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new #60

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9805a43
hi
ks911 Dec 29, 2025
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Merge branch 'master' of https://github.com/Pedro-Pathing/Quickstart
ks911 Dec 29, 2025
7b1b2ae
hiiiiiii :D
ks911 Dec 29, 2025
50429f6
hiiiiiii :D
ks911 Dec 29, 2025
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hiiiiiii :D
ks911 Jan 4, 2026
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112 changes: 112 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAllianceBigLaunchAuto.java
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package org.firstinspires.ftc.teamcode;
import static java.lang.Thread.sleep;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.BezierLine;
import com.pedropathing.geometry.Pose;
import com.pedropathing.paths.Path;
import com.pedropathing.paths.PathChain;
import com.pedropathing.util.Timer;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;

@Autonomous(name = "Blue Alliance Big Launch Auto", group = "Autonomous")
public class BlueAllianceBigLaunchAuto extends OpMode {
private Follower follower;
private Timer pathTimer, actionTimer, opmodeTimer;
ElapsedTime shoot, retrieve;
private int pathState;

private final Pose startPose = new Pose(22, 124, Math.toRadians(324));
private final Pose shootPose = new Pose(36, 108, Math.toRadians(135));
private final Pose setupPose1 = new Pose(48, 84, Math.toRadians(180));
private final Pose setupPose2 = new Pose(48, 60, Math.toRadians(180));
private final Pose setupPose3 = new Pose(48, 36, Math.toRadians(180));
private final Pose pickupPose1 = new Pose(23, 84, Math.toRadians(180));
private final Pose pickupPose2 = new Pose(23, 60, Math.toRadians(180));
private final Pose pickupPose3 = new Pose(23, 36, Math.toRadians(180));



DcMotor intakeMotor = hardwareMap.get(DcMotor.class, "intake_motor");
DcMotor outtakeMotor = hardwareMap.get(DcMotor.class, "outtake_motor");


public void Shoot () {
shoot.startTime();
if (shoot.seconds() < 4) {
outtakeMotor.setPower(1);
intakeMotor.setPower(1);
} else if (shoot.seconds() > 4) {
outtakeMotor.setPower(0);
intakeMotor.setPower(0);
shoot.reset();
}

}

public void Retrieve() {
retrieve.startTime();
if (retrieve.seconds() < 4) {
intakeMotor.setPower(1);
} else if (retrieve.seconds() > 4) {
intakeMotor.setPower(0);
retrieve.reset();
}
}

public void ShootingPath (Pose pickupPose) {
PathChain ShootPath;
ShootPath = follower.pathBuilder()
.addPath(new BezierLine(pickupPose, shootPose))
.setLinearHeadingInterpolation(pickupPose.getHeading(), shootPose.getHeading())
.build();
follower.followPath(ShootPath);
Shoot();
}

public void SetupAndRetrieve(Pose setupPose, Pose pickupPose, Pose Shoot_Start) {
PathChain SetupPath;
PathChain RetrievePath;
SetupPath = follower.pathBuilder()
.addPath(new BezierLine(Shoot_Start, setupPose))
.setLinearHeadingInterpolation(startPose.getHeading(), setupPose1.getHeading())
.build();
RetrievePath = follower.pathBuilder()
.addPath(new BezierLine(setupPose,pickupPose))
.setConstantHeadingInterpolation(Math.toRadians(180))
.build();
follower.followPath(SetupPath);
Retrieve();
follower.followPath(RetrievePath);
}

public void shootToStart (Pose startPose, Pose shootPose) {
PathChain go;
go = follower.pathBuilder()
.addPath(new BezierLine(startPose, shootPose))
.setLinearHeadingInterpolation(startPose.getHeading(), shootPose.getHeading())
.build();
follower.followPath(go);
Shoot();
}

@Override
public void loop() {

}
@Override
public void init() {
shootToStart(startPose, shootPose);
SetupAndRetrieve(setupPose1,pickupPose1, shootPose);
ShootingPath(pickupPose1);
SetupAndRetrieve(setupPose2, pickupPose2, shootPose);
ShootingPath(pickupPose2);
SetupAndRetrieve(setupPose3, pickupPose3, shootPose);
ShootingPath(pickupPose3);


}
}
113 changes: 113 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAllianceSmallLaunchAuto.java
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package org.firstinspires.ftc.teamcode;
import static java.lang.Thread.sleep;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.BezierLine;
import com.pedropathing.geometry.Pose;
import com.pedropathing.paths.Path;
import com.pedropathing.paths.PathChain;
import com.pedropathing.util.Timer;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;

@Autonomous(name = "Blue Alliance Small Launch Auto", group = "Autonomous")
public class BlueAllianceSmallLaunchAuto extends OpMode {
private Follower follower;
private Timer pathTimer, actionTimer, opmodeTimer;
ElapsedTime shoot, retrieve;
private int pathState;

private final Pose startPose = new Pose(60, 6, Math.toRadians(324));
private final Pose shootPose = new Pose(36, 108, Math.toRadians(135));
private final Pose setupPose1 = new Pose(48, 84, Math.toRadians(180));
private final Pose setupPose2 = new Pose(48, 60, Math.toRadians(180));
private final Pose setupPose3 = new Pose(48, 36, Math.toRadians(180));
private final Pose pickupPose1 = new Pose(23, 84, Math.toRadians(180));
private final Pose pickupPose2 = new Pose(23, 60, Math.toRadians(180));
private final Pose pickupPose3 = new Pose(23, 36, Math.toRadians(180));



