From 2ce27767a8dc21736bd79d30600b8a9dca90fa88 Mon Sep 17 00:00:00 2001 From: JJTech0130 Date: Mon, 8 Jan 2024 17:07:21 -0500 Subject: [PATCH] Fix PurplePixel component --- .../meepmeeptesting/PurplePixelComponent.java | 141 ++++++++++++++++++ .../components/PurplePixelComponent.java | 36 ++--- 2 files changed, 159 insertions(+), 18 deletions(-) create mode 100644 MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java diff --git a/MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java b/MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java new file mode 100644 index 00000000..2d4287dc --- /dev/null +++ b/MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java @@ -0,0 +1,141 @@ +package com.example.meepmeeptesting; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.geometry.Vector2d; +import com.noahbres.meepmeep.roadrunner.trajectorysequence.TrajectorySequence; +import com.noahbres.meepmeep.roadrunner.trajectorysequence.TrajectorySequenceBuilder; + + +public class PurplePixelComponent extends Component { + private TensorFlowDetection.PropPosition propPosition; + public PurplePixelComponent(Robot robot, TensorFlowDetection.PropPosition propPosition) { + super(robot); + this.propPosition = propPosition; + } + + @Override + public void drive() { + //Pose2d getRobot().getDrive().getPoseEstimate() = getRobot().getDrive().getPoseEstimate(); + Pose2d RED_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, -2*12 - 8); + Pose2d BLUE_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, 2*12 + 8); + Pose2d RED_BOARD_TAPE_MARKS = new Pose2d(12, -2*12 - 8); + Pose2d BLUE_BOARD_TAPE_MARKS = new Pose2d(12, 2*12 + 8); + + TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(getRobot().getDrive().getPoseEstimate()); + + if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_BOARD) { + if (propPosition == TensorFlowDetection.PropPosition.LEFT) { + trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY())) + .strafeLeft(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { + trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY())) + .strafeRight(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else { + trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY())) + .forward(-8) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + + } + } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_AUDIENCE) { + if (propPosition == TensorFlowDetection.PropPosition.LEFT) { + trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY())) + .strafeLeft(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { + trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY())) + .strafeRight(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else { + trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY())) + .forward(-8) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + + } + } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_AUDIENCE) { + if (propPosition == TensorFlowDetection.PropPosition.LEFT) { + trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY())) + .strafeLeft(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { + trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY())) + .strafeRight(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else { + trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY())) + .forward(-8) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + + } + } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_BOARD) { + if (propPosition == TensorFlowDetection.PropPosition.LEFT) { + trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY())) + .strafeLeft(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { + trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY())) + .strafeRight(-12) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + } else { + trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY())) + .forward(-8) + .addTemporalMarker(() -> { + getRobot().dropPurplePixel(true); + }); + + + } + } + + + TrajectorySequence traj = trajB.build(); + getRobot().getDrive().followTrajectorySequence(traj); + + +// trajBuilder = trajBuilder.lineTo(new Vector2d(startPose.getX(), -2*12 - 3)); +// .addTemporalMarker(() -> { +// Log.i("DROP", "dropping purple"); +// purpleServo.setPosition(1); +// }) +// .waitSeconds(1) +// .lineTo(new Vector2d(startPose.getX(), -5 * 12+3)) +// .turn(Math.toRadians(90)) +// .lineTo(new Vector2d(3*12+7, -5*12+4)) +// .build(); + + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java index 386a90b0..5c285dda 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java @@ -18,32 +18,32 @@ public PurplePixelComponent(Robot robot, TensorFlowDetection.PropPosition propPo @Override public void drive() { - Pose2d currentPose = getRobot().getDrive().getPoseEstimate(); - Pose2d RED_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, -4*12 + 6); - Pose2d BLUE_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, 4*12 + 6); - Pose2d RED_BOARD_TAPE_MARKS = new Pose2d(12, -4*12 + 6); - Pose2d BLUE_BOARD_TAPE_MARKS = new Pose2d(12, 4*12 + 6); + //Pose2d getRobot().getDrive().getPoseEstimate() = getRobot().getDrive().getPoseEstimate(); + Pose2d RED_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, -2*12 - 8); + Pose2d BLUE_AUDIENCE_TAPE_MARKS = new Pose2d(-3*12, 2*12 + 8); + Pose2d RED_BOARD_TAPE_MARKS = new Pose2d(12, -2*12 - 8); + Pose2d BLUE_BOARD_TAPE_MARKS = new Pose2d(12, 2*12 + 8); - TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(currentPose); + TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(getRobot().getDrive().getPoseEstimate()); if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_BOARD) { if (propPosition == TensorFlowDetection.PropPosition.LEFT) { trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY())) + .strafeLeft(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY())) + .strafeRight(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else { trajB = trajB.lineTo(new Vector2d(BLUE_BOARD_TAPE_MARKS.getX(), BLUE_BOARD_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() - 8)) + .forward(-8) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); @@ -53,21 +53,21 @@ public void drive() { } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_AUDIENCE) { if (propPosition == TensorFlowDetection.PropPosition.LEFT) { trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY())) + .strafeLeft(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY())) + .strafeRight(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else { trajB = trajB.lineTo(new Vector2d(BLUE_AUDIENCE_TAPE_MARKS.getX(), BLUE_AUDIENCE_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() - 8)) + .forward(-8) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); @@ -77,21 +77,21 @@ public void drive() { } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_AUDIENCE) { if (propPosition == TensorFlowDetection.PropPosition.LEFT) { trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY())) + .strafeLeft(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY())) + .strafeRight(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else { trajB = trajB.lineTo(new Vector2d(RED_AUDIENCE_TAPE_MARKS.getX(), RED_AUDIENCE_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() + 8)) + .forward(-8) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); @@ -101,21 +101,21 @@ public void drive() { } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_BOARD) { if (propPosition == TensorFlowDetection.PropPosition.LEFT) { trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() - 12, currentPose.getY())) + .strafeLeft(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) { trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX() + 12, currentPose.getY())) + .strafeRight(-12) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); }); } else { trajB = trajB.lineTo(new Vector2d(RED_BOARD_TAPE_MARKS.getX(), RED_BOARD_TAPE_MARKS.getY())) - .lineTo(new Vector2d(currentPose.getX(), currentPose.getY() + 8)) + .forward(-8) .addTemporalMarker(() -> { getRobot().dropPurplePixel(true); });