VCSCdecode/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedTestingAuto.java at master · VCSilverCircuits/VCSCdecode · GitHub

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package org.firstinspires.ftc.teamcode;

import com.bylazar.telemetry.PanelsTelemetry;
import com.bylazar.telemetry.TelemetryManager;
import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.BezierLine;
import com.pedropathing.geometry.Pose;
import com.pedropathing.paths.PathChain;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.teamcode.pedroPathing.Constants;

@Autonomous(name = "LM1 Red Auto", group = "Autonomous")
public class RedTestingAuto extends OpMode {
    private TelemetryManager panelsTelemetry;
    private Follower follower;
    private int pathState = 0;
    private RedTestingAuto.Paths paths;
    private ElapsedTime timer = new ElapsedTime();

    private DcMotor Intake;
    private DcMotor Launcher;
    DualMotor outputMotors;

    private DcMotor flywheel1;
    private DcMotor flywheel2;
    DualMotor flywheel;

    @Override
    public void init() {

        panelsTelemetry = PanelsTelemetry.INSTANCE.getTelemetry();
        outputMotors = new DualMotor(flywheel1, flywheel2);


        follower = Constants.createFollower(hardwareMap);
        follower.setStartingPose(new Pose(123.813, 123.140, Math.toRadians(44)));

        Intake   = hardwareMap.get(DcMotor.class, "Intake");
        Launcher = hardwareMap.get(DcMotor.class, "Launcher");

        flywheel1 = hardwareMap.get(DcMotor.class, "flywheel1");
        flywheel2 = hardwareMap.get(DcMotor.class, "flywheel2");

        // Reverse one motor if needed
        flywheel1.setDirection(DcMotorSimple.Direction.REVERSE);

        flywheel1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
        flywheel2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);

        paths = new RedTestingAuto.Paths(follower);

        telemetry.addLine("Ready");
        telemetry.update();
    }

    @Override
    public void start() {
        timer.reset();
    }

    @Override
    public void loop() {

        // 🔥 FIXED-POWER FLYWHEEL — ACTS LIKE A REAL SHOOTER
        if (pathState >= 2) {
            outputMotors.setPower(0.65);
        } else {
            outputMotors.setPower(0);
        }

        telemetry.addData("Flywheel Power", 0.65);
        telemetry.addData("Path State", pathState);
        telemetry.update();

        follower.update();
        pathState = autonomousPathUpdate();
    }

    public static class Paths {
        public PathChain ShootingPositionRed;

        public Paths(Follower follower) {
            ShootingPositionRed = follower.pathBuilder()
                .addPath(new BezierLine(
                    new Pose(123.813, 123.140),
                    new Pose(100.935, 100.261)
                ))
                .setLinearHeadingInterpolation(Math.toRadians(44), Math.toRadians(44))
                .build();
        }
    }

    public int autonomousPathUpdate() {

        switch (pathState) {

            case 0:
                follower.followPath(paths.ShootingPositionRed);
                timer.reset();
                pathState = 1;
                break;

            case 1:
                if (timer.seconds() >= 2.0) {
                    Intake.setPower(-1);
                    timer.reset();
                    pathState = 2;
                }
                break;

            case 2:
                // spin-up time
                if (timer.seconds() >= 2.0) {
                    Launcher.setPower(-1.0);
                    timer.reset();
                    pathState = 3;
                }
                break;

            case 3:
                // shoot 1
                if (timer.seconds() >= 0.2) {
                    Launcher.setPower(0);
                    timer.reset();
                    pathState = 4;
                }
                break;
            //wait
            case 4:
                if (timer.seconds() >= 1.0) {
                    Launcher.setPower(-1.0);
                    timer.reset();
                    pathState = 5;
                }
                break;
            //shoot 2
            case 5:
                if (timer.seconds() >= 0.2) {
                    Launcher.setPower(0);
                    timer.reset();
                    pathState = 6;
                }
                break;
            //wait
            case 6:
                if (timer.seconds() >= 1.0) {
                    Launcher.setPower(-1.0);
                    timer.reset();
                    pathState = 7;
                }
                break;
            //shoot 3
            case 7:
                if (timer.seconds() >= 0.2) {
                    Launcher.setPower(0);
                    timer.reset();
                    pathState = 8;
                }
                break;
            //end auto
            case 8:
                Intake.setPower(0);
                requestOpModeStop();
                break;
        }

        return pathState;
    }
}