From 8d94c5dbfe53bf24f6ba37ba9dc5fba86ba8d1e4 Mon Sep 17 00:00:00 2001 From: SpencerPiha <88354753+SpencerPiha@users.noreply.github.com> Date: Sat, 28 Jan 2023 11:15:33 -0600 Subject: [PATCH] autonomous work right side almost done --- .../RoadRunner/drive/SampleMecanumDrive.java | 12 ++++----- .../org/RoadRunner/drive/SampleTankDrive.java | 12 ++++----- .../drive/StandardTrackingWheelLocalizer.java | 5 ++-- .../opmode/AutomaticFeedforwardTuner.java | 8 +++--- .../RoadRunner/drive/opmode/BackAndForth.java | 4 +-- .../drive/opmode/DriveVelocityPIDTuner.java | 4 +-- .../drive/opmode/FollowerPIDTuner.java | 6 ++--- .../drive/opmode/LocalizationTest.java | 4 +-- .../drive/opmode/ManualFeedforwardTuner.java | 4 +-- .../drive/opmode/MaxAngularVeloTuner.java | 4 +-- .../drive/opmode/MaxVelocityTuner.java | 4 +-- .../drive/opmode/MotorDirectionDebugger.java | 4 +-- .../RoadRunner/drive/opmode/SplineTest.java | 4 +-- .../RoadRunner/drive/opmode/StrafeTest.java | 4 +-- .../RoadRunner/drive/opmode/StraightTest.java | 5 ++-- .../drive/opmode/TrackWidthTuner.java | 4 +-- .../TrackingWheelForwardOffsetTuner.java | 6 ++--- .../TrackingWheelLateralDistanceTuner.java | 6 ++--- .../org/RoadRunner/drive/opmode/TurnTest.java | 5 ++-- .../EmptySequenceException.java | 2 +- .../TrajectorySequence.java | 4 +-- .../TrajectorySequenceBuilder.java | 10 +++---- .../TrajectorySequenceRunner.java | 27 ++++++++++--------- .../sequencesegment/SequenceSegment.java | 2 +- .../sequencesegment/TrajectorySegment.java | 2 +- .../sequencesegment/TurnSegment.java | 2 +- .../sequencesegment/WaitSegment.java | 2 +- .../util/AssetsTrajectoryManager.java | 2 +- .../java/org/RoadRunner/util/AxesSigns.java | 2 +- .../org/RoadRunner/util/AxisDirection.java | 2 +- .../org/RoadRunner/util/BNO055IMUUtil.java | 2 +- .../org/RoadRunner/util/DashboardUtil.java | 2 +- .../java/org/RoadRunner/util/Encoder.java | 2 +- .../java/org/RoadRunner/util/LoggingUtil.java | 2 +- .../org/RoadRunner/util/LynxModuleUtil.java | 2 +- .../org/RoadRunner/util/RegressionUtil.java | 2 +- build.dependencies.gradle | 3 ++- 37 files changed, 90 insertions(+), 87 deletions(-) diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/SampleMecanumDrive.java b/TeamCode/src/main/java/org/RoadRunner/drive/SampleMecanumDrive.java index 733f520..904dd5a 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/SampleMecanumDrive.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/SampleMecanumDrive.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive; +package org.RoadRunner.drive; import androidx.annotation.NonNull; @@ -26,11 +26,6 @@ import com.qualcomm.robotcore.hardware.PIDFCoefficients; import com.qualcomm.robotcore.hardware.VoltageSensor; import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceBuilder; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceRunner; -import org.firstinspires.ftc.teamcode.util.LynxModuleUtil; - import java.util.ArrayList; import java.util.Arrays; import java.util.List; @@ -47,6 +42,11 @@ import static org.RoadRunner.drive.DriveConstants.kA; import static org.RoadRunner.drive.DriveConstants.kStatic; import static org.RoadRunner.drive.DriveConstants.kV; +import org.RoadRunner.trajectorysequence.TrajectorySequence; +import org.RoadRunner.trajectorysequence.TrajectorySequenceBuilder; +import org.RoadRunner.trajectorysequence.TrajectorySequenceRunner; +import org.RoadRunner.util.LynxModuleUtil; + /* * Simple mecanum drive hardware implementation for REV hardware. */ diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/SampleTankDrive.java b/TeamCode/src/main/java/org/RoadRunner/drive/SampleTankDrive.java index 11eff7f..6fe31de 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/SampleTankDrive.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/SampleTankDrive.java @@ -1,8 +1,7 @@ -package org.firstinspires.ftc.teamcode.drive; +package org.RoadRunner.drive; import androidx.annotation.NonNull; -import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.roadrunner.control.PIDCoefficients; import com.acmerobotics.roadrunner.drive.DriveSignal; import com.acmerobotics.roadrunner.drive.TankDrive; @@ -26,10 +25,10 @@ import com.qualcomm.robotcore.hardware.PIDFCoefficients; import com.qualcomm.robotcore.hardware.VoltageSensor; import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceBuilder; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequenceRunner; -import org.firstinspires.ftc.teamcode.util.LynxModuleUtil; +import org.RoadRunner.trajectorysequence.TrajectorySequence; +import org.RoadRunner.trajectorysequence.TrajectorySequenceBuilder; +import org.RoadRunner.trajectorysequence.TrajectorySequenceRunner; +import org.RoadRunner.util.LynxModuleUtil; import java.util.Arrays; import java.util.List; @@ -49,7 +48,6 @@ import static org.RoadRunner.drive.DriveConstants.kV; /* * Simple tank drive hardware implementation for REV hardware. */ -@Config public class SampleTankDrive extends TankDrive { public static PIDCoefficients AXIAL_PID = new PIDCoefficients(0, 0, 0); public static PIDCoefficients CROSS_TRACK_PID = new PIDCoefficients(0, 0, 0); diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/StandardTrackingWheelLocalizer.java b/TeamCode/src/main/java/org/RoadRunner/drive/StandardTrackingWheelLocalizer.java index 7d039db..3f2e8c9 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/StandardTrackingWheelLocalizer.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/StandardTrackingWheelLocalizer.