Finish code for meet

Pattonville-Robotics · Jan 28, 2019 · 689ede4 · 689ede4
1 parent 856a336
commit 689ede4
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diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
@@ -60,14 +60,14 @@ dependencies {
     implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
 
     //FTC libraries
-    implementation "com.github.modular-ftc:robotcontroller-repackaged:$ftc_version.0-lite"
-    implementation "com.github.modular-ftc:robotcore-repackaged:$ftc_version.0-lite"
-    implementation "com.github.modular-ftc:ftc-common-repackaged:$ftc_version.0-lite"
+    implementation "com.github.modular-ftc:robotcontroller-repackaged:$ftc_version.0"
+    implementation "com.github.modular-ftc:robotcore-repackaged:$ftc_version.0"
+    implementation "com.github.modular-ftc:ftc-common-repackaged:$ftc_version.0"
 
     implementation "org.first.ftc:hardware:$ftc_version"
 
     //The Pattonville Robotics shared libraries are included by default. Remove the following line to stop using them.
-    implementation "com.github.Pattonville-Robotics:Common-Code:7d468d4ce4"
+    implementation "com.github.Pattonville-Robotics:Common-Code:a91da37ecf"
 
     implementation 'org.apache.commons:commons-math3:3.6.1'
 }

diff --git a/TeamCode/src/main/java/org/pattonvillerobotics/opmodes/autonomous/CraterAutonomous.java b/TeamCode/src/main/java/org/pattonvillerobotics/opmodes/autonomous/CraterAutonomous.java
@@ -2,10 +2,6 @@
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.Servo;
-
-import org.pattonvillerobotics.commoncode.enums.ColorSensorColor;
 import org.pattonvillerobotics.commoncode.enums.Direction;
 import org.pattonvillerobotics.commoncode.opmodes.OpModeGroups;
 import org.pattonvillerobotics.commoncode.robotclasses.drive.MecanumEncoderDrive;
@@ -25,105 +21,70 @@ public class CraterAutonomous extends LinearOpMode {
     private VuforiaNavigation vuforia;
 
     private TapeMeasureLifter lifter;
-    private IntakeMechanism intakeMechanism;
 
     @Override
     public void runOpMode() {
         initialize();
         waitForStart();
 
-        int mineralCompensationDistance;
-
         lifter.winchMotor.setPower(0.5);
 
-        sleep(3300);
+        sleep(2300);
 
-        lifter.winchMotor.setPower(0.1);
+        lifter.winchMotor.setPower(0.2);
 
-        drive.moveInches(Direction.FORWARD,1, 0.3);
+        drive.moveInches(Direction.FORWARD,1, 0.5);
 
-        drive.moveInches(Direction.LEFT, 6, 0.4);
+        sleep(100);
 
-        lifter.winchMotor.setPower(-0.5);
+        drive.moveInches(Direction.BACKWARD,0.7, 0.4);
 
-        sleep(2900);
+        drive.moveInches(Direction.LEFT, 4, 0.3);
 
-        lifter.winchMotor.setPower(0);
+        lifter.winchMotor.setPower(-0.3);
 
-        drive.moveInches(Direction.FORWARD, 12, 0.7);
+        drive.moveInches(Direction.FORWARD, 3, 0.8);
 
-        drive.rotateDegrees(Direction.CLOCKWISE, 6, 0.4);
+        drive.moveInches(Direction.RIGHT, 8, 0.8);
+
+        drive.moveInches(Direction.BACKWARD, 4, 0.8);
 
         // take picture, analyze
-        mineralDetector.process(vuforia.getImage());
 
-        if(mineralDetector.getAnalysis() == ColorSensorColor.YELLOW) {
-            //for determining what distance will get the robot to a specific point, depending on which mineral is "chosen"
-            mineralCompensationDistance = 43;
-            drive.moveInches(Direction.RIGHT, 4, 0.7);
-        } else {
-            drive.moveInches(Direction.RIGHT, 16, 0.7);
+        lifter.winchMotor.setPower(0);
 
