Korver league tournament

TeamCode/build.gradle

@@ -36,6 +36,7 @@ apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
 apply plugin: "org.team11260.fast-load-plugin"
 apply plugin: 'dev.frozenmilk.sinister.sloth.load'
+apply plugin: 'org.jetbrains.kotlin.android'
 
 
 android {
@@ -47,6 +48,9 @@ android {
         }
         jniLibs.useLegacyPackaging true
     }
+    kotlinOptions {
+        jvmTarget = '1.8'
+    }
 }
 
 repositories {
@@ -56,6 +60,25 @@ repositories {
     maven {
         url = "https://www.methewo.tech/maven/"
     }
+    maven {
+        url = 'https://jitpack.io'
+    }
+}
+
+android {
+    namespace = 'org.firstinspires.ftc.teamcode'
+
+    kotlinOptions {
+        jvmTarget='1.8'
+    }
+    compileSdk 34
+    defaultConfig {
+        minSdk 24
+    }
+
+    packagingOptions {
+        jniLibs.useLegacyPackaging true
+    }
 }
 
 dependencies {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autos/DrivetrainOnlyAuto.java

@@ -1,5 +1,10 @@
 package org.firstinspires.ftc.teamcode.autos;
 
+import static org.firstinspires.ftc.teamcode.util.Hardware.dt;
+import static org.firstinspires.ftc.teamcode.util.Hardware.intake;
+import static org.firstinspires.ftc.teamcode.util.Hardware.shooter;
+import static org.firstinspires.ftc.teamcode.util.Hardware.transfer;
+
 import com.pedropathing.geometry.BezierCurve;
 import com.pedropathing.geometry.BezierLine;
 import com.pedropathing.geometry.Pose;
@@ -9,35 +14,48 @@
 
 import org.firstinspires.ftc.teamcode.subsystems.drivetrain.Drivetrain;
 import org.firstinspires.ftc.teamcode.util.AllianceColor;
+import org.firstinspires.ftc.teamcode.util.MatchSettings;
 
 @Autonomous(name="Drivetrain Only")
 public class DrivetrainOnlyAuto extends OpMode {
     private Path path;
-    private Drivetrain dt;
+    private AutoState state;
 
     @Override
     public void init() {
-        dt = new Drivetrain(hardwareMap, new AllianceColor(AllianceColor.Selection.BLUE), new Pose(-gamepad1.left_stick_x, -gamepad1.left_stick_y, -gamepad1.right_stick_x), new Pose(1.15, 1.15, 1.15));
+        MatchSettings.initSelection(hardwareMap, new AllianceColor(AllianceColor.Selection.BLUE), gamepad1);
+        MatchSettings.start();
     }
 
     @Override
     public void start() {
         path = new Path(
                 new BezierCurve(
                         dt.follower.getPose(),
-                        new Pose(75, 35),
+                        new Pose(45, 32),
                         new Pose(25,30,dt.follower.getPose().getHeading())
                 )
         );
         path.setConstantHeadingInterpolation(Math.PI);
         dt.follower.followPath(path);
+        state = AutoState.INTAKE;
     }
 
     @Override
     public void loop() {
+        shooter.flywheel.adaptive(
+                dt.follower.getPose().getX(),
+                dt.follower.getPose().getY()
+        );
+        shooter.turret.loop(
+                dt.follower.getPose().getX(),
+                dt.follower.getPose().getX(),
+                dt.follower.getHeading()
+        );
         dt.update();
 
-        if (!dt.follower.isBusy()) {
+        if (!dt.follower.isBusy() && state.equals(AutoState.INTAKE)) {
+            intake.run();
             dt.follower.breakFollowing();
             Path path1 = new Path(
                     new BezierLine(
@@ -49,6 +67,16 @@ public void loop() {
             dt.follower.followPath(
                     path1
             );
+            state = AutoState.SHOOT;
         }
+        else if (!dt.follower.isBusy() && state.equals(AutoState.SHOOT)) {
+            dt.follower.breakFollowing();
+            intake.stop();
+            transfer.fireSortedArtifacts();
+        }
+    }
+    enum AutoState {
+        INTAKE,
+        SHOOT
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autos/KylesAuto.java

@@ -70,7 +70,7 @@ public void start() {
         MatchSettings.start();
 
         // Start the first path
-        dt.follower.followPath(pathSequence[0]);
+        dt.follower.followPath(pathSequence[currentPathIndex]);
     }
 
     @Override
@@ -108,7 +108,9 @@ private void handleSubsystems() {
             // Only run shooter/transfer when we've arrived at the shooting position
             if (!dt.follower.isBusy()) {
                 // Spin up flywheel and update shooter
-                shooter.runLoop(dt.follower.getPose().getX(), dt.follower.getPose().getY(), dt.follower.getPose().getHeading());
+                shooter.runLoop(dt.follower.getPose(),
+                        dt.follower.getVelocity()
+                );
                 shooter.flywheel.update(shooterSpeed);
                 shooter.tilt.setTilt(tiltPos);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autos/Messiest.java

