From 7a938aaabc2e380c56acc8085a8b3902af5b8135 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Mon, 8 Jun 2026 17:14:27 -0400 Subject: [PATCH 1/8] modified auto hood offset system for ease of use --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 57 +++---------------- 1 file changed, 7 insertions(+), 50 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index ae6eee0..76173db 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -53,6 +53,7 @@ public class Auto_Main_ extends NextFTCOpMode { // Auto parameter variables private boolean turretOn = true; + double storedHoodOffset = 0; @SuppressWarnings("unused") public Auto_Main_() { @@ -122,6 +123,11 @@ public void onStartButtonPressed() { selectedAuto.runAuto().schedule(); } turretOn = selectedAuto.getTurretEnabled(); + if (selectedAuto.getStartPose() == paths.nearStart){ + storedHoodOffset = 10; + }else{ + storedHoodOffset = -20; + } timer25Sec.restart(); // Indicate that initialization is done @@ -135,7 +141,7 @@ public void onUpdate() { telemetry.addData("Alliance", selectedAlliance); panelsTelemetry.addData("Turret Target Pos", Robot.turret.rotation.target); panelsTelemetry.addData("Turret Actual Pos", Robot.turret.rotation.getAngleAbsolute()); - Robot.turret.updateAimbot(turretOn, true, selectedAuto.getHoodOffset()); + Robot.turret.updateAimbot(turretOn, true, storedHoodOffset); Robot.turret.updateFlywheel(0); MecanumDrivetrainClass.robotPose = Robot.drivetrain.follower.getPose(); telemetry.update(); @@ -165,11 +171,6 @@ abstract static class Auto{ */ abstract Pose getEndPose(); - /** - * @return The offset of the hood for this auto - */ - abstract double getHoodOffset(); - /** * @return A boolean indicating whether the turret is enabled. */ @@ -195,10 +196,6 @@ public Pose getEndPose(){ return paths.farLeave; } @Override - double getHoodOffset() { - return -20; - } - @Override public boolean getTurretEnabled(){ return true; } @@ -243,10 +240,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return -20; - } - @Override boolean autoLeave() { return true; } @@ -292,10 +285,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return 10; - } - @Override boolean autoLeave() { return true; } @@ -337,10 +326,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return 10; - } - @Override boolean autoLeave() { return true; } @@ -384,10 +369,6 @@ boolean getTurretEnabled() { return true; } @Override - double getHoodOffset() { - return 10; - } - @Override boolean autoLeave() { return true; } @@ -442,10 +423,6 @@ boolean getTurretEnabled() { return true; } @Override - double getHoodOffset() { - return 10; - } - @Override boolean autoLeave() { return true; } @@ -499,10 +476,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return 0; - } - @Override boolean autoLeave() { return true; } @@ -551,10 +524,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return 0; - } - @Override boolean autoLeave() { return true; } @@ -602,10 +571,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return 0; - } - @Override boolean autoLeave() { return true; } @@ -649,10 +614,6 @@ public boolean getTurretEnabled(){ return true; } @Override - double getHoodOffset() { - return 0; - } - @Override boolean autoLeave() { return true; } @@ -709,10 +670,6 @@ boolean getTurretEnabled() { boolean autoLeave() { return false; } - @Override - double getHoodOffset() { - return 0; - } @Override public Command runAuto(){ From 20d6bcff9be11d4e541c3bb53b6cecfce11d3306 Mon Sep 17 00:00:00 2001 From: Professor348 <141444315+professor348@users.noreply.github.com> Date: Mon, 8 Jun 2026 17:27:01 -0400 Subject: [PATCH 2/8] added default values for some auto configuration fields --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 58 +------------------ 1 file changed, 3 insertions(+), 55 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 