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移动测试
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6-BennyLi-9 committed Oct 19, 2024
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import androidx.annotation.NonNull;

import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
import org.firstinspires.ftc.teamcode.keymap.KeyMap;

public class DefaultKeyMapController extends KeyMapController{
@Override
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

public class DefaultParamsController extends ParamsController{
@Override
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import androidx.annotation.NonNull;

import com.qualcomm.robotcore.hardware.Gamepad;

import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
import org.firstinspires.ftc.teamcode.ric.utils.ActionBox;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
import org.firstinspires.ftc.teamcode.utils.ActionBox;
import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.utils.clients.Client;
import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;

public final class Global {
public static Robot robot;
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import androidx.annotation.NonNull;

import org.firstinspires.ftc.teamcode.ric.keymap.KeyMap;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.keymap.KeyMap;
import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;

/**
* @see Robot
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import com.acmerobotics.dashboard.config.Config;

import org.firstinspires.ftc.teamcode.ric.codes.tunings.SecPowerPerInchTuner;
import org.firstinspires.ftc.teamcode.ric.codes.tunings.ThreeInOne_DeadWheelTuner;
import org.firstinspires.ftc.teamcode.codes.tunings.SecPowerPerInchTuner;
import org.firstinspires.ftc.teamcode.codes.tunings.ThreeInOne_DeadWheelTuner;

@Config
public class Params {
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;

/**
* @see Robot
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import android.util.Log;

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import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.ric.drives.controls.MecanumDrive;
import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriveOrderBuilder;
import org.firstinspires.ftc.teamcode.ric.drives.controls.definition.DriverProgram;
import org.firstinspires.ftc.teamcode.ric.drives.controls.SimpleMecanumDrive;
import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Motors;
import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Sensors;
import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Servos;
import org.firstinspires.ftc.teamcode.ric.hardwares.Chassis;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationHardwareMap;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationGamepad;
import org.firstinspires.ftc.teamcode.ric.hardwares.Structure;
import org.firstinspires.ftc.teamcode.ric.hardwares.Webcam;
import org.firstinspires.ftc.teamcode.ric.utils.ActionBox;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.ExtractedInterfaces;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
import org.firstinspires.ftc.teamcode.ric.hardwares.basic.ClipPosition;
import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
import org.firstinspires.ftc.teamcode.ric.utils.enums.RobotState;
import org.firstinspires.ftc.teamcode.ric.utils.exceptions.DeviceDisabledException;
import org.firstinspires.ftc.teamcode.ric.utils.exceptions.UnKnownErrorsException;
import org.firstinspires.ftc.teamcode.ric.utils.PID.PidProcessor;
import org.firstinspires.ftc.teamcode.ric.utils.Timer;
import org.firstinspires.ftc.teamcode.drives.controls.MecanumDrive;
import org.firstinspires.ftc.teamcode.drives.controls.definition.DriveOrderBuilder;
import org.firstinspires.ftc.teamcode.drives.controls.definition.DriverProgram;
import org.firstinspires.ftc.teamcode.drives.controls.SimpleMecanumDrive;
import org.firstinspires.ftc.teamcode.hardwares.basic.Motors;
import org.firstinspires.ftc.teamcode.hardwares.basic.Sensors;
import org.firstinspires.ftc.teamcode.hardwares.basic.Servos;
import org.firstinspires.ftc.teamcode.hardwares.Chassis;
import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationHardwareMap;
import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationGamepad;
import org.firstinspires.ftc.teamcode.hardwares.Structure;
import org.firstinspires.ftc.teamcode.hardwares.Webcam;
import org.firstinspires.ftc.teamcode.utils.ActionBox;
import org.firstinspires.ftc.teamcode.utils.annotations.ExtractedInterfaces;
import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.utils.clients.Client;
import org.firstinspires.ftc.teamcode.hardwares.basic.ClipPosition;
import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;
import org.firstinspires.ftc.teamcode.utils.enums.RobotState;
import org.firstinspires.ftc.teamcode.utils.exceptions.DeviceDisabledException;
import org.firstinspires.ftc.teamcode.utils.exceptions.UnKnownErrorsException;
import org.firstinspires.ftc.teamcode.utils.PID.PidProcessor;
import org.firstinspires.ftc.teamcode.utils.Timer;

public class Robot {
public IntegrationHardwareMap lazyIntegratedDevices;
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package org.firstinspires.ftc.teamcode.ric;
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
import org.firstinspires.ftc.teamcode.utils.clients.Client;
import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;

@Deprecated
public class RoboticActions extends Robot{
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package org.firstinspires.ftc.teamcode.ric.actions;
package org.firstinspires.ftc.teamcode.actions;

import androidx.annotation.NonNull;

import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;

import org.firstinspires.ftc.teamcode.ric.hardwares.basic.ClipPosition;
import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Servos;
import org.firstinspires.ftc.teamcode.ric.hardwares.Structure;
import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.hardwares.basic.ClipPosition;
import org.firstinspires.ftc.teamcode.hardwares.basic.Servos;
import org.firstinspires.ftc.teamcode.hardwares.Structure;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;

