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remove photon for opmodecore
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@Bi1ku
Bi1ku committed Nov 17, 2024
2 parents 49620a5 + 012ebd1 commit eadf46b
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Showing 8 changed files with 129 additions and 22 deletions.
4 changes: 2 additions & 2 deletions PathVisualizer/src/main/java/com/example/meepmeep/PathVisualizer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,9 @@ public static void main(String[] args) {
.build();


BlueCloseBasket trajectories = new BlueCloseBasket();
// BlueCloseBasket trajectories = new BlueCloseBasket();
// BlueFarBasket trajectories = new BlueFarBasket();
// RedCloseBasket trajectories = new RedCloseBasket();
RedCloseBasket trajectories = new RedCloseBasket();
// RedFarBasket trajectories = new RedFarBasket();

myBot.runAction(trajectories.start(myBot.getDrive().actionBuilder(trajectories.getStart())));
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30 changes: 25 additions & 5 deletions PathVisualizer/src/main/java/com/example/meepmeep/positions/blue/far-basket.json
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Expand Up @@ -7,7 +7,22 @@
"RUNG": {
"x": 0.0,
"y": 38.0,
"heading": 90.0
"heading": 270.0
},
"RUNG1": {
"x": -2,
"y": 38.0,
"heading": 270.0
},
"RUNG2": {
"x": -4,
"y": 38.0,
"heading": 270.0
},
"RUNG3": {
"x": -6,
"y": 38.0,
"heading": 270.0
},
"MID_SPIKEMARK": {
"x": -58.0,
Expand All @@ -24,9 +39,14 @@
"y": 49.0,
"heading": 116.5
},
"SUBMERSIBLE": {
"x": 0.0,
"y": 38.0,
"heading": 90.0
"SCORE": {
"x": -23.0,
"y": 49.0,
"heading": 315
},
"PARK": {
"x": -46.0,
"y": 58.0,
"heading": 270
}
}
5 changes: 5 additions & 0 deletions PathVisualizer/src/main/java/com/example/meepmeep/positions/red/close-basket.json
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Original file line number Diff line number Diff line change
Expand Up @@ -28,5 +28,10 @@
"x": -55.0,
"y": -55.0,
"heading": 225.0
},
"SUBMERSIBLE": {
"x": -34.5,
"y": -11.5,
"heading": 180.0
}
}
23 changes: 19 additions & 4 deletions PathVisualizer/src/main/java/com/example/meepmeep/positions/red/far-basket.json
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,21 @@
"y": -38.0,
"heading": 90.0
},
"RUNG1": {
"x": 3.0,
"y": -38.0,
"heading": 90.0
},
"RUNG2": {
"x": 6.0,
"y": -38.0,
"heading": 90.0
},
"RUNG3": {
"x": 9.0,
"y": -38.0,
"heading": 90.0
},
"MID_SPIKEMARK": {
"x": 58.0,
"y": -49.0,
Expand All @@ -29,9 +44,9 @@
"y": -49.0,
"heading": 135
},
"SUBMERSIBLE": {
"x": -34.5,
"y": -11.5,
"heading": 180.0
"PARK": {
"x": 46.0,
"y": -58,
"heading": 90
}
}
2 changes: 2 additions & 0 deletions PathVisualizer/src/main/java/com/example/meepmeep/trajectories/BlueCloseBasket.java
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,8 @@ public Action start(TrajectoryActionBuilder builder) {
.splineToLinearHeading(SCORE, Math.toRadians(93))
.setTangent(Math.toRadians(180))
.splineToLinearHeading(SUBMERSIBLE, Math.toRadians(270))
.setTangent(Math.toRadians(90))
.splineToLinearHeading(SCORE, Math.toRadians(0))
.build();
}

