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AshOnDiscordAshOnDiscord
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better path, dashboard configurable path
1 parent 8e6f7c9 commit 63fac84

2 files changed

Lines changed: 57 additions & 30 deletions

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‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/auton/CloseAuton.kt‎

Lines changed: 56 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11
package org.firstinspires.ftc.teamcode.opmode.auton
22

3+
import com.bylazar.configurables.annotations.Configurable
34
import com.millburnx.cmdx.commandGroups.Sequential
45
import com.millburnx.cmdxpedro.FollowPath
56
import com.millburnx.cmdxpedro.paths.PedroPath
@@ -20,92 +21,98 @@ import org.firstinspires.ftc.teamcode.common.subsystem.Uppies
2021
import org.firstinspires.ftc.teamcode.opmode.OpMode
2122

2223
@Autonomous
23-
class BlueAuton: CloseAuton(isRed = false)
24+
class BlueAuton : CloseAuton(isRed = false)
2425

2526
@Autonomous
26-
class RedAuton: CloseAuton(isRed = true)
27+
class RedAuton : CloseAuton(isRed = true)
2728

29+
@Configurable
2830
open class CloseAuton(val isRed: Boolean) : OpMode() {
2931
override fun run() {
3032
val intake = Intake(this, isTeleop = false)
3133
val flyWheel = FlyWheel(this, isTeleop = false)
3234
val uppies = Uppies(this, { flyWheel.state }, isTeleop = false)
33-
val pedro = Pedro(this, Pose2d(p(Vec2d(26.0,129.0)), p(145.0)), isTeleop = false)
35+
val pedro = Pedro(this, Pose2d(p(Vec2d(15.0, 111.0)), p(90.0)), isTeleop = false)
3436

3537
uppies.nextState()
3638

3739
val shootBallOne = PedroPath(
3840
pedro.follower, Line(
39-
p(Vec2d(26, 129)), p(Vec2d(48, 104))
40-
), LinearHeading(p(145.0), p(140.0))
41+
p(Vec2d(15, 111)), p(Vec2d(32, shootY0))
42+
), LinearHeading(p(90.0), p(135.0))
4143
)
4244

4345
val preRowOne = PedroPath(
44-
pedro.follower, Line(
45-
p(Vec2d(48, 104)), p(Vec2d(48, 92))
46+
pedro.follower, CubicBezier(
47+
p(Vec2d(32, shootY0)),
48+
p(Vec2d(48, shootY0)),
49+
p(Vec2d(preRowX + 12, rowY1)),
50+
p(Vec2d(preRowX, rowY1))
4651
),
47-
LinearHeading(p(135.0), p(5.0))
52+
LinearHeading(p(135.0), p(0.0))
4853
)
4954

5055
val intakeRowOne = PedroPath(
5156
pedro.follower, Line(
52-
p(Vec2d(48, 94)), p(Vec2d(25, 94))
57+
p(Vec2d(preRowX, rowY1)), p(Vec2d(16, rowY1))
5358
),
54-
LinearHeading(p(0.0), p(5.0))
59+
LinearHeading(p(0.0), p(0.0))
5560
)
5661

5762
val shootRowOne = PedroPath(
5863
pedro.follower, CubicBezier(
59-
p(Vec2d(26, 94)),
60-
p(Vec2d(28, 96)),
61-
p(Vec2d(32, 96)),
62-
p(Vec2d(48, 110))
64+
p(Vec2d(16, rowY1)),
65+
p(Vec2d(48, rowY1)),
66+
p(Vec2d(48, rowY1)),
67+
p(Vec2d(48, shootY1))
6368
),
64-
LinearHeading(p(0.0), p(140.0))
69+
LinearHeading(p(0.0), p(135.0))
6570
)
6671

6772
val preRowTwo = PedroPath(
6873
pedro.follower, CubicBezier(
69-
p(Vec2d(48, 96)),
70-
p(Vec2d(60, 76)),
71-
p(Vec2d(54, 76)),
72-
p(Vec2d(48, 78)),
73-
), LinearHeading(p(135.0), p(0.0))
74+
p(Vec2d(48, shootY1)),
75+
p(Vec2d(60, shootY1-12)),
76+
p(Vec2d(60, rowY2 + 2)),
77+
p(Vec2d(preRowX, rowY2 + 2)),
78+
), LinearHeading(p(135.0), p(5.0))
7479
)
7580

7681
val intakeRowTwo = PedroPath(
7782
pedro.follower, Line(
78-
p(Vec2d(48, 74)), p(Vec2d(16, 70))
83+
p(Vec2d(preRowX, rowY2 + 2)), p(Vec2d(9, rowY2 - 2))
7984
),
80-
LinearHeading(p(5.0), p(10.0))
85+
LinearHeading(p(5.0), p(0.0))
8186
)
8287

8388
val shootRowTwo = PedroPath(
8489
pedro.follower, CubicBezier(
85-
p(Vec2d(16, 70)),
86-
p(Vec2d(48, 70)),
87-
p(Vec2d(48, 70)),
88-
p(Vec2d(48, 120)),
90+
p(Vec2d(9, rowY2 - 2)),
91+
p(Vec2d(24, rowY2 - 2)),
92+
p(Vec2d(48, 72)),
93+
p(Vec2d(48, shootY2)),
8994
),
90-
LinearHeading(p(0.0), p(145.0))
95+
LinearHeading(p(0.0), p(135.0))
9196
)
9297