@@ -34,7 +34,7 @@ public void init() {
         shoot = false;
 
         transfer = new Kicker(hardwareMap);
-        shooter = new Flywheel(hardwareMap);
+        shooter = new Flywheel(hardwareMap, new AllianceColor(AllianceColor.Selection.BLUE));
         intake = new Intake(hardwareMap);
         //time = new ElapsedTime();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autos/PreloadPark.java

@@ -32,7 +32,7 @@ public void init() {
         shoot= false;
 
         transfer = new Kicker(hardwareMap);
-        shooter = new Flywheel(hardwareMap);
+        shooter = new Flywheel(hardwareMap, new AllianceColor(AllianceColor.Selection.BLUE));
         intake = new Intake(hardwareMap);
         //time = new ElapsedTime();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autos/PreloadParkRED.java

@@ -37,7 +37,7 @@ public void init() {
         shoot = false;
 
         transfer = new Kicker(hardwareMap);
-        shooter = new Flywheel(hardwareMap);
+        shooter = new Flywheel(hardwareMap, new AllianceColor(AllianceColor.Selection.BLUE));
         intake = new Intake(hardwareMap);
         //time = new ElapsedTime();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java

@@ -47,19 +47,39 @@ public class Constants {
                     0.025,
                     0.024
             ))
+            .translationalPIDFSwitch(4)
+            .drivePIDFCoefficients(new FilteredPIDFCoefficients(
+                    .6,
+                    0,
+                    0.025,
+                    0.6,
+                    0.024))
+            .secondaryTranslationalPIDFCoefficients(new PIDFCoefficients(
+                    0,
+                    0,
+                    0.005,
+                    0.0006
+            ))
             .headingPIDFCoefficients(new PIDFCoefficients(
                     1.78,
                     0.00,
                     0.055,
                     0.025
             ))
-            .drivePIDFCoefficients(new FilteredPIDFCoefficients(
-                    0.75,
+            .secondaryHeadingPIDFCoefficients(new PIDFCoefficients(
+                    0.0,
                     0,
-                    0.005,
+                    0.1,
+                    0.0005
+            ))
+            .secondaryDrivePIDFCoefficients(new FilteredPIDFCoefficients(
+                    0.0,
+                    0,
+                    0.000005,
                     0.6,
-                    0.025
+                    0.01
             ))
+            .drivePIDFSwitch(15)
             .centripetalScaling(0.0005)
             .useSecondaryDrivePIDF(false)
             .useSecondaryHeadingPIDF(false)
@@ -84,11 +104,11 @@ public class Constants {
                 .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
                 .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
                 .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
-                .forwardPodY(0.157480315)
-                .strafePodX(7.5590551181);
+                .forwardPodY(-7.5590551181)
+                .strafePodX(0.157480315);
 
 
-    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);
+    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1.65, 1);
 
     public static Follower createFollower(HardwareMap hardwareMap) {
         return new FollowerBuilder(followerConstants, hardwareMap)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/Centripetaluner.java

@@ -0,0 +1,91 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.tuners;
+
+import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.draw;
+import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.drawOnlyCurrent;
+import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.follower;
+
+
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.Path;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+/**
+ * This is the Centripetal Tuner OpMode. It runs the robot in a specified distance
+ * forward and to the left. On reaching the end of the forward Path, the robot runs the backward
+ * Path the same distance back to the start. Rinse and repeat! This is good for testing a variety
+ * of Vectors, like the drive Vector, the translational Vector, the heading Vector, and the
+ * centripetal Vector.
+ *
+ * @author Baron Henderson - 20077 The Indubitables
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @author Atharv Gurnnai - 13085 Bionic Dutch
+ * @version 1.0, 3/13/2024
+ */
+@TeleOp(name="Centripetal Coefficient Tuner", group="tuners")
+
+public class Centripetaluner extends OpMode {
+    public  double DISTANCE = 20;
+    private boolean forward = true;
+
+    private Path forwards;
+    private Path backwards;
+
+    @Override
+    public void init() {
+        follower.setStartingPose(new Pose(72, 72));
+    }
+
+    /**
+     * This initializes the Follower and creates the forward and backward Paths.
+     * Additionally, this initializes the Panels telemetry.
+     */
+    @Override
+    public void init_loop() {
+        telemetry.addLine("This will run the robot in a curve going " + DISTANCE + " inches to the left and the same number of inches forward.");
+        telemetry.addLine("The robot will go continuously along the path.");
+        telemetry.addLine("Make sure you have enough room.");
+        telemetry.update();
+        follower.update();
+        drawOnlyCurrent();
+    }
+
+    @Override
+    public void start() {
+        follower.startTeleopDrive(false);
+        follower.activateAllPIDFs();
+        forwards = new Path(new BezierCurve(new Pose(72,72), new Pose(Math.abs(DISTANCE) + 72,72), new Pose(Math.abs(DISTANCE) + 72,DISTANCE + 72)));
+        backwards = new Path(new BezierCurve(new Pose(Math.abs(DISTANCE) + 72,DISTANCE + 72), new Pose(Math.abs(DISTANCE) + 72,72), new Pose(72,72)));
+
+        backwards.setTangentHeadingInterpolation();
+        backwards.reverseHeadingInterpolation();
+
+        follower.followPath(forwards);
+    }
+
+    /**
+     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
+     * the Telemetry, as well as the Panels.
+     */
+    @Override
+    public void loop() {
+        follower.update();
+        draw();
+        if (!follower.isBusy()) {
+            if (forward) {
+                forward = false;
+                follower.followPath(backwards);
+            } else {
+                forward = true;
+                follower.followPath(forwards);
+            }
+        }
+
+        telemetry.addLine("Driving away from the origin along the curve?: " + forward);
+        telemetry.update();
+    }
+}
+

