leagues 3

GearUp12499-org · Jan 20, 2025 · ef6fc78 · ef6fc78
1 parent cbfd238
commit ef6fc78
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Showing 5 changed files with 30 additions and 27 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HWTest.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HWTest.kt
@@ -155,11 +155,14 @@ class HWTest : LinearOpMode() {
                 testEncoderA(hw.encoderLeft, "encLeft")
                 testEncoderA(hw.encoderCenter, "encCenter")
                 testEncoderA(hw.encoderRight, "encRight")
-                testEncoderB(hw.encoderVerticalSlide, "encVerticalSlide")
+                testEncoderA(hw.encoderVerticalSlide, "encVerticalSlide")
                 testEncoderB(hw.arm, "encArm")
             }
             if (yesno("Test lift?")) {
-                testMotor(hw.verticalSlide, "verticalSlide")
+//                hw.verticalLift.setTargetPosition(Hardware.VLIFT_SCORE_SPECIMEN)
+//                while (opModeIsActive()) {
+//
+//                }
                 stopAll()
             }
         } catch (_: StopException) {}

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -118,10 +118,9 @@ public static class Locks {
 
     public Lift verticalLift;
 
-    @HardwareName("verticalSlides")
+    @EncoderFor("verticalSlides")
     @AutoClearEncoder
-    @Deprecated
-    public DcMotor encoderVerticalSlide;
+    public Encoder encoderVerticalSlide;
 
     @HardwareName("arm")
     @ZeroPower(DcMotor.ZeroPowerBehavior.BRAKE)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LeftAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LeftAuto.java
@@ -40,6 +40,7 @@ public class LeftAuto extends LinearOpMode {
     public static final Motion.Calibrate CALIBRATION = new Motion.Calibrate(1.0, 1.0, 1.0); // Calibration factors for strafe, forward, and turn.
     private static final RuntimeException NOT_IMPLEMENTED = new RuntimeException("This operation is not implemented");
     final Pose SCORE_HIGH_BASKET = new Pose(10.6286797, 17.3713203, Math.toRadians(-45));
+    final Pose PARK_BAD = new Pose(10.6286797, 17.3713203, Math.toRadians(0));
     final Pose PARK1 = new Pose(57.5, 0, Math.toRadians(0));
     final Pose PARK2 = new Pose(55.5, -11, Math.toRadians(0));
     final Pose START = new Pose(0, 4.66, Math.toRadians(0));
@@ -140,7 +141,7 @@ private ITask fourthYellow() {
     private ITask scoreHighBasket() {
         return groupOf(inner -> inner.add(groupOf(a -> {
                             // all of these:
-                            a.add(vLiftProxy.moveTo(Hardware.VLIFT_SCORE_HIGH, 10, 2.0));
+                            a.add(vLiftProxy.moveTo(Hardware.VLIFT_SCORE_HIGH, 10, 1.2));
                             a.add(run(() -> hardware.arm.setTargetPosition(222)));
                             a.add(await(250)); // minimum duration
                         }))
@@ -220,22 +221,22 @@ public void runOpMode() {
                 .then(fourthYellow())
                 .then(moveTo(SCORE_HIGH_BASKET))
                 .then(scoreHighBasket())
-                .then(moveTo(PARK1))
-//                .then(moveTo(PARK2))
-                .then(run(() -> {
-                    hardware.frontLeft.setPower(0.6);
-                    hardware.frontRight.setPower(-0.6);
-                    hardware.backLeft.setPower(-0.6);
-                    hardware.backRight.setPower(0.6);
-                }))
-                .then(wait(0.5))
-                .then(run(() -> {
-                    hardware.frontLeft.setPower(0.3);
-                    hardware.frontRight.setPower(-0.3);
-                    hardware.backLeft.setPower(-0.3);
-                    hardware.backRight.setPower(0.3);
-                }))
-                .then(wait(0.5))
+                .then(moveTo(PARK_BAD))
+////                .then(moveTo(PARK2))
+//                .then(run(() -> {
+//                    hardware.frontLeft.setPower(0.6);
+//                    hardware.frontRight.setPower(-0.6);
+//                    hardware.backLeft.setPower(-0.6);
+//                    hardware.backRight.setPower(0.6);
+//                }))
+//                .then(wait(0.5))
+//                .then(run(() -> {
+//                    hardware.frontLeft.setPower(0.3);
+//                    hardware.frontRight.setPower(-0.3);
+//                    hardware.backLeft.setPower(-0.3);
+//                    hardware.backRight.setPower(0.3);
+//                }))
+//                .then(wait(0.5))
                 .then(run(() -> hardware.driveMotors.setAll(0)));
 //                .then(moveTo(scheduler,
 //                        new Pose(65, -12, Math.toRadians(0))))*/

diff --git a/multitask/src/main/java/dev/aether/collaborative_multitasking/ITask.kt b/multitask/src/main/java/dev/aether/collaborative_multitasking/ITask.kt
@@ -98,7 +98,7 @@ abstract class TaskTemplate(override var scheduler: Scheduler) : TaskWithChainin
     override var isStartRequested = false
 
     override fun transition(newState: State) {
-        println("$this: transition: ${state.name} -> ${newState.name}")
+//        println("$this: transition: ${state.name} -> ${newState.name}")
         if (state.order > newState.order) {
             throw IllegalStateException("cannot move from ${state.name} to ${newState.name}")
         }

diff --git a/multitask/src/main/java/dev/aether/collaborative_multitasking/MultitaskScheduler.kt b/multitask/src/main/java/dev/aether/collaborative_multitasking/MultitaskScheduler.kt
@@ -65,13 +65,13 @@ open class MultitaskScheduler
                     it.transition(State.Starting)
                     // acquire locks
                     for (lock in it.requirements()) {
-                        println("$it acquired $lock")
+//                        println("$it acquired $lock")
                         if (locks[lock.id] != null) {
                             println("WARN: uhh we're gonna make ${tasks[locks[lock.id]]} crash when it finishes")
                         }
                         locks[lock.id] = it.myId
                         lockIdName[lock.id] = lock
-                        println("locks: $locks")
+//                        println("locks: $locks")
                     }
                 }
             }
@@ -144,7 +144,7 @@ open class MultitaskScheduler
                 else println("ERROR!!! $task (which just finished) does not own lock $lock that it is supposed to own")
             }
             locks[lock.id] = null
-            println("$task released $lock")
+//            println("$task released $lock")
         }
     }
 
@@ -364,7 +364,7 @@ open class MultitaskScheduler
             val dropped = tasks.filterInPlace { k, v ->
                 !(v.state == State.NotStarted && predicate(v))
             }
-            println("dropped ${dropped.size} tasks: ${dropped.joinToString(", ")}")
+//            println("dropped ${dropped.size} tasks: ${dropped.joinToString(", ")}")
         }
     }