@Deprecated
public class ClipOptionAction implements Action {
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package org.firstinspires.ftc.teamcode.ric.actions;
package org.firstinspires.ftc.teamcode.actions;

import androidx.annotation.NonNull;

import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;

import org.firstinspires.ftc.teamcode.ric.hardwares.integration.PositionalIntegrationMotor;
import org.firstinspires.ftc.teamcode.hardwares.integration.PositionalIntegrationMotor;

public class MotorControllerAction implements Action {
private final PositionalIntegrationMotor motor;
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package org.firstinspires.ftc.teamcode.ric.actions;
package org.firstinspires.ftc.teamcode.actions;

import androidx.annotation.NonNull;

import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.ParallelAction;

import org.firstinspires.ftc.teamcode.ric.hardwares.integration.IntegrationServo;
import org.firstinspires.ftc.teamcode.ric.hardwares.Structure;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.UserRequirementFunctions;
import org.firstinspires.ftc.teamcode.hardwares.integration.IntegrationServo;
import org.firstinspires.ftc.teamcode.hardwares.Structure;
import org.firstinspires.ftc.teamcode.utils.annotations.UserRequirementFunctions;

public class StructureActions {
public Structure controller;
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;

import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
import org.firstinspires.ftc.teamcode.ric.drives.controls.commands.DriveCommandPackage;
import org.firstinspires.ftc.teamcode.ric.hardwares.Webcam;
import org.firstinspires.ftc.teamcode.ric.utils.enums.AutonomousLocation;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
import org.firstinspires.ftc.teamcode.drives.controls.commands.DriveCommandPackage;
import org.firstinspires.ftc.teamcode.hardwares.Webcam;
import org.firstinspires.ftc.teamcode.utils.enums.AutonomousLocation;

/**
* A sample of 2023-2024 season basic Autonomous.
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;

import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
import org.firstinspires.ftc.teamcode.ric.hardwares.basic.Camera;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
import org.firstinspires.ftc.teamcode.hardwares.basic.Camera;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.utils.clients.Client;

@TeleOp(name = "ClientUsage",group = Params.Configs.SampleOpModesGroup)
@Disabled
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.Beta;
import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.utils.annotations.Beta;
import org.firstinspires.ftc.teamcode.utils.clients.Client;

/**
* 用于演示 Telemetry 和 Client 的区别
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.codes.templates.TeleopProgramTemplate;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.codes.templates.TeleopProgramTemplate;

@TeleOp(name = "ManualCodeSample",group = Params.Configs.SampleOpModesGroup)
@Disabled
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.codes.templates.TeleopProgramTemplate;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.codes.templates.TeleopProgramTemplate;

@TeleOp(name = "ManualCodeSample2",group = Params.Configs.SampleOpModesGroup)
@Disabled
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.codes.templates.TeleopProgramTemplate;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyMapSettingType;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyRodType;
import org.firstinspires.ftc.teamcode.ric.hardwares.integration.gamepads.KeyTag;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.codes.templates.TeleopProgramTemplate;
import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyMapSettingType;
import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyRodType;
import org.firstinspires.ftc.teamcode.hardwares.integration.gamepads.KeyTag;

@TeleOp(name = "ManualDriveSample",group = Params.Configs.SampleOpModesGroup)
public class ManualDriveSample extends TeleopProgramTemplate {
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package org.firstinspires.ftc.teamcode.ric.codes.samples;
package org.firstinspires.ftc.teamcode.codes.samples;

import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;

import org.firstinspires.ftc.teamcode.ric.Params;
import org.firstinspires.ftc.teamcode.ric.codes.templates.AutonomousProgramTemplate;
import org.firstinspires.ftc.teamcode.ric.hardwares.Webcam;
import org.firstinspires.ftc.teamcode.Params;
import org.firstinspires.ftc.teamcode.codes.templates.AutonomousProgramTemplate;
import org.firstinspires.ftc.teamcode.hardwares.Webcam;

@Disabled
@Autonomous (name = "WebcamDetection",group = Params.Configs.SampleOpModesGroup)
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package org.firstinspires.ftc.teamcode.ric.codes.templates;
package org.firstinspires.ftc.teamcode.codes.templates;

import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.teamcode.ric.Global;
import org.firstinspires.ftc.teamcode.ric.codes.samples.AutonomousSample2024;
import org.firstinspires.ftc.teamcode.ric.drives.controls.SimpleMecanumDrive;
import org.firstinspires.ftc.teamcode.ric.Robot;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
import org.firstinspires.ftc.teamcode.ric.utils.enums.RunningMode;
import org.firstinspires.ftc.teamcode.Global;
import org.firstinspires.ftc.teamcode.codes.samples.AutonomousSample2024;
import org.firstinspires.ftc.teamcode.drives.controls.SimpleMecanumDrive;
import org.firstinspires.ftc.teamcode.Robot;
import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
import org.firstinspires.ftc.teamcode.utils.enums.RunningMode;


/**
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package org.firstinspires.ftc.teamcode.ric.codes.templates;
package org.firstinspires.ftc.teamcode.codes.templates;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;

import org.firstinspires.ftc.teamcode.ric.Global;
import org.firstinspires.ftc.teamcode.ric.utils.annotations.Templates;
import org.firstinspires.ftc.teamcode.ric.utils.clients.Client;
import org.firstinspires.ftc.teamcode.ric.utils.Timer;
import org.firstinspires.ftc.teamcode.Global;
import org.firstinspires.ftc.teamcode.utils.annotations.Templates;
import org.firstinspires.ftc.teamcode.utils.clients.Client;
import org.firstinspires.ftc.teamcode.utils.Timer;

@Templates
public abstract class DebugProgramTemplate extends OpMode {
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