76173db..d9990ee 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -174,16 +174,16 @@ abstract static class Auto{ /** * @return A boolean indicating whether the turret is enabled. */ - abstract boolean getTurretEnabled(); + boolean getTurretEnabled(){return true;} - abstract boolean autoLeave(); + boolean autoLeave(){return true;} /** Override this to schedule the auto command*/ abstract Command runAuto(); /** Override this to rename the auto*/ @NonNull @Override - public abstract String toString(); + public String toString(){return "auto";} } private class Far_9Ball extends Auto{ @@ -199,10 +199,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -239,10 +235,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -284,10 +276,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -325,10 +313,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -364,14 +348,6 @@ Pose getStartPose() { public Pose getEndPose(){ return paths.nearLeave; } - @Override - boolean getTurretEnabled() { - return true; - } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -418,14 +394,6 @@ Pose getStartPose() { public Pose getEndPose(){ return paths.nearLeave; } - @Override - boolean getTurretEnabled() { - return true; - } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -475,10 +443,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -523,10 +487,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -570,10 +530,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -613,10 +569,6 @@ public Pose getEndPose(){ public boolean getTurretEnabled(){ return true; } - @Override - boolean autoLeave() { - return true; - } @Override public Command runAuto(){ @@ -663,10 +615,6 @@ public Pose getEndPose(){ return paths.midShoot; } @Override - boolean getTurretEnabled() { - return true; - } - @Override boolean autoLeave() { return false; } From c16e6f1be661245cb14cfb632c9cb6fa853bd6d1 Mon Sep 17 00:00:00 2001 From: BoomKitty08 Date: Tue, 9 Jun 2026 17:30:17 -0400 Subject: [PATCH 3/8] I added onto my practice code :) --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 36 ++++++++++++++++++- 1 file changed, 35 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index d9990ee..e2bb2e3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -82,7 +82,8 @@ public void onInit() { new Near_12Ball(), new Near_9Ball(), new Far_12Ball(), - new Far_9Ball() + new Far_9Ball(), + new julietAuto() )); prompter.onComplete(() -> { @@ -636,4 +637,37 @@ public String toString() { return "Test Auto"; } } + + private class julietAuto extends Auto{ + @Override + Pose getStartPose() { + return paths.nearStart; + } + @Override + public Pose getEndPose(){ + return paths.nearLeave; + } + + @Override + public Command runAuto(){ + return new SequentialGroup( + new InstantCommand(Commands.setFlywheelState( Turret.flywheelState.ON)), + Commands.runPath(paths.nearStart_to_midShoot), + Commands.setIntakeMode(ON), + Commands.runPath(paths.midPreload_to_nearShoot), + Commands.runPath(paths.openGateBasic_to_midShoot), + Commands.runPath(paths.nearLeave) + + + + + ); + } + + @NonNull + @Override + public String toString() { + return "juliets Test Auto"; + } + } } From 91e7b01c2e9e5695b7d98a78fd2545301c4802b1 Mon Sep 17 00:00:00 2001 From: Daniel <141444315+Professor348@users.noreply.github.com> Date: Tue, 9 Jun 2026 17:42:07 -0400 Subject: [PATCH 4/8] Fixed a bug in Juliet's test auto program --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index e2bb2e3..754bdf4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -653,10 +653,11 @@ public Command runAuto(){ return new SequentialGroup( new InstantCommand(Commands.setFlywheelState( Turret.flywheelState.ON)), Commands.runPath(paths.nearStart_to_midShoot), + Commands.shootBalls(), Commands.setIntakeMode(ON), Commands.runPath(paths.midPreload_to_nearShoot), Commands.runPath(paths.openGateBasic_to_midShoot), - Commands.runPath(paths.nearLeave) + Commands.runPath(paths.midShoot_to_nearLeave) From