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Commit 6adbc18

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年迈的老秋风Windy
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During-Competition Changes
1 parent 5b7312d commit 6adbc18

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3 files changed

+83
-34
lines changed

3 files changed

+83
-34
lines changed

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/david_cao/generation2_lindel_code/Robot4100Generation2_BlueBuildSiteComplex.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -139,7 +139,7 @@ public void RunThisOpMode() {
139139

140140
this.m_RobotCore.getChassis().replaceTask(
141141
this.m_RobotCore.getChassis().getFixedZDistanceTask(
142-
-115,
142+
-110,
143143
0.5
144144
)
145145
);

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/david_cao/generation2_lindel_code/Robot4100Generation2_BlueScanDouble.java‎

Lines changed: 47 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -134,7 +134,7 @@ public void RunThisOpMode() {
134134
}
135135

136136
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
137-
130 + firstScanExtraDistance,
137+
140 + firstScanExtraDistance,
138138
1.0
139139
));
140140
if(!waitForDrive()){
@@ -158,57 +158,88 @@ public void RunThisOpMode() {
158158
return;
159159
}
160160

161+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
162+
-5,
163+
0.2
164+
));
165+
if(!waitForDrive()){
166+
return;
167+
}
168+
161169
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
162-
130 - 20 + (5* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) - 50,
170+
140 - 20 + (5* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) - 50,
163171
0.8
164172
));
165173
if(!waitForDrive()){
166174
return;
167175
}
168176

169177
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
170-
60,
178+
50,
171179
0.2
172180
));
173-
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
174-
-((2* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) - ((this.ScanResult - 1) * Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) + 5),
175-
0.25
176-
));
181+
if(!waitForDrive()){
182+
return;
183+
}
184+
if(this.ScanResult != 3) {
185+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
186+
-((2 * Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) - ((this.ScanResult - 1) * Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE)),
187+
0.25
188+
));
189+
if(!waitForDrive()){
190+
return;
191+
}
192+
}else{
193+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
194+
-5,
195+
0.25
196+
));
197+
if(!waitForDrive()){
198+
return;
199+
}
200+
}
177201

178202

179203
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
180-
-50,
204+
-35,
181205
0.2
182206
));
207+
if(!waitForDrive()){
208+
return;
209+
}
183210

184211
if(this.ScanResult == 3) {
185212
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
186213
5,
187214
0.25
188215
));
189-
}else{
216+
if(!waitForDrive()){
217+
return;
218+
}
190219
}
191220

192-
if(!waitForDrive()){
193-
return;
194-
}
195221
this.getRobotCore().setAutonomousDragStoneServoLeftToDrag(true);
196222
sleep(400);
197223
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
198-
50 + 15,
224+
35,
199225
0.4
200226
));
201227
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
202-
-(110 + (3* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) + firstScanExtraDistance),
228+
-20,
229+
0.5
230+
));
231+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedTurnTask(90,0.5));
232+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
233+
-(130 - 20 + (3* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) + firstScanExtraDistance),
203234
1.0
204235
));
205236
if(!waitForDrive()){
206237
return;
207238
}
208239
this.getRobotCore().setAutonomousDragStoneServoLeftToDrag(false);
209240
sleep(300);
210-
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
211-
65,
241+
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
242+
50,
212243
0.5
213244
));
214245
if(!waitForDrive()){

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/david_cao/generation2_lindel_code/Robot4100Generation2_RedScanDouble.java‎

Lines changed: 35 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -158,36 +158,46 @@ public void RunThisOpMode() {
158158
return;
159159
}
160160

161+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
162+
5,
163+
0.2
164+
));
165+
if(!waitForDrive()){
166+
return;
167+
}
168+
161169
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
162-
110 - 20 + (5* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) - 50,
170+
110 - 20 + (5* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) - 30,
163171
0.8
164172
));
165173
if(!waitForDrive()){
166174
return;
167175
}
168176

169177
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
170-
60,
178+
30,
171179
0.2
172180
));
173-
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
174-
-(2* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE - ((this.ScanResult - 1) * Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) + 5),
175-
0.25
176-
));
181+
if(this.ScanResult != 3) {
182+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
183+
-(2 * Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE - ((this.ScanResult - 1) * Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE)),
184+
0.25
185+
));
186+
}else{
187+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
188+
-10,
189+
0.25
190+
));
191+
}
177192

178193
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
179-
50,
194+
35,
180195
0.2
181196
));
182197

183198
if(this.ScanResult == 3) {
184199
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
185-
5,
186-
0.25
187-
));
188-
}else{
189-
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
190-
5,
200+
10,
191201
0.25
192202
));
193203
}
@@ -198,20 +208,28 @@ public void RunThisOpMode() {
198208
this.getRobotCore().setAutonomousDragStoneServoRightToDrag(true);
199209
sleep(400);
200210
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
201-
-(50 + 15),
211+
-(35-10),
202212
0.4
203213
));
204214
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
205-
-(90 + (3* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) + firstScanExtraDistance),
215+
-20,
216+
0.5
217+
));
218+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedTurnTask(
219+
-90,
220+
0.5
221+
));
222+
this.getRobotCore().getChassis().addTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
223+
(105 - 20 + (3* Robot4100Generation2_Settings.AUTONOMOUS_LENGTH_FOR_EACH_STONE) + firstScanExtraDistance),
206224
1.0
207225
));
208226
if(!waitForDrive()){
209227
return;
210228
}
211229
this.getRobotCore().setAutonomousDragStoneServoRightToDrag(false);
212230
sleep(300);
213-
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedZDistanceTask(
214-
45,
231+
this.getRobotCore().getChassis().replaceTask(this.getRobotCore().getChassis().getFixedXDistanceTask(
232+
-40,
215233
0.5
216234
));
217235
if(!waitForDrive()){

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