Climb #6
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Spindexer pid
Enhanced the TeleOpFieldCent opmode to calculate shooter vectors with robot velocity, acceleration, and latency compensation for more accurate shots. Added alliance selection, goal pose constants, and updated PID coefficients for heading control. ShooterSubsystem now clarifies distance measurement reference.
Updated shooter vector math in TeleOpFieldCent to account for the shooter's launch angle, ensuring correct horizontal speed and heading compensation. Refactored RobotConstants to remove unused constants and add SHOOTER_ANGLE for improved clarity and maintainability.
Renamed TeleOpFieldCent.java to TeleOp.java and updated the @TELEOP annotation. Added shooter linear speed telemetry in TeleOp and clarified a comment in ShooterSubsystem regarding hardware encoder usage.
Introduced methods to classify colors as green, purple, or white for both intake and back sensors using HSV ranges. Refactored rgbToHsv to accept NormalizedRGBA and moved colorInRange to support new logic.
Replaced ShootBallSequenceCommandSequence with ShootSortedBallsCommandSequence for improved ball sorting and shooting logic. Updated all autonomous modes to use the new command. Removed unused shooter hood and target speed adjustment code from TeleOp and ShooterSubsystem, simplifying operator controls. Added Red18SortOverflowAuto autonomous mode. Deleted TeleopDrivetrainPIDTuningOp and related tuning code.
Major refactor of TeleOp and autonomous opmodes for improved readability and maintainability. TeleOp now uses clearer state management, modularizes system initialization, and enhances telemetry with detailed color sensor and spindexer data. Spindexer logic is improved for ball handling, and redundant or legacy code is removed. Red12AutoGate is deleted and Red12Auto is archived. Red18Auto and Red18SortOverflowAuto gain improved telemetry, color sensor handling, and subsystem registration. ShootSortedBallsCommandSequence is implemented with logic for optimal ball shooting order.
Introduces two CRServoEx side wheels to the IntakeSubsystem and updates the set() method to control their power based on the intake state. This enhances the intake mechanism by allowing coordinated control of additional side wheels.
Updated right trigger handling to only disable manual control instead of toggling slow mode. Moved shooter.setTargetLinearSpeed(50) into manual control block in handleTeleopDrive for consistent shooter speed during manual operation. Removed duplicate trigger logic and cleaned up comments.
Refactored ColorSensorTuning to improve sensor data handling and telemetry output, including clearer HSV formatting and separation of intake and back sensors. Added IntakeTestOpmode for manual testing of the intake subsystem using gamepad controls.
Blue6FarAuto, Blue6FarWaitForHpAuto, and Red6FarAuto classes have been fully commented out in the lm2archive directory. This disables these autonomous routines from compilation and use, likely for codebase cleanup or to prevent accidental deployment.
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