Scoring Algorithm Added #54

Picklze1 · 2023-11-22T04:04:50Z

Changes:

Added Scoring Algorithm
-Changed Claw Values

GabrielAndrus

All good! Thanks, George.

RZW-13

Didn't we want the viper slides to move in sync?

Picklze1 · 2023-11-22T18:30:46Z

Didn't we want the viper slides to move in sync?

Would you like me to separate them??

RZW-13

Looks pretty good, just a couple changes. :)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

RZW-13 · 2023-11-22T18:27:54Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

+    public void setViperSlidePos() {
+        telemetry.addData("Scoring Status", "Setting VS Pos");
+        // Setting ViperSlidePoses based on Targets.
+        while (robot.<DcMotor>get("rightViperSlideMotor").getCurrentPosition() != viperSlideTargetPos) {


I think you're mimicking a .setTargetPosition command for all of these. Either way, I think you need to adjust this to let us run both viper slides simultaneously.

You also might need to make this use tolerance (eg. Math.abs(currentPosition - targetPosition) < tolerance), since exactly hitting it's target is unlikely, esp with your current system that only lets the viper slides move one way.

same thing throughout your code

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

RZW-13

just a couple fixes

RZW-13 · 2023-11-29T00:46:20Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

+    }
+
+    public void resetPos() {
+        telemetry.addData("Scoring Status1` ", "Resetting Pos");


not sure what happened here...

you didn't fix this. try not to mark things as resolved if you don't address them.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

RZW-13 · 2023-11-29T00:54:06Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

+
+        setArmPos();
+
+        setJointPos();


please remove the random line breaks

don't mark it as resolved if you don't do it lmao-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

RZW-13

progress!

RZW-13 · 2023-11-30T04:10:02Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

@@ -17,8 +17,12 @@ public class ScoringAlgorithm extends OpMode {
    boolean pixelsInClaw = false;
    double armStartPos = 0.0;
    double armTargetPos = 0.0;
+    double armStartTolerance = 0.0;


tolerance doesn't work if the tolerance is set to zero...

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

RZW-13 · 2023-11-30T04:17:57Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

+
+        setArmPos();
+
+        setJointPos();


don't mark it as resolved if you don't do it lmao-

RZW-13 · 2023-11-30T04:24:52Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

+        // Setting ViperSlidePoses based on Targets.
+        while (Math.abs(robot.<DcMotor>get("leftViperSlideMotor").getCurrentPosition() - viperSlideTargetPos) > viperSlideTolerance) {
+
+                robot.<DcMotor>get("rightViperSlideMotor").setPower(0.4);


fix this indentation

RZW-13 · 2023-11-30T04:26:12Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

+    public void setViperSlidePos() {
+        telemetry.addData("Scoring Status", "Setting VS Pos");
+        // Setting ViperSlidePoses based on Targets.
+        while (Math.abs(robot.<DcMotor>get("leftViperSlideMotor").getCurrentPosition() - viperSlideTargetPos) > viperSlideTolerance) {


Checking the left viper slide values to run both slides is a bad way to do this; if there's any difference in the speeds of the motors, then the difference is going to compound and you're going to end up with inaccurate parts at best, broken parts at worst.

RZW-13 · 2023-11-30T04:39:11Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java


+        while (Math.abs(robot.<DcMotor>get("armMotor").getCurrentPosition() - armStartPos) > armStartTolerance) {


same thing as above

there's a chance you might want to add a condition to catch if it would ever miss your entire section. you can solve this by either changing the while condition to be while (robot.get("armMotor").getCurrentPosition < armTargetPos){} which would work well to catch it as soon as it passes that threshold

however, if you're more concerned with accuracy and willing to sacrifice some time, you can do something that's basically inside of your while loop that checks if (robot.get("armMotor").getCurrentPosition < armTargetPos - armTolerance){} and add an else if to check else if (robot.get("armMotor").getCurrentPosition > armTargetPos + armTolerance){} which would basically let it self correct

see above....

