Revert "Nishk code review & merge (#12)"

This reverts commit 672d601.
GearUp12499-org · Jan 13, 2024 · 0b9e317 · 0b9e317
1 parent 672d601
commit 0b9e317
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Showing 49 changed files with 227 additions and 1,319 deletions.
diff --git a/FtcRobotController/src/main/assets/whitePixel.tflite b/FtcRobotController/src/main/assets/whitePixel.tflite
diff --git a/.../ftc/teamcode/opmodes/AprilTagSample.java → ...inspires/ftc/teamcode/AprilTagSample.java b/.../ftc/teamcode/opmodes/AprilTagSample.java → ...inspires/ftc/teamcode/AprilTagSample.java
@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import android.annotation.SuppressLint;
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagToPose.kt
@@ -1,9 +1,9 @@
 package org.firstinspires.ftc.teamcode
 
-import org.firstinspires.ftc.teamcode.utilities.Pose
-import org.firstinspires.ftc.teamcode.utilities.Vector2
-import org.firstinspires.ftc.teamcode.utilities.degrees
-import org.firstinspires.ftc.teamcode.utilities.inches
+import org.firstinspires.ftc.teamcode.odo.Pose
+import org.firstinspires.ftc.teamcode.odo.degrees
+import org.firstinspires.ftc.teamcode.odo.inches
+import org.firstinspires.ftc.teamcode.utility.Vector2
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection
 import kotlin.math.abs
 import kotlin.math.cos

diff --git a/...s/ftc/teamcode/opmodes/ClawTestBench.java → ...tinspires/ftc/teamcode/ClawTestBench.java b/...s/ftc/teamcode/opmodes/ClawTestBench.java → ...tinspires/ftc/teamcode/ClawTestBench.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import static androidx.core.math.MathUtils.clamp;
 

diff --git a/...stinspires/ftc/teamcode/opmodes/Crab.java → .../org/firstinspires/ftc/teamcode/Crab.java b/...stinspires/ftc/teamcode/opmodes/Crab.java → .../org/firstinspires/ftc/teamcode/Crab.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

diff --git a/...ires/ftc/teamcode/opmodes/DetectTags.java → ...irstinspires/ftc/teamcode/DetectTags.java b/...ires/ftc/teamcode/opmodes/DetectTags.java → ...irstinspires/ftc/teamcode/DetectTags.java
@@ -1,6 +1,6 @@
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.teamcode.utilities.CollectionUtils.pairs;
+import static org.firstinspires.ftc.teamcode.utility.CollectionUtils.pairs;
 
 import android.util.Pair;
 import android.util.Size;
@@ -11,9 +11,8 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.teamcode.AprilTagToPoseKt;
-import org.firstinspires.ftc.teamcode.utilities.Pose;
-import org.firstinspires.ftc.teamcode.utilities.Vector2;
+import org.firstinspires.ftc.teamcode.odo.Pose;
+import org.firstinspires.ftc.teamcode.utility.Vector2;
 import org.firstinspires.ftc.vision.VisionPortal;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase;

diff --git a/.../ftc/teamcode/opmodes/DriveToTagAuto.java → ...inspires/ftc/teamcode/DriveToTagAuto.java b/.../ftc/teamcode/opmodes/DriveToTagAuto.java → ...inspires/ftc/teamcode/DriveToTagAuto.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

diff --git a/...ftc/teamcode/opmodes/DriveToTagBacking.kt → ...nspires/ftc/teamcode/DriveToTagBacking.kt b/...ftc/teamcode/opmodes/DriveToTagBacking.kt → ...nspires/ftc/teamcode/DriveToTagBacking.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opmodes
+package org.firstinspires.ftc.teamcode
 
