feat: cherry-pick changes from red-green scrimmage (#33)

BotsBurgh · Dec 5, 2023 · fad8be7 · fad8be7
2 parents 3efb038 + 59f845b
commit fad8be7
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Showing 5 changed files with 58 additions and 6 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/linear/Encoders.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/linear/Encoders.kt
@@ -4,8 +4,6 @@ import com.qualcomm.robotcore.hardware.DcMotor
 import com.qualcomm.robotcore.hardware.DcMotorSimple
 import com.qualcomm.robotcore.util.ElapsedTime
 import org.firstinspires.ftc.teamcode.api.TriWheels
-import org.firstinspires.ftc.teamcode.api.linear.Encoders.driveTo
-import org.firstinspires.ftc.teamcode.api.linear.Encoders.spinTo
 import org.firstinspires.ftc.teamcode.utils.RobotConfig
 import kotlin.math.abs
 import kotlin.math.min

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode.components
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
 import org.firstinspires.ftc.teamcode.api.TeleOpState
 import org.firstinspires.ftc.teamcode.api.TriWheels
+import org.firstinspires.ftc.teamcode.utils.RobotConfig
 import kotlin.math.PI
 import kotlin.math.atan2
 import kotlin.math.sqrt
@@ -48,6 +49,10 @@ object TeleOpMovement : Component {
         }
 
         // movement of all wheels
-        TriWheels.driveWithRotation(joyRadians, joyMagnitude, rotationPower)
+        TriWheels.driveWithRotation(
+            joyRadians,
+            joyMagnitude * RobotConfig.TeleOpMovement.DRIVE_SPEED,
+            rotationPower * RobotConfig.TeleOpMovement.ROTATE_SPEED
+        )
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoForward.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoForward.kt
@@ -0,0 +1,34 @@
+package org.firstinspires.ftc.teamcode.opmode.autonomous
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
+import org.firstinspires.ftc.teamcode.api.Telemetry
+import org.firstinspires.ftc.teamcode.api.TriWheels
+import org.firstinspires.ftc.teamcode.api.linear.Encoders
+import org.firstinspires.ftc.teamcode.utils.Reset
+import org.firstinspires.ftc.teamcode.utils.RobotConfig
+
+@Autonomous(name = "Auto Forward")
+class AutoForward : LinearOpMode() {
+    override fun runOpMode() {
+        Reset.init(this)
+
+        Telemetry.init(this)
+        TriWheels.init(this)
+        Encoders.init(this)
+
+        Telemetry.sayInitialized()
+
+        waitForStart()
+
+        Telemetry.sayStarted()
+
+        Encoders.driveTo(
+            when (RobotConfig.model) {
+                RobotConfig.Model.RobotA -> Encoders.Direction.Blue
+                RobotConfig.Model.RobotB -> Encoders.Direction.Red
+            },
+            20.0,
+        )
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt
@@ -13,7 +13,10 @@ abstract class AutoMain : LinearOpMode() {
     abstract val config: Config
 
     /** The axis the robot should move along. */
-    private val forward = Encoders.Direction.Red
+    private val forward = when (RobotConfig.model) {
+        RobotConfig.Model.RobotA -> Encoders.Direction.Blue
+        RobotConfig.Model.RobotB -> Encoders.Direction.Red
+    }
 
     /** How many inches the robot is from the starting tile */
     private val startingOffset = 2.0

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/RobotConfig.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/RobotConfig.kt
@@ -20,7 +20,7 @@ object RobotConfig {
      *
      * @see Model
      */
-    val model: Model = Model.RobotB
+    val model: Model = Model.RobotA
 
     /**
      * When true, enables debugging features like camera streaming and more logs.
@@ -48,7 +48,10 @@ object RobotConfig {
          * increase accuracy.
          */
         @JvmField
-        var TICKS_PER_INCH: Double = 44.0
+        var TICKS_PER_INCH: Double = when (model) {
+            Model.RobotA -> 27.0
+            Model.RobotB -> 44.0
+        }
 
         /**
          * How many ticks a wheel needs to rotate for the robot to spin a single degree.
@@ -130,6 +133,15 @@ object RobotConfig {
         var WAIT_TIME: Long = 0
     }
 
+    @Config
+    object TeleOpMovement {
+        @JvmField
+        var DRIVE_SPEED: Double = 0.6
+
+        @JvmField
+        var ROTATE_SPEED: Double = 0.5
+    }
+
     /**
      * Represents what model of robot is running the code.
      *