Pull to kotlin

FtcRobotController/build.gradle

@@ -24,8 +24,6 @@ android {
 }
 
 dependencies {
-    implementation 'androidx.core:core-ktx:+'
 }
 
 apply from: '../build.dependencies.gradle'
-apply plugin: 'org.jetbrains.kotlin.android'

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="48"
-          android:versionName="8.1">
+    android:versionCode="49"
+          android:versionName="8.1.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

MeepMeep/.gitignore

@@ -0,0 +1 @@
+/build

MeepMeep/build.gradle

@@ -0,0 +1,17 @@
+plugins {
+    id 'java-library'
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_1_8
+    targetCompatibility = JavaVersion.VERSION_1_8
+}
+
+repositories {
+    maven { url = 'https://jitpack.io' }
+    maven { url = 'https://maven.brott.dev/' }
+}
+
+dependencies {
+    implementation 'com.github.NoahBres:MeepMeep:2.0.2'
+}

MeepMeep/src/main/java/com/example/meepmeep/MeepMeepTesting.java

@@ -0,0 +1,34 @@
+package com.example.meepmeep;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.noahbres.meepmeep.MeepMeep;
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
+import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;
+
+public class MeepMeepTesting {
+    public static void main(String[] args) {
+        MeepMeep meepMeep = new MeepMeep(800);
+
+        RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
+                // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
+                .setDimensions(14, 14)
+                .followTrajectorySequence(drive ->
+                        drive.trajectorySequenceBuilder(new Pose2d(-66, -36, 0))
+                                .splineTo(new Vector2d(-54, -13), 0)
+                                .splineToConstantHeading(new Vector2d(-38, -12), 0)
+                                .addDisplacementMarker(() -> {
+                                })
+                                .splineToConstantHeading(new Vector2d(-34, 0), 0)
+                                .forward(3)
+                                .build()
+                );
+
+        meepMeep.setBackground(MeepMeep.Background.FIELD_POWERPLAY_OFFICIAL)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start();
+    }
+}

TeamCode/build.gradle

@@ -14,16 +14,16 @@
 // Include common definitions from above.
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
-apply plugin: 'org.jetbrains.kotlin.android'
 
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
 }
 
 dependencies {
     implementation project(':FtcRobotController')
-    implementation 'androidx.core:core-ktx:+'
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
     implementation 'org.openftc:easyopencv:1.5.2'
-    implementation 'org.openftc:rev-extensions-2:1.2'
+    implementation 'org.ftclib.ftclib:core:2.0.1'
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+    implementation 'com.acmerobotics.roadrunner:core:0.5.6'
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomous/GoForward.java

@@ -0,0 +1,44 @@
+package org.firstinspires.ftc.teamcode.Autonomous;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.Base.BaseOpMode;
+import org.firstinspires.ftc.teamcode.Base.Robot;
+import org.firstinspires.ftc.teamcode.Bots.PostBot;
+import org.firstinspires.ftc.teamcode.RoadRunner.drive.RRMecanum;
+
+@Autonomous
+public class GoForward extends BaseOpMode {
+    public PostBot robot;
+    public RRMecanum drive;
+    public Trajectory forward;
+
+    @Override
+    protected Robot setRobot() {
+        this.robot = new PostBot();
+        return this.robot;
+    }
+
+    @Override
+    protected boolean setTeleOp() {
+        return false;
+    }
+
+    @Override
+    public void onInit() throws InterruptedException {
+        drive = new RRMecanum(hardwareMap);
+        Pose2d startPose = new Pose2d();
+        drive.setPoseEstimate(startPose);
+        forward = drive.trajectoryBuilder(startPose)
+                .forward(10)
+                .build();
+    }
+
+    @Override
+    public void onStart() throws InterruptedException {
+        drive.followTrajectory(forward);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomous/Left_Deliver1Close_SensePark.java

@@ -0,0 +1,89 @@
+package org.firstinspires.ftc.teamcode.Autonomous;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.Base.BaseOpMode;
+import org.firstinspires.ftc.teamcode.Base.Robot;
+import org.firstinspires.ftc.teamcode.Bots.PostBot;
+import org.firstinspires.ftc.teamcode.Components.Camera;
+import org.firstinspires.ftc.teamcode.RoadRunner.drive.RRMecanum;
+
+
+@Autonomous
+public class Left_Deliver1Close_SensePark extends BaseOpMode {
+    public PostBot robot;
+    public RRMecanum drive;
+    public Trajectory toPole, forward, backward, left, right, center;
+
+    Camera.ParkingPosition parkingPosition;
+
+    public int state = 100;
+
+    @Override
+    protected Robot setRobot() {
+        this.robot = new PostBot();
+        return this.robot;
+    }
+
+    @Override
+    protected boolean setTeleOp() {
+        return false;
+    }
+
+    @Override
+    public void onInit() throws InterruptedException {
+        drive = new RRMecanum(hardwareMap);
+        Pose2d startPose = new Pose2d();
+        drive.setPoseEstimate(startPose);
+        toPole = drive.trajectoryBuilder(startPose, 20, 3)
+                .splineTo(new Vector2d(12, -20), 0)
+                .splineTo(new Vector2d(29, -24), 0)
+                .splineToConstantHeading(new Vector2d(29, -32), 0)
+                .splineToConstantHeading(new Vector2d(31, -36.5), 0)
+                .build();
+        forward = drive.trajectoryBuilder(toPole.end(), 20, 3)
+                .splineTo(new Vector2d(33.5, -36.5), 0)
+                .build();
+        backward = drive.trajectoryBuilder(forward.end())
+                .back(7.5)
+                .build();
+        left = drive.trajectoryBuilder(backward.end().plus(new Pose2d(0, 0, Math.toRadians(0))), 30, 3)
+                .strafeLeft(60.5)
+                .build();
+        right = drive.trajectoryBuilder(backward.end().plus(new Pose2d(0, 0, Math.toRadians(0))), 30, 3)
+                .strafeLeft(9.5)
+                .build();
+        center = drive.trajectoryBuilder(backward.end().plus(new Pose2d(0, 0, Math.toRadians(0))), 30, 3)
+                .strafeLeft(36.5)
+                .build();
+        robot.camera.requestStart();
+        robot.grabber.close();
+    }
+
+    @Override
+    public void onStart() throws InterruptedException {
+        parkingPosition = robot.camera.getParkingPosition();
+        state = 0;
+        robot.arm.toGround();
+        robot.grabber.close();
+        drive.followTrajectory(toPole);
+        robot.arm.toHigh();
+        drive.followTrajectory(forward);
+        robot.arm.toHigh();
+        robot.grabber.open();
+        sleep(2000);
+        drive.followTrajectory(backward);
+        robot.arm.toZero();
+        if (parkingPosition == Camera.ParkingPosition.LEFT) {
+            drive.followTrajectory(left);
+        } else if (parkingPosition == Camera.ParkingPosition.RIGHT) {
+            drive.followTrajectory(right);
+        } else {
+            drive.followTrajectory(center);
+        }
+
+    }
+}