From 6a00d0ff885603e6927ab5d003166421d344024c Mon Sep 17 00:00:00 2001 From: quantumquacks Date: Sat, 15 Feb 2025 17:05:36 -0500 Subject: [PATCH] Changed Positions --- .../BehaviorTrees/Actions/PushSecondSample.java | 2 +- .../teamcode/ftc16072/BehaviorTrees/Trees/Cycle.java | 5 +---- .../teamcode/ftc16072/BehaviorTrees/Trees/Intake.java | 11 ++++------- .../ftc16072/BehaviorTrees/Trees/SpecimenTree.java | 10 +++------- 4 files changed, 9 insertions(+), 19 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PushSecondSample.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PushSecondSample.java index 660ed31..d8652db 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PushSecondSample.java +++ b/TeamCode/src/main/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/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Cycle.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Cycle.java index 682d432..6e6ea57 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Cycle.java +++ b/TeamCode/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/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Intake.java index b5d8914..5293d01 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/Intake.java +++ b/TeamCode/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/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpecimenTree.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpecimenTree.java index becddc0..99db301 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/SpecimenTree.java +++ b/TeamCode/src/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),