-            //take picture, analyze
+        for (int i = 0; i < 7; i++) {
             mineralDetector.process(vuforia.getImage());
-
-            if(mineralDetector.getAnalysis() == ColorSensorColor.YELLOW) {
-                drive.moveInches(Direction.RIGHT, 5, 0.7);
-                mineralCompensationDistance = 62;
-
-            } else {
-                drive.moveInches(Direction.LEFT, 27, 0.7);
-                mineralCompensationDistance = 25;
-            }
         }
 
-        drive.moveInches(Direction.FORWARD, 8, 0.7);
-        drive.moveInches(Direction.BACKWARD, 10, 0.7);
-
-        drive.moveInches(Direction.LEFT, mineralCompensationDistance, 0.8);
-
-        /*
-
-        drive.rotateDegrees(Direction.CLOCKWISE, 50, 0.7);
-
-        drive.moveInches(Direction.LEFT, 10, 0.6);
-
-        drive.moveInches(Direction.RIGHT, 2, 0.5);
-
-        drive.moveInches(Direction.BACKWARD, 35, 1);
+        drive.rotateDegrees(Direction.CLOCKWISE, 6, 0.5);
 
-        sleep(500);
-
-        intakeMechanism.raise();
-
-        sleep(600);
-
-        intakeMechanism.expulsion();
-
-        sleep(1000);
-
-        intakeMechanism.turnOffIntake();
-
-        intakeMechanism.raise();
-
-        drive.rotateDegrees(Direction.COUNTERCLOCKWISE, 180, 0.7);
+        drive.moveInches(Direction.FORWARD, 12, 0.7);
 
-        drive.moveInches(Direction.BACKWARD, 40, 1);
+        switch (mineralDetector.getHorizontalAnalysis()) {
+            case RIGHT:
+                drive.moveInches(Direction.RIGHT, 8, 0.7);
+                break;
+            case MIDDLE:
+                drive.moveInches(Direction.LEFT, 7, 0.7);
+                break;
+            case LEFT:
+            default:
+                drive.moveInches(Direction.LEFT, 28, 0.7);
+        }
 
-        intakeMechanism.drop();*/
+        drive.moveInches(Direction.FORWARD, 25, 1);
     }
 
     public void initialize() {
         ImageProcessor.initOpenCV(hardwareMap, this);
-        mineralDetector = new MineralDetector(CustomizedRobotParameters.PHONE_ORIENTATION, true);
+
+        mineralDetector = new MineralDetector(CustomizedRobotParameters.PHONE_ORIENTATION, false);
+
         vuforia = new VuforiaNavigation(CustomizedRobotParameters.VUFORIA_PARAMETERS);
 
         drive = new MecanumEncoderDrive(hardwareMap, this, CustomizedRobotParameters.ROBOT_PARAMETERS);
 
         lifter = new TapeMeasureLifter(hardwareMap, this);
-
-        intakeMechanism = new IntakeMechanism(hardwareMap, this);
-
-        intakeMechanism.raise();
     }
 }
diff --git a/...ode/src/main/java/org/pattonvillerobotics/opmodes/autonomous/CraterWithoutLanderAuto.java b/...ode/src/main/java/org/pattonvillerobotics/opmodes/autonomous/CraterWithoutLanderAuto.java
@@ -24,77 +24,38 @@ public class CraterWithoutLanderAuto extends LinearOpMode {
     private MineralDetector mineralDetector;
     private VuforiaNavigation vuforia;
 
-    private TapeMeasureLifter lifter;
-    private IntakeMechanism intakeMechanism;
-
     @Override
     public void runOpMode() {
         initialize();
         waitForStart();
 