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51 changes: 44 additions & 7 deletions PathVisualizer/src/main/java/com/example/meepmeep/trajectories/BlueFarBasket.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
import java.util.Scanner;

public class BlueFarBasket {
private final Pose2d START, RUNGS, LEFT_SPIKEMARK, MID_SPIKEMARK, RIGHT_SPIKEMARK, SUBMERSIBLE;
private final Pose2d START, RUNGS, RUNGS1, RUNGS2, RUNGS3, LEFT_SPIKEMARK, MID_SPIKEMARK, RIGHT_SPIKEMARK, SCORE, PARK;

public BlueFarBasket() {
String jsonString = "";
Expand Down Expand Up @@ -42,6 +42,24 @@ public BlueFarBasket() {
Math.toRadians(positions.getJSONObject("RUNG").getDouble("heading"))
);

this.RUNGS1 = new Pose2d(
positions.getJSONObject("RUNG1").getDouble("x"),
positions.getJSONObject("RUNG1").getDouble("y"),
Math.toRadians(positions.getJSONObject("RUNG1").getDouble("heading"))
);

this.RUNGS2 = new Pose2d(
positions.getJSONObject("RUNG2").getDouble("x"),
positions.getJSONObject("RUNG2").getDouble("y"),
Math.toRadians(positions.getJSONObject("RUNG2").getDouble("heading"))
);

this.RUNGS3 = new Pose2d(
positions.getJSONObject("RUNG3").getDouble("x"),
positions.getJSONObject("RUNG3").getDouble("y"),
Math.toRadians(positions.getJSONObject("RUNG3").getDouble("heading"))
);

this.LEFT_SPIKEMARK = new Pose2d(
positions.getJSONObject("LEFT_SPIKEMARK").getDouble("x"),
positions.getJSONObject("LEFT_SPIKEMARK").getDouble("y"),
Expand All @@ -60,10 +78,16 @@ public BlueFarBasket() {
Math.toRadians(positions.getJSONObject("RIGHT_SPIKEMARK").getDouble("heading"))
);

this.SUBMERSIBLE = new Pose2d(
positions.getJSONObject("SUBMERSIBLE").getDouble("x"),
positions.getJSONObject("SUBMERSIBLE").getDouble("y"),
Math.toRadians(positions.getJSONObject("SUBMERSIBLE").getDouble("heading"))
this.SCORE = new Pose2d(
positions.getJSONObject("SCORE").getDouble("x"),
positions.getJSONObject("SCORE").getDouble("y"),
Math.toRadians(positions.getJSONObject("SCORE").getDouble("heading"))
);

this.PARK = new Pose2d(
positions.getJSONObject("PARK").getDouble("x"),
positions.getJSONObject("PARK").getDouble("y"),
Math.toRadians(positions.getJSONObject("PARK").getDouble("heading"))
);
}

Expand All @@ -75,11 +99,24 @@ public Action start(TrajectoryActionBuilder builder) {
.turnTo(Math.toRadians(90))
.turnTo(this.RIGHT_SPIKEMARK.heading)
.turnTo(Math.toRadians(90))
.turnTo(Math.toRadians((270)))
// Start of the cycling
.setTangent(Math.toRadians(335))
.splineToLinearHeading(this.SUBMERSIBLE, Math.toRadians(0))
.splineToLinearHeading(this.RUNGS, Math.toRadians(0))
.setTangent(Math.toRadians(180))
.splineToLinearHeading(this.MID_SPIKEMARK, Math.toRadians(150))
.splineToLinearHeading(this.SCORE, Math.toRadians(150))
.setTangent(Math.toRadians(315))
.splineToLinearHeading(this.RUNGS1, Math.toRadians(0))
.setTangent(Math.toRadians(180))
.splineToLinearHeading(this.SCORE, Math.toRadians(150))
.setTangent(Math.toRadians(315))
.splineToLinearHeading(this.RUNGS2, Math.toRadians(0))
.setTangent(Math.toRadians(180))
.splineToLinearHeading(this.SCORE, Math.toRadians(150))
.setTangent(Math.toRadians(315))
.splineToLinearHeading(this.RUNGS3, Math.toRadians(0))
.setTangent(Math.toRadians(180))
.splineToLinearHeading(this.PARK, Math.toRadians(90))
.build();
}