 import android.util.Size
 import com.qualcomm.robotcore.hardware.Gamepad
@@ -8,16 +8,13 @@ import dev.aether.collaborative_multitasking.ext.minTicks
 import org.firstinspires.ftc.robotcore.external.Telemetry
 import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
-import org.firstinspires.ftc.teamcode.detectPairToPose
-import org.firstinspires.ftc.teamcode.detectSingleToPose
-import org.firstinspires.ftc.teamcode.utilities.Pose
-import org.firstinspires.ftc.teamcode.utilities.degrees
-import org.firstinspires.ftc.teamcode.utilities.inches
-import org.firstinspires.ftc.teamcode.utilities.radians
-import org.firstinspires.ftc.teamcode.tagPositions
-import org.firstinspires.ftc.teamcode.utilities.CollectionUtils.pairs
-import org.firstinspires.ftc.teamcode.utilities.MotorSet
-import org.firstinspires.ftc.teamcode.utilities.typedGet
+import org.firstinspires.ftc.teamcode.odo.Pose
+import org.firstinspires.ftc.teamcode.odo.degrees
+import org.firstinspires.ftc.teamcode.odo.inches
+import org.firstinspires.ftc.teamcode.odo.radians
+import org.firstinspires.ftc.teamcode.utility.CollectionUtils.pairs
+import org.firstinspires.ftc.teamcode.utility.MotorSet
+import org.firstinspires.ftc.teamcode.utility.typedGet
 import org.firstinspires.ftc.vision.VisionPortal
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor
 import kotlin.math.abs

diff --git a/...ftc/teamcode/opmodes/DumperTestBench.java → ...nspires/ftc/teamcode/DumperTestBench.java b/...ftc/teamcode/opmodes/DumperTestBench.java → ...nspires/ftc/teamcode/DumperTestBench.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import static androidx.core.math.MathUtils.clamp;
 

diff --git a/...eamcode/opmodes/ExampleScheduledAuto.java → ...es/ftc/teamcode/ExampleScheduledAuto.java b/...eamcode/opmodes/ExampleScheduledAuto.java → ...es/ftc/teamcode/ExampleScheduledAuto.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import static dev.aether.collaborative_multitasking.KotlinHelper.kbu;
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GenericDRAuto.java
@@ -0,0 +1,12 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+@Autonomous
+public class GenericDRAuto extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+    }
+}
diff --git a/...es/ftc/teamcode/opmodes/GenericDRAutoB.kt → ...stinspires/ftc/teamcode/GenericDRAutoB.kt b/...es/ftc/teamcode/opmodes/GenericDRAutoB.kt → ...stinspires/ftc/teamcode/GenericDRAutoB.kt
@@ -1,16 +1,15 @@
-package org.firstinspires.ftc.teamcode.opmodes
+package org.firstinspires.ftc.teamcode
 
 import dev.aether.collaborative_multitasking.MultitaskScheduler
 import dev.aether.collaborative_multitasking.Task
 import dev.aether.collaborative_multitasking.ext.maxDuration
 import org.firstinspires.ftc.teamcode.abstractions.Claw
 import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
-import org.firstinspires.ftc.teamcode.utilities.MotorPowers
 
 class GenericDRAutoB(
     private val robotConfig: RobotConfiguration,
-    private val scheduler: MultitaskScheduler,
     private val claw: Claw,
+    private val scheduler: MultitaskScheduler
 ) {
     // TODO: INCOMPLETE
     private val driveMotors = robotConfig.driveMotors()
@@ -23,7 +22,7 @@ class GenericDRAutoB(
         const val TurnDuration = 750 // ms
     }
 
-    private fun forwardPart(): Task {
+    fun pos1(): Task {
         return scheduler.task {
             +robotConfig.driveMotorLock
             onStart { ->
@@ -33,25 +32,12 @@ class GenericDRAutoB(
             onFinish { ->
                 driveMotors.setAll(0.0)
             }
-        }
+        }.then(claw.release())
     }
 
-    fun left(): Task = forwardPart().then(turn(TurnSpeed)).then(claw.release())
-    fun center(): Task = forwardPart().then(claw.release())
-    fun right(): Task = forwardPart().then(turn(-TurnSpeed)).then(claw.release())
-
-    private fun turn(fac: Double, duration: Int = TurnDuration): Task {
+    fun turn(fac: Double): Task {
         return scheduler.task {
             +robotConfig.driveMotorLock
-            onStart { ->
-                MotorPowers(
-                    1 * fac,
-                    -1 * fac,
-                    1 * fac,
-                    -1 * fac
-                ).apply(driveMotors)
-            }
-            maxDuration(duration)
         }
     }
 }