9398
scheduler.schedule(Sequential {
9499
Command { WaitFor { isStarted } }
95100
+FollowPath(pedro.follower, shootBallOne) { opModeIsActive() }
96101
Command { SleepFor { 500 } }
97102
+AutoFire(this@CloseAuton, null, intake, flyWheel, uppies, isTeleop = false)
103+
98104
+FollowPath(pedro.follower, preRowOne) { opModeIsActive() }
99105
Command { intake.power = 1.0 }
100106
+FollowPath(pedro.follower, intakeRowOne) { opModeIsActive() }
101-
Command { SleepFor { 250 }; uppies.nextState(); SleepFor { 500 } }
107+
Command { SleepFor { 125 }; uppies.nextState(); SleepFor { 625 } }
102108
+FollowPath(pedro.follower, shootRowOne) { opModeIsActive() }
103109
Command { SleepFor { 500 } }
104110
+AutoFire(this@CloseAuton, null, intake, flyWheel, uppies, isTeleop = false)
111+
105112
+FollowPath(pedro.follower, preRowTwo) { opModeIsActive() }
106113
Command { intake.power = 1.0 }
107114
+FollowPath(pedro.follower, intakeRowTwo) { opModeIsActive() }
108-
Command { SleepFor { 250 }; uppies.nextState(); SleepFor { 250 } }
115+
Command { SleepFor { 125 }; uppies.nextState(); SleepFor { 375 } }
109116
+FollowPath(pedro.follower, shootRowTwo) { opModeIsActive() }
110117
Command { SleepFor { 500 } }
111118
+AutoFire(this@CloseAuton, null, intake, flyWheel, uppies, isTeleop = false)
@@ -119,4 +126,24 @@ open class CloseAuton(val isRed: Boolean) : OpMode() {
119126
fun p(double: Double): Double {
120127
return if (isRed) double.fieldMirror() else double
121128
}
129+
130+
companion object {
131+
@JvmField
132+
var preRowX = 48.0
133+
134+
@JvmField
135+
var rowY1 = 84.0
136+
137+
@JvmField
138+
var rowY2 = 60.0
139+
140+
@JvmField
141+
var shootY0 = 111
142+
143+
@JvmField
144+
var shootY1 = 96
145+
146+
@JvmField
147+
var shootY2 = 96
148+
}
122149
}

‎paths/closeAuton.pp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
{"startPoint":{"x":26,"y":129,"heading":"linear","startDeg":90,"endDeg":180},"lines":[{"name":"shootBallOne","endPoint":{"x":48,"y":104,"heading":"linear","startDeg":145,"endDeg":135},"controlPoints":[],"color":"#586C75"},{"name":"preRowOne","endPoint":{"x":48,"y":92,"heading":"linear","reverse":false,"startDeg":135,"endDeg":0},"controlPoints":[],"color":"#B959D9"},{"name":"intakeRowOne","endPoint":{"x":25,"y":94,"heading":"linear","reverse":false,"startDeg":0,"endDeg":0},"controlPoints":[],"color":"#8BB8D7"},{"name":"shootRowOne","endPoint":{"x":48,"y":110,"heading":"linear","reverse":false,"startDeg":0,"endDeg":140},"controlPoints":[{"x":28,"y":96},{"x":32,"y":96}],"color":"#988685"},{"name":"preRowTwo","endPoint":{"x":48,"y":78,"heading":"linear","reverse":false,"startDeg":135,"endDeg":0},"controlPoints":[{"x":60,"y":76},{"x":54,"y":76}],"color":"#686B55"},{"name":"intakeRowTwo","endPoint":{"x":16,"y":70,"heading":"linear","reverse":false,"startDeg":5,"endDeg":10},"controlPoints":[],"color":"#CA9B89"},{"name":"shootRowTwo","endPoint":{"x":48,"y":120,"heading":"tangential","reverse":false},"controlPoints":[{"x":48,"y":70},{"x":48,"y":70}],"color":"#D99876"}],"shapes":[]}
1+
{"startPoint":{"x":15,"y":111,"heading":"linear","startDeg":90,"endDeg":180},"lines":[{"name":"shootBallOne","endPoint":{"x":32,"y":111,"heading":"linear","startDeg":90,"endDeg":135},"controlPoints":[],"color":"#586C75"},{"name":"preRowOne","endPoint":{"x":48,"y":84,"heading":"linear","reverse":false,"startDeg":135,"endDeg":0},"controlPoints":[{"x":48,"y":111},{"x":60,"y":84}],"color":"#B959D9"},{"name":"intakeRowOne","endPoint":{"x":16,"y":84,"heading":"linear","reverse":false,"startDeg":0,"endDeg":0},"controlPoints":[],"color":"#8BB8D7"},{"name":"shootRowOne","endPoint":{"x":48,"y":96,"heading":"linear","reverse":false,"startDeg":0,"endDeg":135},"controlPoints":[{"x":48,"y":84},{"x":48,"y":84}],"color":"#988685"},{"name":"preRowTwo","endPoint":{"x":48,"y":62,"heading":"linear","reverse":false,"startDeg":135,"endDeg":5},"controlPoints":[{"x":60,"y":84},{"x":60,"y":62}],"color":"#686B55"},{"name":"intakeRowTwo","endPoint":{"x":9,"y":58,"heading":"linear","reverse":false,"startDeg":5,"endDeg":0},"controlPoints":[],"color":"#CA9B89"},{"name":"shootRowTwo","endPoint":{"x":48,"y":96,"heading":"linear","reverse":false,"startDeg":0,"endDeg":135},"controlPoints":[{"x":24,"y":58},{"x":48,"y":72}],"color":"#D99876"}],"shapes":[]}

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