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2 changes: 2 additions & 0 deletions PathVisualizer/src/main/java/com/example/meepmeep/trajectories/RedCloseBasket.java
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,8 @@ public Action start(TrajectoryActionBuilder builder) {
.splineToLinearHeading(this.SCORE, Math.toRadians(273))
.setTangent(Math.toRadians(0))
.splineToLinearHeading(this.SUBMERSIBLE, Math.toRadians(90))
.setTangent(Math.toRadians(270))
.splineToLinearHeading(this.SCORE, Math.toRadians(180))
.build();
}

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34 changes: 30 additions & 4 deletions PathVisualizer/src/main/java/com/example/meepmeep/trajectories/RedFarBasket.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
import java.util.Scanner;

public class RedFarBasket {
private final Pose2d START, RUNGS, LEFT_SPIKEMARK, MID_SPIKEMARK, RIGHT_SPIKEMARK, SCORE;
private final Pose2d START, RUNGS, RUNGS1, RUNGS2, RUNGS3, LEFT_SPIKEMARK, MID_SPIKEMARK, RIGHT_SPIKEMARK, SCORE, PARK;

public RedFarBasket() {
String jsonString = "";
Expand Down Expand Up @@ -42,6 +42,24 @@ public RedFarBasket() {
Math.toRadians(positions.getJSONObject("RUNG").getDouble("heading"))
);

this.RUNGS1 = new Pose2d(
positions.getJSONObject("RUNG1").getDouble("x"),
positions.getJSONObject("RUNG1").getDouble("y"),
Math.toRadians(positions.getJSONObject("RUNG1").getDouble("heading"))
);

this.RUNGS2 = new Pose2d(
positions.getJSONObject("RUNG2").getDouble("x"),
positions.getJSONObject("RUNG2").getDouble("y"),
Math.toRadians(positions.getJSONObject("RUNG2").getDouble("heading"))
);

this.RUNGS3 = new Pose2d(
positions.getJSONObject("RUNG3").getDouble("x"),
positions.getJSONObject("RUNG3").getDouble("y"),
Math.toRadians(positions.getJSONObject("RUNG3").getDouble("heading"))
);

this.LEFT_SPIKEMARK = new Pose2d(
positions.getJSONObject("LEFT_SPIKEMARK").getDouble("x"),
positions.getJSONObject("LEFT_SPIKEMARK").getDouble("y"),
Expand All @@ -65,6 +83,12 @@ public RedFarBasket() {
positions.getJSONObject("SCORE").getDouble("y"),
Math.toRadians(positions.getJSONObject("SCORE").getDouble("heading"))
);

this.PARK = new Pose2d(
positions.getJSONObject("PARK").getDouble("x"),
positions.getJSONObject("PARK").getDouble("y"),
Math.toRadians(positions.getJSONObject("PARK").getDouble("heading"))
);
}

public Action start(TrajectoryActionBuilder builder) {
Expand All @@ -81,15 +105,17 @@ public Action start(TrajectoryActionBuilder builder) {
.setTangent(Math.toRadians(0))
.splineToLinearHeading(this.SCORE, Math.toRadians(330))
.setTangent(Math.toRadians(135))
.splineToLinearHeading(this.RUNGS, Math.toRadians(180))
.splineToLinearHeading(this.RUNGS1, Math.toRadians(180))
.setTangent(Math.toRadians(0))
.splineToLinearHeading(this.SCORE, Math.toRadians(330))
.setTangent(Math.toRadians(135))
.splineToLinearHeading(this.RUNGS, Math.toRadians(180))
.splineToLinearHeading(this.RUNGS2, Math.toRadians(180))
.setTangent(Math.toRadians(0))
.splineToLinearHeading(this.SCORE, Math.toRadians(330))
.setTangent(Math.toRadians(135))
.splineToLinearHeading(this.RUNGS, Math.toRadians(180))
.splineToLinearHeading(this.RUNGS3, Math.toRadians(180))
.setTangent(Math.toRadians(0))
.splineToLinearHeading(this.PARK, Math.toRadians(270))
.build();
}

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