-        int mineralCompensationDistance;
-
-        drive.moveInches(Direction.FORWARD, 7, 0.7);
+        drive.moveInches(Direction.RIGHT, 4, 0.8);
 
-        drive.moveInches(Direction.LEFT, 6, 0.7);
+        drive.moveInches(Direction.BACKWARD, 2, 0.8);
 
         // take picture, analyze
 
-        mineralDetector.process(vuforia.getImage());
-
-        if(mineralDetector.getAnalysis() == ColorSensorColor.YELLOW) {
-            //for determining what distance will get the robot to a specific point, depending on which mineral is "chosen"
-            mineralCompensationDistance = 43;
-            drive.moveInches(Direction.RIGHT, 4, 0.7);
-        } else {
-            drive.moveInches(Direction.RIGHT, 16, 0.7);
-            //take picture, analyze
-
+        for (int i = 0; i < 7; i++) {
             mineralDetector.process(vuforia.getImage());
-
-            if(mineralDetector.getAnalysis() == ColorSensorColor.YELLOW) {
-                drive.moveInches(Direction.RIGHT, 5, 0.7);
-                mineralCompensationDistance = 62;
-
-            } else {
-                //program failed. Zero stars.
-                drive.moveInches(Direction.LEFT, 27, 0.7);
-                mineralCompensationDistance = 25;
-            }
         }
 
-        drive.moveInches(Direction.FORWARD, 12, 0.7);
-        drive.moveInches(Direction.BACKWARD, 10, 0.7);
-
-        drive.moveInches(Direction.LEFT, mineralCompensationDistance, 0.8);
-
-        drive.rotateDegrees(Direction.CLOCKWISE, 50, 0.7);
-
-        drive.moveInches(Direction.LEFT, 10, 0.6);
-
-        drive.moveInches(Direction.RIGHT, 2, 0.5);
-
-        drive.moveInches(Direction.BACKWARD, 35, 1);
+        drive.rotateDegrees(Direction.CLOCKWISE, 6, 0.5);
 
-        sleep(500);
-
-        intakeMechanism.raise();
-
-        sleep(600);
-
-        intakeMechanism.expulsion();
-
-        sleep(1000);
-
-        intakeMechanism.turnOffIntake();
-
-        intakeMechanism.raise();
-
-        drive.rotateDegrees(Direction.COUNTERCLOCKWISE, 180, 0.7);
+        drive.moveInches(Direction.FORWARD, 12, 0.7);
 
-        drive.moveInches(Direction.BACKWARD, 40, 1);
+        switch (mineralDetector.getHorizontalAnalysis()) {
+            case RIGHT:
+                drive.moveInches(Direction.RIGHT, 8, 0.7);
+                break;
+            case MIDDLE:
+                drive.moveInches(Direction.LEFT, 7, 0.7);
+                break;
+            case LEFT:
+            default:
+                drive.moveInches(Direction.LEFT, 28, 0.7);
+        }
 
-        intakeMechanism.drop();
+        drive.moveInches(Direction.FORWARD, 25, 1);
     }
 
     public void initialize() {
@@ -103,11 +64,5 @@ public void initialize() {
         vuforia = new VuforiaNavigation(CustomizedRobotParameters.VUFORIA_PARAMETERS);
 
         drive = new MecanumEncoderDrive(hardwareMap, this, CustomizedRobotParameters.ROBOT_PARAMETERS);
-
-        lifter = new TapeMeasureLifter(hardwareMap, this);
-
-        intakeMechanism = new IntakeMechanism(hardwareMap, this);
-
-        intakeMechanism.drop();
     }
 }
diff --git a/TeamCode/src/main/java/org/pattonvillerobotics/opmodes/autonomous/DepotAutonomous.java b/TeamCode/src/main/java/org/pattonvillerobotics/opmodes/autonomous/DepotAutonomous.java
@@ -12,6 +12,7 @@
 import org.pattonvillerobotics.commoncode.robotclasses.opencv.roverruckus.minerals.MineralDetector;
 import org.pattonvillerobotics.commoncode.robotclasses.vuforia.VuforiaNavigation;
 import org.pattonvillerobotics.robotclasses.CustomizedRobotParameters;
+import org.pattonvillerobotics.robotclasses.TapeMeasureLifter;
 