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive; +package org.RoadRunner.drive; import androidx.annotation.NonNull; @@ -7,7 +7,8 @@ import com.acmerobotics.roadrunner.geometry.Pose2d; import com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer; import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.HardwareMap; -import org.firstinspires.ftc.teamcode.util.Encoder; + +import org.RoadRunner.util.Encoder; import java.util.Arrays; import java.util.List; diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/AutomaticFeedforwardTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/AutomaticFeedforwardTuner.java index 7d0e4f1..a14dcf7 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/AutomaticFeedforwardTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/AutomaticFeedforwardTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import static org.RoadRunner.drive.DriveConstants.MAX_RPM; import static org.RoadRunner.drive.DriveConstants.RUN_USING_ENCODER; @@ -13,11 +13,11 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.util.RobotLog; +import org.RoadRunner.drive.SampleMecanumDrive; +import org.RoadRunner.util.LoggingUtil; +import org.RoadRunner.util.RegressionUtil; import org.firstinspires.ftc.robotcore.external.Telemetry; import org.firstinspires.ftc.robotcore.internal.system.Misc; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; -import org.firstinspires.ftc.teamcode.util.LoggingUtil; -import org.firstinspires.ftc.teamcode.util.RegressionUtil; import java.util.ArrayList; import java.util.List; diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/BackAndForth.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/BackAndForth.java index a78ad37..e4f32bb 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/BackAndForth.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/BackAndForth.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.roadrunner.geometry.Pose2d; @@ -6,7 +6,7 @@ import com.acmerobotics.roadrunner.trajectory.Trajectory; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; +import org.RoadRunner.drive.SampleMecanumDrive; /* * Op mode for preliminary tuning of the follower PID coefficients (located in the drive base diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/DriveVelocityPIDTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/DriveVelocityPIDTuner.java index bfa4b8f..4237424 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/DriveVelocityPIDTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/DriveVelocityPIDTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import static org.RoadRunner.drive.DriveConstants.MAX_ACCEL; import static org.RoadRunner.drive.DriveConstants.MAX_VEL; @@ -19,8 +19,8 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.util.RobotLog; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; import java.util.List; diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/FollowerPIDTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/FollowerPIDTuner.java index 63f577e..08d535f 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/FollowerPIDTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/FollowerPIDTuner.java @@ -1,12 +1,12 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; -import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence; +import org.RoadRunner.drive.SampleMecanumDrive; +import org.RoadRunner.trajectorysequence.TrajectorySequence; /* * Op mode for preliminary tuning of the follower PID coefficients (located in the drive base diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/LocalizationTest.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/LocalizationTest.java index 8411792..46659e9 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/LocalizationTest.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/LocalizationTest.java @@ -1,11 +1,11 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.DcMotor; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; +import org.RoadRunner.drive.SampleMecanumDrive; /** * This is a simple teleop routine for testing localization. Drive the robot around like a normal diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/ManualFeedforwardTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/ManualFeedforwardTuner.java index 19ae374..8bef31b 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/ManualFeedforwardTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/ManualFeedforwardTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import static org.RoadRunner.drive.DriveConstants.MAX_ACCEL; import static org.RoadRunner.drive.DriveConstants.MAX_VEL; @@ -20,8 +20,8 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.util.RobotLog; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; import java.util.Objects; diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxAngularVeloTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxAngularVeloTuner.java index 05d8265..50a8e14 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxAngularVeloTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxAngularVeloTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -9,8 +9,8 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.util.ElapsedTime; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; import java.util.Objects; diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxVelocityTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxVelocityTuner.java index 4e8183b..46509ac 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxVelocityTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MaxVelocityTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -10,9 +10,9 @@ import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.VoltageSensor; import com.qualcomm.robotcore.util.ElapsedTime; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; import org.RoadRunner.drive.DriveConstants; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; import java.util.Objects; diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MotorDirectionDebugger.