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/DrivePIDF.java

@@ -17,9 +17,10 @@
  * @author Anyi Lin - 10158 Scott's Bots
  * @author Aaron Yang - 10158 Scott's Bots
  * @author Harrison Womack - 10158 Scott's Bots
+ * @author Atharv Gurnani - 13085 Bionic Dutch
  * @version 1.0, 3/12/2024
  */
-@TeleOp(name="DrivePIDF", group="tuners")
+@TeleOp(name="Drive PIDF Tuner", group="tuners")
 public class DrivePIDF extends OpMode {
     public static double DISTANCE = 40;
     private boolean forward = true;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/ForwardTner.java

@@ -7,7 +7,7 @@
 
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
 
-@TeleOp(name="ForwardTuner")
+@TeleOp(name="Forward Encoder Tuner", group="tuners")
 public class ForwardTner extends OpMode {
     private Follower follower;
     public static double DISTANCE = 48;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/ForwardVlocity.java

@@ -24,9 +24,10 @@
  * @author Aaron Yang - 10158 Scott's Bots
  * @author Harrison Womack - 10158 Scott's Bots
  * @author Baron Henderson - 20077 The Indubitables
+ * @author Chetan Vanam - 13085 Bionic Dutch
  * @version 1.0, 3/13/2024
  */
-@TeleOp(name="ForwardVelocity", group="tuners")
+@TeleOp(name="Forward Velocity Tuner", group="tuners")
 public class ForwardVlocity extends OpMode {
     private final ArrayList<Double> velocities = new ArrayList<>();
     static ArrayList<String> changes = new ArrayList<>();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/ForwardZPAM.java

@@ -25,9 +25,10 @@
  * @author Baron Henderson - 20077 The Indubitables
  * @author Aaron Yang - 10158 Scott's Bots
  * @author Harrison Womack - 10158 Scott's Bots
+ * @author Atharv Gurnani - 13085 Bionic Dutch
  * @version 1.0, 3/13/2024
  */
-@TeleOp(name="ForwardZPAM", group="tuners")
+@TeleOp(name="Forward ZPAM Tuner", group="tuners")
 public class ForwardZPAM extends OpMode {
     static ArrayList<String> changes = new ArrayList<>();
     private Follower follower;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/HeadingPIDF.java

@@ -18,9 +18,10 @@
  * @author Anyi Lin - 10158 Scott's Bots
  * @author Aaron Yang - 10158 Scott's Bots
  * @author Harrison Womack - 10158 Scott's Bots
+ * @author Atharv Gurnani - 13085 Bionic Dutch
  * @version 1.0, 3/12/2024
  */
-@TeleOp(name="HeadingPIDF", group="tuners")
+@TeleOp(name="Heading PIDF Tuner", group="tuners")
 public class HeadingPIDF extends OpMode {
     public static double DISTANCE = 40;
     private boolean forward = true;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuners/LateralTner.java

@@ -19,9 +19,10 @@
  *
  * @author Anyi Lin - 10158 Scott's Bots
  * @author Baron Henderson - 20077 The Indubitables
+ * @author Atharv Gurnani - 13085 Bionic Dutch
  * @version 2.0, 6/26/2025
  */
-@TeleOp(name="LateralTuner", group="tuners")
+@TeleOp(name="Lateral Encoder Tuner", group="tuners")
 public class LateralTner extends OpMode {
     public static double DISTANCE = 48;
     private Follower follower;