26855 finish, lr=5th rs=2.50

Author: TechDudie

TeamCode2028/src/main/java/com/technodot/ftc/twentyfive/BaboAuto.java

@@ -25,10 +25,11 @@ public class BaboAuto extends OpMode {
     public DeviceExtake deviceExtake = new DeviceExtake();
 
     public MultipleTelemetry t;
-
     public Batch runtime = new Batch();
     public ArrayDeque<Artifact> artifactQuene = new ArrayDeque<>();
 
+    private boolean nextShotLeft = true;
+
     public Team team = Team.BLUE;
     public Obelisk obelisk = Obelisk.PPG;
 
@@ -69,6 +70,7 @@ public void init() {
             obelisk = deviceCamera.getObelisk();
             artifactQuene.clear();
             if (obelisk == null) return false; // we're cooked
+
             switch (obelisk) {
                 case GPP:
                     artifactQuene.add(Artifact.GREEN);
@@ -88,6 +90,11 @@ public void init() {
                     break;
             }
 
+            // TODO: ts obelisk solver doesnt work, fix
+            if (!obelisk.equals(Obelisk.GPP)) {
+                nextShotLeft = false;
+            }
+
             return false;
         });
 
@@ -181,9 +188,6 @@ public void config() {
         team = Team.BLUE;
     }
 
-    // Simple left/right sequence for autonomous shooting; ignores color sensors.
-    private boolean nextShotLeft = true;
-
     private boolean shootNext() {
 //        Artifact next = artifactQuene.pollFirst();
 //        t.addData("shoot/queued", nextShotLeft);

TeamCode2028/src/main/java/com/technodot/ftc/twentyfive/BaboOS.java

@@ -73,6 +73,7 @@ public void loop() {
         telemetry.addData("rx", gamepad1.right_stick_x);
         telemetry.addData("ry", gamepad1.right_stick_y);
 
+        telemetry.addData("exv", deviceExtake.motorExtake.getVelocity());
         t.addData("exv", deviceExtake.motorExtake.getVelocity());
 
         delta = now - last;

TeamCode2028/src/main/java/com/technodot/ftc/twentyfive/robocore/DeviceExtake.java

@@ -12,7 +12,7 @@ public class DeviceExtake extends Device {
     private boolean pressingShootLow;
     private boolean pressingShootHigh;
 
-    public final double velocityHigh = 1420; // target ticks/sec (tune as needed)
+    public final double velocityHigh = 1460; // target ticks/sec (tune as needed)
     public final double velocityLow = 1200;  // target ticks/sec (tune as needed)
 
     // Autonomous can request a specific target velocity, but we pass it straight to the SDK.