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MotorDirectionDebugger.java index 023cfcc..2d53b0e 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MotorDirectionDebugger.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/MotorDirectionDebugger.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -7,8 +7,8 @@ import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; /** * This is a simple teleop routine for debugging your motor configuration. diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/SplineTest.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/SplineTest.java index d731676..7494fa6 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/SplineTest.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/SplineTest.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.acmerobotics.roadrunner.geometry.Vector2d; @@ -6,7 +6,7 @@ import com.acmerobotics.roadrunner.trajectory.Trajectory; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; +import org.RoadRunner.drive.SampleMecanumDrive; /* * This is an example of a more complex path to really test the tuning. diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StrafeTest.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StrafeTest.java index 992d03a..dde530b 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StrafeTest.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StrafeTest.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -8,8 +8,8 @@ import com.acmerobotics.roadrunner.trajectory.Trajectory; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; /* * This is a simple routine to test translational drive capabilities. diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StraightTest.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StraightTest.java index e1b27e1..6ad903f 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StraightTest.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/StraightTest.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -8,9 +8,8 @@ import com.acmerobotics.roadrunner.trajectory.Trajectory; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; - /* * This is a simple routine to test translational drive capabilities. */ diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackWidthTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackWidthTuner.java index e5c1e09..9c3f0e2 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackWidthTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackWidthTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -9,10 +9,10 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.util.MovingStatistics; +import org.RoadRunner.drive.SampleMecanumDrive; import org.firstinspires.ftc.robotcore.external.Telemetry; import org.firstinspires.ftc.robotcore.internal.system.Misc; import org.RoadRunner.drive.DriveConstants; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; /* * This routine determines the effective track width. The procedure works by executing a point turn diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelForwardOffsetTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelForwardOffsetTuner.java index ebe97f2..7d649dd 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelForwardOffsetTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelForwardOffsetTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.config.Config; @@ -10,10 +10,10 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.util.MovingStatistics; import com.qualcomm.robotcore.util.RobotLog; +import org.RoadRunner.drive.SampleMecanumDrive; +import org.RoadRunner.drive.StandardTrackingWheelLocalizer; import org.firstinspires.ftc.robotcore.external.Telemetry; import org.firstinspires.ftc.robotcore.internal.system.Misc; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; -import org.firstinspires.ftc.teamcode.drive.StandardTrackingWheelLocalizer; /** * This routine determines the effective forward offset for the lateral tracking wheel. diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelLateralDistanceTuner.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelLateralDistanceTuner.java index a11059c..56a9021 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelLateralDistanceTuner.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TrackingWheelLateralDistanceTuner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.roadrunner.geometry.Pose2d; @@ -7,8 +7,8 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.util.RobotLog; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; -import org.firstinspires.ftc.teamcode.drive.StandardTrackingWheelLocalizer; +import org.RoadRunner.drive.SampleMecanumDrive; +import org.RoadRunner.drive.StandardTrackingWheelLocalizer; /** * Opmode designed to assist the user in tuning the `StandardTrackingWheelLocalizer`'s diff --git a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TurnTest.java b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TurnTest.java index 0637d19..66cd571 100644 --- a/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TurnTest.java +++ b/TeamCode/src/main/java/org/RoadRunner/drive/opmode/TurnTest.java @@ -1,10 +1,11 @@ -package org.firstinspires.ftc.teamcode.drive.opmode; +package org.RoadRunner.drive.opmode; import com.acmerobotics.dashboard.config.Config; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive; +import org.RoadRunner.drive.SampleMecanumDrive; + /* * This is a simple routine to test turning capabilities. diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/EmptySequenceException.