RZW-13 · 2023-11-30T04:43:48Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

        }
        robot.<DcMotor>get("armMotor").setPower(0);

+        while (Math.abs(robot.<DcMotor>get("leftViperSlideMotor").getCurrentPosition() - viperSlideStartPos) > viperSlideStartTolerance) {
+
+            robot.<DcMotor>get("rightViperSlideMotor").setPower(0.4);


same thing here, right motor is based off of left motor values and cannot run on its own (eg. left motor cannot be stopped while right motor is running)

RZW-13 · 2023-11-30T04:44:50Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

-    private void scoring() {
+
+
+    public void scoring() {


this isn't functional as a proof of concept if you don't call this method anywhere

RZW-13 · 2023-11-30T04:45:56Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/Tests/CRServoTest.java

+
+    private Hardware robot;
+
+    public void init() {


remove line breaks within init()

RZW-13 · 2023-11-30T04:46:04Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/Tests/CRServoTest.java

+        }
+
+        telemetry.addData("CRServo", "Running");
+


remove this line break

RZW-13

someone else should probably look over this seeing as i wrote it...

RZW-13 · 2023-12-01T20:03:22Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

    private Hardware robot;
    // TODO: Get values for variables.
    boolean pixelsInClaw = false;
    double armStartPos = 0.0;
    double armTargetPos = 0.0;
-    double armStartTolerance = 0.0;
-    double armTolerance = 0.0;
+    double armTolerance = 2.5;
    double viperSlideStartPos = 0.0;
    double viperSlideTargetPos = 0.0;


let's get values for this

RZW-13 · 2023-12-01T20:03:29Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

@@ -11,28 +11,27 @@

 @Autonomous(name = "Scoring Algorithm", group = "auton")
 public class ScoringAlgorithm extends OpMode {
-
    private Hardware robot;
    // TODO: Get values for variables.
    boolean pixelsInClaw = false;
    double armStartPos = 0.0;
    double armTargetPos = 0.0;


let's get a value for this

RZW-13 · 2023-12-01T20:03:41Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

    double viperSlideStartPos = 0.0;
    double viperSlideTargetPos = 0.0;
-    double viperSlideStartTolerance = 0.0;
-    double viperSlideTolerance = 0;
    double jointStartPos = 0.0;
    double jointTargetPos = 0.0;


set this to not zero :)

RZW-13 · 2023-12-01T20:04:28Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

    }

    public void setViperSlidePos() {
+        // If this is not true, the rest of the code will not function.
+        assert viperSlideTargetPos > viperSlideStartPos;


should be >=

RZW-13 · 2023-12-01T20:04:48Z

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

        telemetry.addData("Scoring Status", "VS Pos Set");
    }

    public void setArmPos() {
+        // If this is not true, the rest of the code will not function.
+        assert armTargetPos > armStartPos;


should be >=

milobanks

Fix the stuff, and come up with more creative method names.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/ScoringAlgorithm.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/Tests/CRServoTest.java

milobanks

Deferring to Rayne.

RZW-13

thank you :)

Scoring Algorithm Added

6b1ef88

Picklze1 requested review from RZW-13, GabrielAndrus and sadie-datoo November 22, 2023 04:04

GabrielAndrus approved these changes Nov 22, 2023

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RZW-13 reviewed Nov 22, 2023

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RZW-13 suggested changes Nov 22, 2023

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Picklze1 added 2 commits November 28, 2023 16:48

Fixed bugs

9a6035e

JavaDoc fix

58942b0

RZW-13 suggested changes Nov 29, 2023

View reviewed changes

Scoring Algorithm fixes 2 + CRServo Test

666193a

RZW-13 suggested changes Nov 30, 2023

View reviewed changes

Viper slide stuff rewriten (Rayne)

7356fac

RZW-13 suggested changes Dec 1, 2023

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milobanks suggested changes Dec 1, 2023

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Picklze1 added 2 commits December 1, 2023 15:14

Comments fixed

00103d9

Added More telemetry

f404de6

milobanks approved these changes Dec 5, 2023

View reviewed changes

Picklze1 added 2 commits December 5, 2023 15:50

I can't spell

ad811c8

PeRIod

ab66309

RZW-13 approved these changes Dec 5, 2023

View reviewed changes

Picklze1 merged commit ff9c857 into master Dec 5, 2023

Picklze1 deleted the George-Jensen-Scoring-Algorithm branch December 5, 2023 22:58

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Scoring Algorithm Added #54

Scoring Algorithm Added #54

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		while (Math.abs(robot.<DcMotor>get("armMotor").getCurrentPosition() - armStartPos) > armStartTolerance) {

Scoring Algorithm Added #54

Scoring Algorithm Added #54

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