Changed Positions

ftc16072 · Feb 15, 2025 · 6a00d0f · 6a00d0f
1 parent dda250b
commit 6a00d0f
Show file tree

Hide file tree

Showing 4 changed files with 9 additions and 19 deletions.
diff --git a/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PushSecondSample.java b/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PushSecondSample.java
@@ -18,7 +18,7 @@ public State tick(DebugTree debug, QQOpMode opMode) {
         if (lastStatus != State.RUNNING){
             return lastStatus;
         }else{
-           boolean isDoneDriving = opMode.nav.driveToPositionIN(61.5,82,0);
+           boolean isDoneDriving = opMode.nav.driveToPositionIN(61.5,85,0);
         if (isDoneDriving) {
             lastStatus = State.SUCCESS;
             return State.SUCCESS;

diff --git a/...Code/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Cycle.java b/...Code/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Cycle.java
@@ -1,7 +1,6 @@
 /* Tree TwoSpecimenTree for 16072 generated by http://behaviortrees.ftcteams.com */
         package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Trees;
 
-import com.ftcteams.behaviortrees.Failover;
 import com.ftcteams.behaviortrees.Node;
 import com.ftcteams.behaviortrees.Parallel;
 import com.ftcteams.behaviortrees.Sequence;
@@ -10,9 +9,7 @@
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.ArmToScore;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveToIntakePosition;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveToScorePosition;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.FirstScore;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MoveForwardForTime;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Park;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.StandardScore;
 
 
@@ -24,7 +21,7 @@ public class Cycle {
     public static Node root(double xScorePosition){
         return new Sequence(
                 Intake.root(),
-                new MoveForwardForTime(.1,-1),
+                new MoveForwardForTime(.2,-.25),
                 new Parallel(2,
                         new DriveToScorePosition(TIMEOUT_SECONDS, xScorePosition),
                         new ArmToScore(TIMEOUT_SECONDS)),

diff --git a/...ode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Intake.java b/...ode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Intake.java
@@ -5,11 +5,8 @@
 import com.ftcteams.behaviortrees.Node;
 import com.ftcteams.behaviortrees.Sequence;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveToIntakePosition;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.IntakeAttempt;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MoveForwardForTime;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.ReadyToIntakeOne;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.ReadyToIntakeTwo;
 
 
 public class Intake {
@@ -19,16 +16,16 @@ public static Node root(){
         return new Failover(
                 new IntakeAttempt(INTAKE_TIMEOUT_SECONDS),
                 new Sequence(
-                        new MoveForwardForTime(0.25,-1),
+                        new MoveForwardForTime(0.25,-.5),
                         new IntakeAttempt(INTAKE_TIMEOUT_SECONDS)),
                 new Sequence(
-                        new MoveForwardForTime(0.25,-1),
+                        new MoveForwardForTime(0.25,-.5),
                         new IntakeAttempt(INTAKE_TIMEOUT_SECONDS)),
                 new Sequence(
-                        new MoveForwardForTime(0.25,-1),
+                        new MoveForwardForTime(0.25,-.5),
                         new IntakeAttempt(INTAKE_TIMEOUT_SECONDS)),
                 new Sequence(
-                        new MoveForwardForTime(0.25,-1),
+                        new MoveForwardForTime(0.25,-.5),
                         new IntakeAttempt(INTAKE_TIMEOUT_SECONDS)));
     }
 }

diff --git a/...c/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpecimenTree.java b/...c/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpecimenTree.java
@@ -8,17 +8,13 @@
 
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.ArmToIntake;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveToFirstSample;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.DriveToIntakePosition;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.FirstScore;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.GetReadyToPushSamples;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MoveForwardForTime;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.MoveRightForTime;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.Park;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.PushFirstSample;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.PushSamplesIn;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.PushSecondSample;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions.PushThirdSample;
-import org.firstinspires.ftc.teamcode.ftc16072.Tests.TestTwoMotors;
 
 
 public class SpecimenTree {
@@ -42,9 +38,9 @@ public static Node root(){
                        /* new PushSecondSample(TIMEOUT_SECONDS),
                         new MoveRightForTime(.2,1), //square on wall
                         new PushSamplesIn(TIMEOUT_SECONDS),*/
-                        Cycle.root(0),
-                        Cycle.root(4),
-                        Cycle.root(6),
+                        Cycle.root(2),
+                        Cycle.root(5),
+                        Cycle.root(7),
                         //Cycle.root(),
                         new Parallel(2,
                                 new Park(TIMEOUT_SECONDS),