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GG, gl advancing teams

Author: AshOnDiscord

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/intake/Diffy.kt

@@ -112,7 +112,7 @@ class Diffy(
         var kD = 0.0
 
         @JvmField
-        var transferPitch = -.25
+        var transferPitch = -.325
 
         @JvmField
         var transferRoll = .275
@@ -121,7 +121,7 @@ class Diffy(
         var hoverPitch = -.65
 
         @JvmField
-        var hoverRoll = -.3
+        var hoverRoll = -.2
 
         @JvmField
         var pickupPitch = -.6

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/intake/IntakeArm.kt

@@ -60,7 +60,7 @@ class IntakeArm(
 
     companion object {
         @JvmField
-        var basePosition = 0.4
+        var basePosition = 0.41
 
         @JvmField
         var extendedPosition = 0.6

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/outtake/OuttakeArm.kt

@@ -68,7 +68,7 @@ class OuttakeArm(
 
     companion object {
         @JvmField
-        var basePosition = 0.6
+        var basePosition = 0.59
 
         @JvmField
         var transferPosition = 0.62

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/SampleAuton.kt

@@ -9,6 +9,7 @@ import com.arcrobotics.ftclib.command.SequentialCommandGroup
 import com.arcrobotics.ftclib.command.WaitCommand
 import com.arcrobotics.ftclib.command.WaitUntilCommand
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
+import com.qualcomm.robotcore.util.ElapsedTime
 import org.firstinspires.ftc.teamcode.common.commands.outtake.SlidesCommand
 import org.firstinspires.ftc.teamcode.common.subsystems.outtake.OuttakeArmPosition
 import org.firstinspires.ftc.teamcode.common.subsystems.outtake.OuttakeWristPosition
@@ -17,10 +18,10 @@ import org.firstinspires.ftc.teamcode.common.utils.OpMode
 import org.firstinspires.ftc.teamcode.common.utils.Pose2d
 import org.firstinspires.ftc.teamcode.opmodes.teleop.MainTeleopBlue.Companion.outtakeDropArmDelay
 
-@Autonomous(name = "Sample Auton", preselectTeleOp = "Main Teleop Red")
+@Autonomous(name = "Sample Auton", preselectTeleOp = "Main Teleop Blue")
 @Config
 @SuppressWarnings("detekt:MagicNumber", "detekt:SpreadOperator")
-class SampleAuton : OpMode() {
+open class SampleAuton : OpMode() {
     override val robot by lazy { AutonRobot(this) }
 
     override fun initialize() {
@@ -44,10 +45,12 @@ class SampleAuton : OpMode() {
 
         super.initialize()
 
-        val grab = {
-            SequentialCommandGroup(
+        fun grab(): SequentialCommandGroup {
+            val timeOutCV = ElapsedTime()
+            return SequentialCommandGroup(
+                InstantCommand({ timeOutCV.reset() }),
                 robot.autoPickup.startScanning(),
-                WaitUntilCommand { robot.autoPickup.lastTarget != null },
+                WaitUntilCommand { robot.autoPickup.lastTarget != null || timeOutCV.milliseconds() > timeOutCVDelay },
                 robot.autoPickup.stopScanning(),
                 robot.autoPickup.align(),
                 robot.intake.grab(),
@@ -103,7 +106,7 @@ class SampleAuton : OpMode() {
                 robot.macros.exitTransfer(),
                 up().alongWith(
                     WaitUntilCommand {
-                        robot.outtake.slides.position > Slides.min + (Slides.highBasket - Slides.min) / 2
+                        robot.outtake.slides.position > Slides.min + (Slides.highBasket - Slides.min) * 3 / 4
                     }.andThen(
                         robot.drive.pid(Pose2d(basketX, basketY, -45.0)),
                     ),
@@ -178,7 +181,7 @@ class SampleAuton : OpMode() {
         var sample1X = -47.0
 
         @JvmField
-        var sample1Y = 49.5
+        var sample1Y = 50.0
 
         @JvmField
         var sample2X = -47.0
@@ -209,6 +212,9 @@ class SampleAuton : OpMode() {
 
         @JvmField
         var pidStablize: Long = 500
+
+        @JvmField
+        var timeOutCVDelay: Long = 2000
     }
 
     override fun exec() {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/SampleAutonRed.kt

@@ -0,0 +1,13 @@
+package org.firstinspires.ftc.teamcode.opmodes.auton
+
+import com.acmerobotics.dashboard.config.Config
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous
+
+@Config
+@Autonomous(name = "Sample Auton Red", preselectTeleOp = "Main Teleop Red")
+class SampleAutonRed : SampleAuton() {
+    override fun initialize() {
+        robot.isRed = true
+        super.initialize()
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/SpecimenAutonPush.kt

@@ -21,11 +21,11 @@ import org.firstinspires.ftc.teamcode.common.utils.OpMode
 import org.firstinspires.ftc.teamcode.common.utils.Pose2d
 import org.firstinspires.ftc.teamcode.common.utils.conditionalCommand
 
-@Autonomous(name = "Specimen Auton Push", preselectTeleOp = "Main Teleop Red")
+@Autonomous(name = "Specimen Auton Push", preselectTeleOp = "Main Teleop Blue")
 // @TeleOp(name = "Specimen Auton", group = "Auton")
 @Config
 @SuppressWarnings("detekt:MagicNumber", "detekt:SpreadOperator")
-class SpecimenAutonPush : OpMode() {
+open class SpecimenAutonPush : OpMode() {
     override val robot by lazy { AutonRobot(this) }
 
     val currentCommands = mutableListOf<String>()
@@ -183,10 +183,10 @@ class SpecimenAutonPush : OpMode() {
                 return Path(
                     listOf(
                         pickupPos,
-                        Vec2d(-48.0, pickupPos.y),
+                        Vec2d(-50.0, pickupPos.y),
                     ) +
                         listOf(
-                            Vec2d(-48, scoringPos.y) + offset,
+                            Vec2d(-54, scoringPos.y) + offset,
                             scoringPos + offset,
                             Vec2d(-36, scoringPos.y) + offset,
                         ) +

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/SpecimenAutonPushRed.kt

@@ -0,0 +1,13 @@
+package org.firstinspires.ftc.teamcode.opmodes.auton
+
+import com.acmerobotics.dashboard.config.Config
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous
+
+@Config
+@Autonomous(name = "Specimen Auton Push Red", preselectTeleOp = "Main Teleop Red")
+class SpecimenAutonPushRed : SpecimenAutonPush() {
+    override fun initialize() {
+        robot.isRed = true
+        super.initialize()
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/teleop/MainTeleop.kt

@@ -79,7 +79,7 @@ open class MainTeleopBlue : OpMode() {
                     val liftResets =
                         EdgeDetector(
                             gp2::circle,
-                            outtake.slides.direct(Slides.rezeroPower),
+                            outtake.slides.goTo(Slides.State.REZERO),
                             SequentialCommandGroup(
                                 outtake.slides.rezeroCmd(),
                                 outtake.slides.goTo(Slides.State.BASE),
@@ -479,7 +479,7 @@ open class MainTeleopBlue : OpMode() {
         var intakePickupClawDelay: Long = 250
 
         @JvmField
-        var baseIntakeDuration: Long = 1000
+        var baseIntakeDuration: Long = 1250
 
         @JvmField
         var intakeDuration: Long = 1000