight.setPower(power);
// hardware.backRight.setPower(power);
//
// angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
// error = angles.firstAngle - target;
// power = error * (-0.013) * p + 0.2;
//
// telemetry.addData("errorcw", error);
// telemetry.addData("headingcw", angles.firstAngle);
// telemetry.addData("targetcw", target);
// telemetry.update();
//
// }
// hardware.frontLeft.setPower(0);
// hardware.backLeft.setPower(0);
// hardware.frontRight.setPower(0);
// hardware.backRight.setPower(0);
//
//
// }
// }


//end class.

0 comments on commit 7beb03a

Please sign in to comment.