adf6d1693f6594a64d3e4c727be7861493a561d2 Mon Sep 17 00:00:00 2001 From: BoomKitty08 Date: Fri, 12 Jun 2026 16:21:53 -0400 Subject: [PATCH 5/8] I got rid of the end of my practice code --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 754bdf4..1d0f9c7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -656,8 +656,9 @@ public Command runAuto(){ Commands.shootBalls(), Commands.setIntakeMode(ON), Commands.runPath(paths.midPreload_to_nearShoot), - Commands.runPath(paths.openGateBasic_to_midShoot), - Commands.runPath(paths.midShoot_to_nearLeave) + Commands.shootBalls() + + From bb19ab060e131b5683749dbebc5774f33dd5266e Mon Sep 17 00:00:00 2001 From: BoomKitty08 Date: Sun, 14 Jun 2026 20:00:08 -0400 Subject: [PATCH 6/8] forgot to commit on Friday --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 1d0f9c7..a99b815 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -655,7 +655,8 @@ public Command runAuto(){ Commands.runPath(paths.nearStart_to_midShoot), Commands.shootBalls(), Commands.setIntakeMode(ON), - Commands.runPath(paths.midPreload_to_nearShoot), + Commands.runPath(paths.midShoot_to_midPreload), + Commands.runPath(paths.midPreload_to_midShoot), Commands.shootBalls() From d9e5d35a0202d25daca7e83c148179a9cd59971d Mon Sep 17 00:00:00 2001 From: BoomKitty08 Date: Thu, 18 Jun 2026 21:28:48 -0400 Subject: [PATCH 7/8] We made an auto for our practice match hopefully. its a copy paste version of MOE far with some little changes at the end --- .../LOADCode/Main_/Auto_/Auto_Main_.java | 36 ++++++++++++------- 1 file changed, 24 insertions(+), 12 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index a99b815..9210e29 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -652,25 +652,37 @@ public Pose getEndPose(){ public Command runAuto(){ return new SequentialGroup( new InstantCommand(Commands.setFlywheelState( Turret.flywheelState.ON)), - Commands.runPath(paths.nearStart_to_midShoot), + Commands.runPath(paths.farStart_to_farShoot, true, 1), Commands.shootBalls(), Commands.setIntakeMode(ON), - Commands.runPath(paths.midShoot_to_midPreload), - Commands.runPath(paths.midPreload_to_midShoot), - Commands.shootBalls() - - - - - - + Commands.runPath(paths.farShoot_to_farPreload, true, 1), + Commands.runPath(paths.farPreload_to_farShoot, true, 1), + Commands.shootBalls(), + Commands.setIntakeMode(ON), + Commands.runPath(paths.farShoot_to_rampIntake, true, 1), + Commands.runPath(paths.rampIntake_to_farShoot, true, 1), + Commands.shootBalls(), + Commands.setIntakeMode(ON), + Commands.runPath(paths.farShoot_to_hpPreload, true, 1), + Commands.runPath(paths.hpPreload_to_farShoot, true, 1), + Commands.shootBalls(), + Commands.setIntakeMode(ON), + Commands.runPath(paths.farShoot_to_hpPreloadLine, true, 1), + Commands.runPath(paths.hpPreloadLine_to_farShoot, true, 1), + Commands.shootBalls(), + Commands.setIntakeMode(ON), + Commands.runPath(paths.farShoot_to_hpPreloadLine, true, 1), + Commands.runPath(paths.hpPreloadLine_to_farShoot, true, 1), + Commands.shootBalls(), + Commands.runPath(paths.farShoot_to_farLeave, true, 1) ); } - + } @NonNull @Override public String toString() { return "juliets Test Auto"; } } -} + + From a4745fa400328aaef06cd188b4f5219766394df4 Mon Sep 17 00:00:00 2001 From: BoomKitty08 Date: Fri, 19 Jun 2026 08:20:22 -0400 Subject: [PATCH 8/8] We made a copy of MOE far with small tweaks --- .../ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java index 9210e29..e1b6481 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java @@ -681,7 +681,7 @@ public Command runAuto(){ @NonNull @Override public String toString() { - return "juliets Test Auto"; + return "juliet Test Auto"; } }