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This repository was archived by the owner on Jul 13, 2026. It is now read-only.

Merge Development into Master #10

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LOAD-Robotics merged 8 commits into from
Jul 13, 2026
Merged

Merge Development into Master #10

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7a938aa
modified auto hood offset system for ease of use
Professor348 Jun 8, 2026
20d6bcf
added default values for some auto configuration fields
Professor348 Jun 8, 2026
c16e6f1
I added onto my practice code :)
BoomKitty08 Jun 9, 2026
91e7b01
Fixed a bug in Juliet's test auto program
Professor348 Jun 9, 2026
adf6d16
I got rid of the end of my practice code
BoomKitty08 Jun 12, 2026
bb19ab0
forgot to commit on Friday
BoomKitty08 Jun 15, 2026
d9e5d35
We made an auto for our practice match hopefully. its a copy paste ve…
BoomKitty08 Jun 19, 2026
a4745fa
We made a copy of MOE far with small tweaks
BoomKitty08 Jun 19, 2026
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168 changes: 61 additions & 107 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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_() {
Expand Down Expand Up @@ -81,7 +82,8 @@ public void onInit() {
new Near_12Ball(),
new Near_9Ball(),
new Far_12Ball(),
new Far_9Ball()
new Far_9Ball(),
new julietAuto()

));
prompter.onComplete(() -> {
Expand Down Expand Up @@ -122,6 +124,11 @@ 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
Expand All @@ -135,7 +142,7 @@ 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();
Expand Down Expand Up @@ -165,24 +172,19 @@ 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.
*/
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{
Expand All @@ -195,17 +197,9 @@ public Pose getEndPose(){
return paths.farLeave;
}
@Override
double getHoodOffset() {
return -20;
}
@Override
public boolean getTurretEnabled(){
return true;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -242,14 +236,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return -20;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -291,14 +277,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return 10;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -336,14 +314,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return 10;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -379,18 +349,6 @@ Pose getStartPose() {
public Pose getEndPose(){
return paths.nearLeave;
}
@Override
boolean getTurretEnabled() {
return true;
}
@Override
double getHoodOffset() {
return 10;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -437,18 +395,6 @@ Pose getStartPose() {
public Pose getEndPose(){
return paths.nearLeave;
}
@Override
boolean getTurretEnabled() {
return true;
}
@Override
double getHoodOffset() {
return 10;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -498,14 +444,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return 0;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -550,14 +488,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return 0;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -601,14 +531,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return 0;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -648,14 +570,6 @@ public Pose getEndPose(){
public boolean getTurretEnabled(){
return true;
}
@Override
double getHoodOffset() {
return 0;
}
@Override
boolean autoLeave() {
return true;
}

@Override
public Command runAuto(){
Expand Down Expand Up @@ -702,17 +616,9 @@ public Pose getEndPose(){
return paths.midShoot;
}
@Override
boolean getTurretEnabled() {
return true;
}
@Override
boolean autoLeave() {
return false;
}
@Override
double getHoodOffset() {
return 0;
}

@Override
public Command runAuto(){
Expand All @@ -731,4 +637,52 @@ 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.farStart_to_farShoot, true, 1),
Commands.shootBalls(),
Commands.setIntakeMode(ON),
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 "juliet Test Auto";
}
}