 @Autonomous(name="Depot Autonomous", group = "Competition")
 public class DepotAutonomous extends LinearOpMode {
@@ -20,42 +21,61 @@ public class DepotAutonomous extends LinearOpMode {
     private MineralDetector mineralDetector;
     private VuforiaNavigation vuforia;
 
+    private TapeMeasureLifter lifter;
+
     @Override
     public void runOpMode() {
         initialize();
         waitForStart();
 
-        double mineralCompensationDistance;
+        int mineralCompensationDistance;
 
-        // lower the robot
+        lifter.winchMotor.setPower(0.5);
 
-        drive.moveInches(Direction.FORWARD, 8, 0.5);
-        drive.moveInches(Direction.LEFT, 6, 0.5);
+        sleep(2300);
 
-        // take picture, analyze
+        lifter.winchMotor.setPower(0.2);
+
+        drive.moveInches(Direction.FORWARD,1, 0.5);
+
+        sleep(100);
+
+        drive.moveInches(Direction.BACKWARD,0.7, 0.4);
+
+        drive.moveInches(Direction.LEFT, 4, 0.3);
+
+        lifter.winchMotor.setPower(-0.3);
+
+        drive.moveInches(Direction.FORWARD, 3, 0.8);
 
-        mineralDetector.process(vuforia.getImage());
+        drive.moveInches(Direction.RIGHT, 8, 0.8);
 
-        if(mineralDetector.getAnalysis() == ColorSensorColor.YELLOW) {
-            //for determining what distance will get the robot to a specific point, depending on which mineral is "chosen"
-            mineralCompensationDistance = 15;
-            //drive.moveInches(Direction.RIGHT, 4, 0.5);
-        } else {
-            drive.moveInches(Direction.RIGHT, 14, 0.5);
-            //take picture, analyze
+        drive.moveInches(Direction.BACKWARD, 4, 0.8);
 
+        // take picture, analyze
+
+        lifter.winchMotor.setPower(0);
+        // take picture, analyze
+
+        for (int i = 0; i < 7; i++) {
             mineralDetector.process(vuforia.getImage());
+        }
 
-            if(mineralDetector.getAnalysis() == ColorSensorColor.YELLOW) {
-                //drive.moveInches(Direction.RIGHT, 5, 0.5);
+        switch (mineralDetector.getHorizontalAnalysis()) {
+            case RIGHT:
+                drive.moveInches(Direction.RIGHT, 8, 0.7);
+                mineralCompensationDistance = 15;
+                break;
+            case MIDDLE:
+                drive.moveInches(Direction.LEFT, 7, 0.7);
                 mineralCompensationDistance = 0;
-
-            } else {
-                //program failed. Zero stars.
-                drive.moveInches(Direction.LEFT, 27, 0.5);
+                break;
+            case LEFT:
+            default:
+                drive.moveInches(Direction.LEFT, 28, 0.7);
                 mineralCompensationDistance = 30;
-            }
         }
+
         drive.moveInches(Direction.RIGHT, 7, 0.5);
         drive.moveInches(Direction.FORWARD, 29, 1);
         drive.moveInches(Direction.RIGHT, mineralCompensationDistance, 1);
@@ -72,5 +92,7 @@ public void initialize() {
         vuforia = new VuforiaNavigation(CustomizedRobotParameters.VUFORIA_PARAMETERS);
 
         drive = new MecanumEncoderDrive(hardwareMap, this, CustomizedRobotParameters.ROBOT_PARAMETERS);
+
+        lifter = new TapeMeasureLifter(hardwareMap, this);
     }
 }