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/EmptySequenceException.java index 081d695..04ba85d 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/EmptySequenceException.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/EmptySequenceException.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence; +package org.RoadRunner.trajectorysequence; public class EmptySequenceException extends RuntimeException { } diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequence.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequence.java index 29032e6..7609952 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequence.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequence.java @@ -1,8 +1,8 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence; +package org.RoadRunner.trajectorysequence; import com.acmerobotics.roadrunner.geometry.Pose2d; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment; +import org.RoadRunner.trajectorysequence.sequencesegment.SequenceSegment; import java.util.Collections; import java.util.List; diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceBuilder.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceBuilder.java index 5da64fd..61f44ad 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceBuilder.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceBuilder.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence; +package org.RoadRunner.trajectorysequence; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.acmerobotics.roadrunner.geometry.Vector2d; @@ -19,10 +19,10 @@ import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAcceleration import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint; import com.acmerobotics.roadrunner.util.Angle; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TrajectorySegment; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TurnSegment; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.WaitSegment; +import org.RoadRunner.trajectorysequence.sequencesegment.SequenceSegment; +import org.RoadRunner.trajectorysequence.sequencesegment.TrajectorySegment; +import org.RoadRunner.trajectorysequence.sequencesegment.TurnSegment; +import org.RoadRunner.trajectorysequence.sequencesegment.WaitSegment; import java.util.ArrayList; import java.util.Collections; diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceRunner.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceRunner.java index 73d0fa9..0a5a023 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceRunner.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/TrajectorySequenceRunner.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence; +package org.RoadRunner.trajectorysequence; import androidx.annotation.Nullable; @@ -16,11 +16,11 @@ import com.acmerobotics.roadrunner.trajectory.Trajectory; import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; import com.acmerobotics.roadrunner.util.NanoClock; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TrajectorySegment; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TurnSegment; -import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.WaitSegment; -import org.firstinspires.ftc.teamcode.util.DashboardUtil; +import org.RoadRunner.trajectorysequence.sequencesegment.SequenceSegment; +import org.RoadRunner.trajectorysequence.sequencesegment.TrajectorySegment; +import org.RoadRunner.trajectorysequence.sequencesegment.TurnSegment; +import org.RoadRunner.trajectorysequence.sequencesegment.WaitSegment; +import org.RoadRunner.util.DashboardUtil; import java.util.ArrayList; import java.util.Collections; @@ -69,12 +69,12 @@ public class TrajectorySequenceRunner { dashboard.setTelemetryTransmissionInterval(25); } - public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) { - currentTrajectorySequence = trajectorySequence; - currentSegmentStartTime = clock.seconds(); - currentSegmentIndex = 0; - lastSegmentIndex = -1; - } +// public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) { +// currentTrajectorySequence = trajectorySequence; +// currentSegmentStartTime = clock.seconds(); +// currentSegmentIndex = 0; +// lastSegmentIndex = -1; +// } public @Nullable DriveSignal update(Pose2d poseEstimate, Pose2d poseVelocity) { @@ -270,4 +270,7 @@ public class TrajectorySequenceRunner { public boolean isBusy() { return currentTrajectorySequence != null; } + + public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) { + } } diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/SequenceSegment.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/SequenceSegment.java index e2eb4ca..59dc8d9 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/SequenceSegment.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/SequenceSegment.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment; +package org.RoadRunner.trajectorysequence.sequencesegment; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TrajectorySegment.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TrajectorySegment.java index 2e735d4..dd424f8 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TrajectorySegment.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TrajectorySegment.