open class AutoOpMode : LinearOpMode
The autonomous op mode.
The letters A-M and numbers 1-3 found in the documentation for the quick tuning variables correspond to the letters and numbers in the autonomous plan diagram.
inner class ClaimDepot : State
State in which the robot uses its intake to claim the depot. (2) |
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inner class EnterDepot : State
State in which the robot enters the depot from the depot side. |
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inner class ExitDepot : State
State in which the robot exits the depot. |
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inner class GatherVisionData : State
State in which the robot gathers vision data. (1) |
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inner class KnockMineralCraterSide : State
State in which the robot knocks the mineral and travels to the crater from the depot side. |
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inner class KnockMineralDepotSide : State
State in which the robot knocks the mineral from the depot side. |
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inner class Land : State
Work-in-progress state in which the robot lands. |
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inner class MoveFromLander : State
State in which the robot moves away from the lander. (A) |
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inner class MoveToSideCraterSide : State
State in which the robot moves to the side to prepare to travel to the depot. |
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inner class ParkAtCraterCraterSide : State
State in which the robot travels to and parks at the crater when started from the crater side. |
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inner class ParkAtCraterDepotSide : State
State in which the robot travels to and parks at the crater when started from the crater side. |
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abstract inner class State
Abstract class representing a single state/step in the AutoOpMode. |
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inner class TravelToDepot : State
State in which the robot travels to the depot. |
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inner class TurnTowardsDepotCraterSide : State
State in which the robot uses its gyro to turn towards the depot when started from the crater. |
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inner class TurnTowardsDepotDepotSide : State
State in which the robot uses its gyro to turn towards the depot when started from the depot. |
AutoOpMode()
The autonomous op mode. |
val claimDepotAngle: Double
Angle to which the robot should turn in order to claim the depot when started from the crater side, in degrees. (3) |
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val claimDepotPauseTime: Int
How long the robot should pause after extending the intake, in milliseconds. (2) |
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val drive: MecanumDrive |
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val exitDepotTime: Int
How long the robot exits the depot for when started from the depot side. |
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val extake: ElevatorExtake |
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val gyro: Gyro |
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val intake: ElevatorIntake |
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val knockMineralCraterSideTime: Int
How long the robot should move to knock a mineral on the crater side, in milliseconds. (C) |
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val knockMineralDepotSideTime: Int
How long the robot should move to knock a mineral on the depot side, in milliseconds. (B) |
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val knockMineralReturnCraterSideTime: Int
How long the robot should move after knocking a mineral on the crater side, in milliseconds. (C) |
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val moveFromLanderTime: Int
How long the robot should move away from the lander, in power-adjusted milliseconds. (A) |
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val moveToDepotCraterSidePower: Double
Power at which the robot moves along the side of the field towards the depot. (V) |
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val moveToMineralCraterSideTime: Int
How long the robot should move horizontally towards a mineral when started from the depot side, in milliseconds. (M) |
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val moveToMineralDepotSideTime: Int
How long the robot should move horizontally towards a mineral when started from the depot side, in milliseconds. (M) |
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val moveToSideCraterSideTime: Int
How long the robot should move from the center mineral towards the side of the field before traveling to the depot, in milliseconds. (D) |
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val parkAtCraterDepotSideTime: Int
How long the robot should move towards the crater, in milliseconds. (H) |
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val postKnockMineralDepotSideTime: Int
How long the robot should move after knocking a mineral on the depot side, in milliseconds. (C) |
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val rotateIntakePos: Int
Point to which the robot should rotate the intake. (2) |
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val rotateIntakePower: Double
Power at which the robot should rotate the intake, in milliseconds. (2) |
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val standardPower: Double
Standard power used when moving the robot. All millisecond values are multiplied by this value. |
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val states: LinkedList<State> |
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val turnPower: Double
Power at which the robot should turn. |
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val vision: Vision |
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val visionTime: Int
How long the robot should obtain vision data for, in milliseconds. (1) |
open fun addCraterStates(): Unit
Adds states to be used when the robot starts on the crater side. |
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open fun addDepotStates(): Unit
Adds states to be used when the robot starts on the depot side. |
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open fun addFallbackStates(): Unit
Adds states to be used in case a location cannot be determined. |
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fun run(): Unit |
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open fun runOpMode(): Unit |
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fun setup(): Unit |
class AutoOpModeCrater : AutoOpMode
Autonomous op mode to use in case the robot cannot determine its position on the crater side. |
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class AutoOpModeDepot : AutoOpMode
Autonomous op mode to use in case the robot cannot determine its position on the depot side. |
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class AutoOpModeFallback : AutoOpMode
Autonomous op mode to use in case the normal one completely borks. |
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class AutoOpModeFallbackOnCraterSide : AutoOpMode
Autonomous op mode to use in case there is a chance of collision with the other team's robot. |