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Cucumber #12

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a3a99f7
Refactored and renamed carousel to make better :D
Sci-Fighters-Tel-Mond Jul 2, 2026
97368d9
Switching flywheel to use built in classes for PID & FF and added Ban…
DanPeled Jul 3, 2026
1966107
Using PID classes at carousel
DanPeled Jul 3, 2026
4179a23
Converted intake commands into methods that return Command in IntakeS…
DanPeled Jul 3, 2026
7b502fb
Better naming for intake and carousel as their names without Subsyste…
DanPeled Jul 3, 2026
bd8acae
carousel rotate to angle as member method
DanPeled Jul 3, 2026
b96d711
Seperated discharge to multiple subsystems (ramp, flywheel, turret)
DanPeled Jul 3, 2026
d63633d
Fixed all build errors
DanPeled Jul 4, 2026
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34 changes: 34 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BangBangController.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
package org.firstinspires.ftc.teamcode;

public class BangBangController {
private double lowValue = 0.0;
private double highValue = 1.0;
private double tolerance = 0.0;

public BangBangController(double tolerance) {
this.tolerance = tolerance;
}

public void setTolerance(double tolerance) {
this.tolerance = tolerance;
}

public void setHighValue(double highValue) {
this.highValue = highValue;
}

public void setLowValue(double lowValue) {
this.lowValue = lowValue;
}

public double calculate(double measurement, double setpoint) {
if (Math.abs(measurement - setpoint) < tolerance) return lowValue;
else if (measurement < setpoint) {
return highValue;
} else return lowValue;
}

public boolean isAtSetpoint(double measurement, double setpoint) {
return Math.abs(measurement - setpoint) < tolerance;
}
}
62 changes: 31 additions & 31 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/decodeAutos/Far/BlueFarCycles.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,8 @@
@Autonomous(group = "red far")
public class BlueFarCycles extends ActionOpMode {
DischargeSubsystem dischargeSubsystem;
IntakeSubsystem intakeSubsystem;
CarouselSubsystem carouselSubsystem;
IntakeSubsystem intake;
CarouselSubsystem carousel;
MecanumDrive mecanumDrive;
LimelightSubsystem limelightSubsystem;
double turretStartAngle = 90;
Expand All @@ -42,11 +42,11 @@ public void initialize() {
SavedValues.currentCount = 0;
SavedValues.teamColor = AutoShooter.TeamColor.BLUE;
Set<Subsystem> requirements = new HashSet<>();
intakeSubsystem = new IntakeSubsystem(hardwareMap);
intake = new IntakeSubsystem(hardwareMap);
dischargeSubsystem = new DischargeSubsystem(hardwareMap);
dischargeSubsystem.resetTurret();
carouselSubsystem = new CarouselSubsystem(hardwareMap);
carouselSubsystem.resetEncoders();
carousel = new CarouselSubsystem(hardwareMap);
carousel.resetEncoders();
mecanumDrive = new MecanumDrive(hardwareMap, new Pose2d(61.5, 22, Math.PI / 2));
mecanumDrive.driveMode();
limelightSubsystem = new LimelightSubsystem(hardwareMap, SavedValues.teamColor, mecanumDrive);
Expand All @@ -73,63 +73,63 @@ public void initialize() {

CommandScheduler.getInstance().schedule(
new ParallelCommandGroup(
new DischargeCommands.AutomaticAiming(dischargeSubsystem, limelightSubsystem, mecanumDrive, carouselSubsystem, SavedValues.teamColor),
new DischargeCommands.AutomaticAiming(dischargeSubsystem, limelightSubsystem, mecanumDrive, carousel, SavedValues.teamColor),
new SequentialCommandGroup(
new CommandGroups.Shoot(intakeSubsystem, carouselSubsystem),
new CommandGroups.Shoot(intake, carousel),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoOne.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2500),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2500),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)

),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoTwo.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2000),
new CommandGroups.StartOuttake(intakeSubsystem, carouselSubsystem).withTimeout(300),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2000),
CommandGroups.startOuttake(intake, carousel).withTimeout(300),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)
),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoThree.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2000),
new CommandGroups.StartOuttake(intakeSubsystem, carouselSubsystem).withTimeout(300),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2000),
CommandGroups.startOuttake(intake, carousel).withTimeout(300),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)
),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoTwo.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2000),
new CommandGroups.StartOuttake(intakeSubsystem, carouselSubsystem).withTimeout(300),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2000),
CommandGroups.startOuttake(intake, carousel).withTimeout(300),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)
),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoThree.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2000),
new CommandGroups.StartOuttake(intakeSubsystem, carouselSubsystem).withTimeout(300),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2000),
CommandGroups.startOuttake(intake, carousel).withTimeout(300),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)
),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoTwo.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2000),
new CommandGroups.StartOuttake(intakeSubsystem, carouselSubsystem).withTimeout(300),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2000),
CommandGroups.startOuttake(intake, carousel).withTimeout(300),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)
),
new ParallelCommandGroup(
new ActionCommand(wheatleyAutoThree.build(), requirements),
new SequentialCommandGroup(
new CommandGroups.StartIntake(intakeSubsystem, carouselSubsystem).withTimeout(2000),
new CommandGroups.StartOuttake(intakeSubsystem, carouselSubsystem).withTimeout(300),
new CommandGroups.PrepareShooting(intakeSubsystem, carouselSubsystem, mecanumDrive)
CommandGroups.startIntake(intake, carousel).withTimeout(2000),
CommandGroups.startOuttake(intake, carousel).withTimeout(300),
new CommandGroups.PrepareShooting(intake, carousel, mecanumDrive)
)
),
new ActionCommand(park.build(), requirements)
Expand All @@ -146,12 +146,12 @@ public void initialize_loop() {
if (time.seconds() > 1) {
int current = limelightSubsystem.getMotif();
SavedValues.startMotif = (current != -1) ? current : SavedValues.startMotif;
double power = -(turretStartAngle - dischargeSubsystem.getTurretAngle()) * 0.018;
if (Math.abs(turretStartAngle - dischargeSubsystem.getTurretAngle()) < 5) {
double power = -(turretStartAngle - dischargeSubsystem.turret.getAngle()) * 0.018;
if (Math.abs(turretStartAngle - dischargeSubsystem.turret.getAngle()) < 5) {
power = 0;
}
power = Range.clip(power, -0.3, 0.3);
dischargeSubsystem.setTurretPower(power);
dischargeSubsystem.turret.setPower(power);
multipleTelemetry.addData("used", SavedValues.startMotif);
multipleTelemetry.addData("current", current);
multipleTelemetry.update();
Expand All @@ -168,6 +168,6 @@ public void run() {
multipleTelemetry.addData("y", mecanumDrive.localizer.getPose().position.y);
multipleTelemetry.update();
SavedValues.position = mecanumDrive.localizer.getPose();
SavedValues.turretAngle = dischargeSubsystem.getTurretAngle();
SavedValues.turretAngle = dischargeSubsystem.turret.getAngle();
}
}
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