Updated Lifter for new intake

vashonrobotics · Jan 26, 2022 · ca5dd87 · ca5dd87
1 parent 6c92b0a
commit ca5dd87
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Showing 9 changed files with 22 additions and 19 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AlexTestClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AlexTestClass.java
@@ -26,7 +26,7 @@ public void runOpMode() throws InterruptedException {
 
         while (!isStopRequested()) {
             if (gamepad1.x) {
-                lifter.barf();
+                lifter.barf(1);
             }
 
             if (gamepad1.y) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueCarousel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueCarousel.java
@@ -72,7 +72,7 @@ public void runOpMode() throws InterruptedException {
                 .build());
         sleep(1000);
 
-        lifter.barf();
+        lifter.barf(0.8);
         sleep(500);
 
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
@@ -85,7 +85,7 @@ public void runOpMode() throws InterruptedException {
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
                 .lineToLinearHeading(new Pose2d(0, -25, Math.toRadians(90)))
                 .build());
-        carousel.setDirection(DcMotorSimple.Direction.REVERSE);
+        carousel.setDirection(DcMotorSimple.Direction.FORWARD);
         carousel.PowerOn();
         sleep(4200);
         carousel.PowerOff();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueWarehouse.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueWarehouse.java
@@ -52,7 +52,7 @@ public void runOpMode() throws InterruptedException {
             duckSecond = vision.ducktective();
         }
 
-        sleep(8000);
+        // sleep(8000);
 
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
                 .lineToLinearHeading(new Pose2d(23, -30, 0))
@@ -73,7 +73,7 @@ public void runOpMode() throws InterruptedException {
                 .build());
         sleep(1000);
 
-        lifter.barf();
+        lifter.barf(0.8);
         sleep(500);
 
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BradenTestAutoOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BradenTestAutoOp.java
@@ -94,8 +94,7 @@ public void runOpMode() throws InterruptedException {
                 .build());
         sleep(1000);
 
-        lifter.barf();
-        lifter.barf();
+        lifter.barf(1);
         sleep(500);
 
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedCarousel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedCarousel.java
@@ -4,6 +4,7 @@
 import com.acmerobotics.roadrunner.trajectory.Trajectory;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.teamcode.drive.BaseBotMecanumDrive;
 import org.firstinspires.ftc.teamcode.drive.DriveFactory;
@@ -71,7 +72,7 @@ public void runOpMode() throws InterruptedException {
                 .build());
         sleep(1000);
 
-        lifter.barf();
+        lifter.barf(0.8);
         sleep(500);
 
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
@@ -84,6 +85,7 @@ public void runOpMode() throws InterruptedException {
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
                 .lineToLinearHeading(new Pose2d(0, 17, -Math.toRadians(90)))
                 .build());
+        carousel.setDirection(DcMotorSimple.Direction.REVERSE);
         carousel.PowerOn();
         sleep(4200);
         carousel.PowerOff();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedWarehouse.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedWarehouse.java
@@ -52,7 +52,7 @@ public void runOpMode() throws InterruptedException {
             duckSecond = vision.ducktective();
         }
 
-        sleep(8000);
+        // sleep(8000);
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
                 .lineToLinearHeading(new Pose2d(21.5, 23, 0))
                 .build());
@@ -72,7 +72,7 @@ public void runOpMode() throws InterruptedException {
                 .build());
         sleep(1000);
 
-        lifter.barf();
+        lifter.barf(0.8);
         sleep(500);
 
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
@@ -89,10 +89,12 @@ public void runOpMode() throws InterruptedException {
         drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
                 .lineToLinearHeading(new Pose2d(-1, -30, -Math.toRadians(90)))
                 .build());
-        drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
+        /* drive.followTrajectory(drive.trajectoryBuilder(drive.getPoseEstimate())
                 .lineToLinearHeading(new Pose2d(27, -30, -Math.toRadians(90)))
                 .build());
 
+         */
+
         vision.shutdown();
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Teleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Teleop.java
@@ -65,7 +65,9 @@ public void runOpMode() throws InterruptedException {
             if (gamepad2.left_trigger > 0.1) {
                 lifter.eat();
             } else if (gamepad2.right_trigger > 0.1) {
-                lifter.barf();
+                lifter.barf(1);
+            } else if (gamepad2.right_bumper) {
+                lifter.barf(0.5);
             } else {
                 lifter.intakeStop();
             }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Lifter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Lifter.java
@@ -5,6 +5,7 @@
 //import com.qualcomm.robotcore.hardware.DcMotorControllerEx;
 //import com.qualcomm.robotcore.hardware.DcMotorSimple;
 //import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.Servo;
 
@@ -37,13 +38,13 @@ public Lifter(HardwareMap hardwareMap) {
 
 
         intakeMotor = hardwareMap.get(DcMotor.class, "intakeMotor");
-        intakeMotor.setDirection(DcMotor.Direction.FORWARD);
+        intakeMotor.setDirection(DcMotor.Direction.REVERSE);
         intakeMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
     }
 
-    public void barf() {
-        intakeMotor.setPower(-1);
+    public void barf(double power) {
+        intakeMotor.setPower(-power);
     }
 
     public void intakeStop() {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Vision.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Vision.java
@@ -90,11 +90,8 @@ public void init() {
     @SuppressLint("DefaultLocale")
     public boolean ducktective() {
         FtcDashboard dashboard = FtcDashboard.getInstance();
-        // dashboard.setTelemetryTransmissionInterval(25);
-
 
         boolean duckDetected = false;
-
         long DETECTION_TIME = 1000; // How long we give it to determine whether or not there is a duck
         long startTimeMillis = System.currentTimeMillis();
         long deadline = startTimeMillis + DETECTION_TIME;
@@ -166,7 +163,7 @@ private void initTfod(HardwareMap hardwareMap, int viewId) {
         Log.d("packageName: ", packageName);
 
         TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(viewId);
-        tfodParameters.minResultConfidence = 0.8f; // It was already set to 0.4f when we instantiated it. Why are we increasing it?
+        tfodParameters.minResultConfidence = 0.75f; // It was already set to 0.4f when we instantiated it. Why are we increasing it?
                                                    // Are we not satisfied with 40% confidence?
         tfodParameters.isModelTensorFlow2 = true;
         tfodParameters.inputSize = 320;