DcMotor intakeMotor = hardwareMap.get(DcMotor.class, "intake_motor");
DcMotor outtakeMotor = hardwareMap.get(DcMotor.class, "outtake_motor");


public void Shoot () {
shoot.startTime();
if (shoot.seconds() < 4) {
outtakeMotor.setPower(1);
intakeMotor.setPower(1);
} else if (shoot.seconds() > 4) {
outtakeMotor.setPower(0);
intakeMotor.setPower(0);
shoot.reset();
}

}

public void Retrieve() {
retrieve.startTime();
if (retrieve.seconds() < 4) {
intakeMotor.setPower(1);
} else if (retrieve.seconds() > 4) {
intakeMotor.setPower(0);
retrieve.reset();
}
}

public void ShootingPath (Pose pickupPose) {
PathChain ShootPath;
ShootPath = follower.pathBuilder()
.addPath(new BezierLine(pickupPose, shootPose))
.setLinearHeadingInterpolation(pickupPose.getHeading(), shootPose.getHeading())
.build();
follower.followPath(ShootPath);
Shoot();
}

public void SetupAndRetrieve(Pose setupPose, Pose pickupPose, Pose Shoot_Start) {
PathChain SetupPath;
PathChain RetrievePath;
SetupPath = follower.pathBuilder()
.addPath(new BezierLine(Shoot_Start, setupPose))
.setLinearHeadingInterpolation(startPose.getHeading(), setupPose1.getHeading())
.build();
RetrievePath = follower.pathBuilder()
.addPath(new BezierLine(setupPose,pickupPose))
.setConstantHeadingInterpolation(Math.toRadians(180))
.build();
follower.followPath(SetupPath);
Retrieve();
follower.followPath(RetrievePath);
}

public void ShootPos(Pose startPose) {
PathChain Shoot;
Shoot = follower.pathBuilder()
.addPath(new BezierLine(startPose, shootPose))
.build();
follower.followPath(Shoot);
}


@Override
public void loop() {

}
@Override
public void init() {
ShootPos(startPose);
Shoot();
SetupAndRetrieve(setupPose1,pickupPose1, startPose);
ShootingPath(pickupPose1);
SetupAndRetrieve(setupPose2, pickupPose2, shootPose);
ShootingPath(pickupPose2);
SetupAndRetrieve(setupPose3, pickupPose3, shootPose);
ShootingPath(pickupPose3);



}
}
88 changes: 88 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Leave.java
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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;

@Autonomous(name = "Time Based Movement Demo")
public class Leave extends LinearOpMode {

DcMotor frontLeft, frontRight, backLeft, backRight;

@Override
public void runOpMode() throws InterruptedException {

frontLeft = hardwareMap.dcMotor.get("front_left_motor");
frontRight = hardwareMap.dcMotor.get("front_right_motor");
backLeft = hardwareMap.dcMotor.get("back_left_motor");
backRight = hardwareMap.dcMotor.get("back_right_motor");

// Reverse these if your robot drives backwards
frontLeft.setDirection(DcMotor.Direction.REVERSE);
backLeft.setDirection(DcMotor.Direction.REVERSE);

waitForStart();

// EXAMPLE MOVES:
driveForward(0.5, 300); // speed, time in ms
}

// ---------------------------
// MOVEMENT FUNCTIONS
// ---------------------------

// Drive Forward
public void driveForward(double power, long timeMs) {
setAllMotors(power, power, power, power);
sleep(timeMs);
stopMotors();
}

// Drive Backward
public void driveBackward(double power, long timeMs) {
setAllMotors(-power, -power, -power, -power);
sleep(timeMs);
stopMotors();
}

// Strafe Right
public void strafeRight(double power, long timeMs) {
setAllMotors(power, -power, -power, power);
sleep(timeMs);
stopMotors();
}

// Strafe Left
public void strafeLeft(double power, long timeMs) {
setAllMotors(-power, power, power, -power);
sleep(timeMs);
stopMotors();
}

// Turn Right (Pivot)
public void turnRight(double power, long timeMs) {
setAllMotors(power, -power, power, -power);
sleep(timeMs);
stopMotors();
}

// Turn Left (Pivot)
public void turnLeft(double power, long timeMs) {
setAllMotors(-power, power, -power, power);
sleep(timeMs);
stopMotors();
}

// Helper: set all motors
private void setAllMotors(double fl, double fr, double bl, double br) {
frontLeft.setPower(fl);
frontRight.setPower(fr);
backLeft.setPower(bl);
backRight.setPower(br);
}

// Helper: stop motors
private void stopMotors() {
setAllMotors(0, 0, 0, 0);
}
}
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