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment; +package org.RoadRunner.trajectorysequence.sequencesegment; import com.acmerobotics.roadrunner.trajectory.Trajectory; diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TurnSegment.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TurnSegment.java index 11995db..1eb2e6c 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TurnSegment.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/TurnSegment.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment; +package org.RoadRunner.trajectorysequence.sequencesegment; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.acmerobotics.roadrunner.profile.MotionProfile; diff --git a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/WaitSegment.java b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/WaitSegment.java index 62d2ba4..9ed6e53 100644 --- a/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/WaitSegment.java +++ b/TeamCode/src/main/java/org/RoadRunner/trajectorysequence/sequencesegment/WaitSegment.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment; +package org.RoadRunner.trajectorysequence.sequencesegment; import com.acmerobotics.roadrunner.geometry.Pose2d; import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/AssetsTrajectoryManager.java b/TeamCode/src/main/java/org/RoadRunner/util/AssetsTrajectoryManager.java index 1b34a95..85b3e42 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/AssetsTrajectoryManager.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/AssetsTrajectoryManager.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import androidx.annotation.Nullable; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/AxesSigns.java b/TeamCode/src/main/java/org/RoadRunner/util/AxesSigns.java index 42271d6..51ff239 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/AxesSigns.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/AxesSigns.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; /** * IMU axes signs in the order XYZ (after remapping). diff --git a/TeamCode/src/main/java/org/RoadRunner/util/AxisDirection.java b/TeamCode/src/main/java/org/RoadRunner/util/AxisDirection.java index 5b8279b..9d21ca1 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/AxisDirection.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/AxisDirection.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; /** * A direction for an axis to be remapped to diff --git a/TeamCode/src/main/java/org/RoadRunner/util/BNO055IMUUtil.java b/TeamCode/src/main/java/org/RoadRunner/util/BNO055IMUUtil.java index a8dd7ea..660de56 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/BNO055IMUUtil.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/BNO055IMUUtil.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import com.qualcomm.hardware.bosch.BNO055IMU; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/DashboardUtil.java b/TeamCode/src/main/java/org/RoadRunner/util/DashboardUtil.java index ce11d8d..7a14c6c 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/DashboardUtil.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/DashboardUtil.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import com.acmerobotics.dashboard.canvas.Canvas; import com.acmerobotics.roadrunner.geometry.Pose2d; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/Encoder.java b/TeamCode/src/main/java/org/RoadRunner/util/Encoder.java index f724c52..a1873cc 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/Encoder.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/Encoder.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import com.acmerobotics.roadrunner.util.NanoClock; import com.qualcomm.robotcore.hardware.DcMotorEx; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/LoggingUtil.java b/TeamCode/src/main/java/org/RoadRunner/util/LoggingUtil.java index 2c558f1..896fc4f 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/LoggingUtil.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/LoggingUtil.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import org.firstinspires.ftc.robotcore.internal.system.AppUtil; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/LynxModuleUtil.java b/TeamCode/src/main/java/org/RoadRunner/util/LynxModuleUtil.java index 243dd7e..a2dd8b6 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/LynxModuleUtil.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/LynxModuleUtil.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import com.qualcomm.hardware.lynx.LynxModule; import com.qualcomm.robotcore.hardware.HardwareMap; diff --git a/TeamCode/src/main/java/org/RoadRunner/util/RegressionUtil.java b/TeamCode/src/main/java/org/RoadRunner/util/RegressionUtil.java index c3bf488..97d9b64 100644 --- a/TeamCode/src/main/java/org/RoadRunner/util/RegressionUtil.java +++ b/TeamCode/src/main/java/org/RoadRunner/util/RegressionUtil.java @@ -1,4 +1,4 @@ -package org.firstinspires.ftc.teamcode.util; +package org.RoadRunner.util; import androidx.annotation.Nullable; diff --git a/build.dependencies.gradle b/build.dependencies.gradle index cdd5c35..5fe53f4 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -20,6 +20,7 @@ dependencies { implementation 'androidx.appcompat:appcompat:1.2.0' implementation 'org.firstinspires.ftc:gameAssets-PowerPlay:1.0.0' implementation 'org.apache.commons:commons-math3:3.6.1' - implementation 'com.acmerobotics.roadrunner:core:0.5.1' + implementation 'com.acmerobotics.roadrunner:core:0.5.6' + implementation 'com.acmerobotics.dashboard:dashboard:0.4.8' }