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Tested. Auto shooting #4

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Tested. Auto shooting #4

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707fa0b
Tightened TeleOp, PedroPathing progress.
Jan 12, 2026
99e5b2c
Deleting to limit conflicts with options-dev branch.
Jan 12, 2026
4d05ff8
Testing: Artemis Take the Flywheel
Jan 13, 2026
d9ac9ba
Testing: Shoot-by-wire
Jan 15, 2026
b5bfef8
made bad auto Plus sorta fixed Pedro pathing, will get better later
Uhhhhhh-yeet Jan 15, 2026
d8e1e38
Testing: Reset for thursday, gotta do more data collection for ATF/SBW
Jan 15, 2026
474189b
New AutoBasic
Jan 15, 2026
e47ac2c
Tested: Auto shooting works
Jan 15, 2026
987af62
bad auto made slightly better
Uhhhhhh-yeet Jan 15, 2026
f0adee6
Merge remote-tracking branch 'refs/remotes/origin/untested' into unte…
Uhhhhhh-yeet Jan 15, 2026
388f221
finished auto but not pedro so its really boring
Uhhhhhh-yeet Jan 16, 2026
23d1648
AutoBasicbleu
Uhhhhhh-yeet Jan 16, 2026
0bb7cda
AutoBasicbleu
Uhhhhhh-yeet Jan 17, 2026
654bbea
added ultraplanetary controls for intake 1 and updated Field 1
Jan 19, 2026
806f4e6
uhh pp
Uhhhhhh-yeet Feb 7, 2026
ec7005f
Psuedo Encoders
Feb 20, 2026
2b2a4e5
new AS slope
Uhhhhhh-yeet Feb 24, 2026
ebdbe80
Merge branch 'untested' of https://github.com/error101-32594-ftc/FTC-…
Uhhhhhh-yeet Feb 24, 2026
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81 changes: 55 additions & 26 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoBasic.java
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@@ -1,3 +1,4 @@

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
Expand All @@ -6,42 +7,70 @@
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

import org.firstinspires.ftc.teamcode.util.TeamConstants;

@Autonomous
public class AutoBasic extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
// Declare motors
// Make sure your ID's match your configuration
DcMotorEx frontLeftMotor = hardwareMap.get(DcMotorEx.class, "frontLeftMotor");
DcMotorEx backLeftMotor = hardwareMap.get(DcMotorEx.class, "backLeftMotor");
DcMotorEx frontRightMotor = hardwareMap.get(DcMotorEx.class, "frontRightMotor");
DcMotorEx backRightMotor = hardwareMap.get(DcMotorEx.class, "backRightMotor");
DcMotorEx bigHooperMotor = hardwareMap.get(DcMotorEx.class, "bigHooperMotor");
DcMotorEx smallHooperMotor = hardwareMap.get(DcMotorEx.class, "smallHooperMotor");

backRightMotor.setDirection(DcMotorSimple.Direction.REVERSE);
final DcMotorEx[] base = TeamConstants.getDriveMotors(hardwareMap);
final DcMotorEx[] scoring = TeamConstants.getScoringMotors(hardwareMap);

waitForStart();

if(isStopRequested()) return;

frontLeftMotor.setPower(0.5);
frontRightMotor.setPower(0.5);
backLeftMotor.setPower(0.5);
backRightMotor.setPower(0.5);
sleep(2200);
frontLeftMotor.setPower(0.25);
frontRightMotor.setPower(0.25);
backLeftMotor.setPower(-0.25);
backRightMotor.setPower(-0.25);
sleep(750);
frontLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backLeftMotor.setPower(0);
backRightMotor.setPower(0);
bigHooperMotor.setPower(-0.625);
sleep(2000);
bigHooperMotor.setPower(0);
base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(0.5);
base[3].setPower(0.5);
sleep(2700);
/*base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(0.5);
base[3].setPower(0.5); */
base[0].setPower(0.25);
base[1].setPower(0.25);
base[2].setPower(-0.25);
base[3].setPower(-0.25);
sleep(950);
base[0].setPower(0);
base[1].setPower(0);
base[2].setPower(0);
base[3].setPower(0);
scoring[0].setVelocity(1825);
sleep(5000);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(250);
scoring[1].setPower(0);
scoring[2].setPower(0);
sleep(5500);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(800);
scoring[0].setPower(0);
scoring[1].setPower(0);
scoring[2].setPower(0);
base[0].setPower(0.25);
base[1].setPower(0.25);
base[2].setPower(0.25);
base[3].setPower(0.25);
sleep(1250);
base[0].setPower(-0.25);
base[1].setPower(-0.25);
base[2].setPower(0.25);
base[3].setPower(0.25);
sleep(3400);
base[0].setPower(0.5);
base[1].setPower(-0.5);
base[2].setPower(0.5);
base[3].setPower(-0.5);
sleep(2300);



}
};
};
74 changes: 74 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoBasicbleu.java
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@@ -0,0 +1,74 @@
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

import org.firstinspires.ftc.teamcode.util.TeamConstants;

@Autonomous
public class AutoBasicbleu extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
// Declare motors
// Make sure your ID's match your configuration
final DcMotorEx[] base = TeamConstants.getDriveMotors(hardwareMap);
final DcMotorEx[] scoring = TeamConstants.getScoringMotors(hardwareMap);

waitForStart();

if(isStopRequested()) return;

base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(0.5);
base[3].setPower(0.5);
sleep(2700);
/*base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(0.5);
base[3].setPower(0.5); */
base[0].setPower(-0.25);
base[1].setPower(-0.25);
base[2].setPower(0.25);
base[3].setPower(0.25);
sleep(993);
base[0].setPower(0);
base[1].setPower(0);
base[2].setPower(0);
base[3].setPower(0);
scoring[0].setVelocity(1920);
sleep(5000);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(250);
scoring[1].setPower(0);
scoring[2].setPower(0);
sleep(5500);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(1500);
scoring[0].setPower(0);
scoring[1].setPower(0);
scoring[2].setPower(0);
base[0].setPower(0.25);
base[1].setPower(0.25);
base[2].setPower(0.25);
base[3].setPower(0.25);
sleep(1250);
base[0].setPower(0.25);
base[1].setPower(0.25);
base[2].setPower(-0.25);
base[3].setPower(-0.25);
sleep(3150);
base[0].setPower(-0.5);
base[1].setPower(0.5);
base[2].setPower(-0.5);
base[3].setPower(0.5);
sleep(1250);


}
};
33 changes: 33 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoBlueBack.java
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@@ -0,0 +1,33 @@


package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;

import org.firstinspires.ftc.teamcode.util.TeamConstants;

@Autonomous
public class AutoBlueBack extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
// Declare motors
// Make sure your ID's match your configuration
final DcMotorEx[] base = TeamConstants.getDriveMotors(hardwareMap);
final DcMotorEx[] scoring = TeamConstants.getScoringMotors(hardwareMap);

waitForStart();

if(isStopRequested()) return;


base[0].setPower(-1);
base[1].setPower(1);
base[2].setPower(-1);
base[3].setPower(1);
sleep(430);


}
};
127 changes: 127 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoBluefromGoal.java
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@@ -0,0 +1,127 @@


package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;

import org.firstinspires.ftc.teamcode.util.TeamConstants;

@Autonomous
public class AutoBluefromGoal extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
// Declare motors
// Make sure your ID's match your configuration
final DcMotorEx[] base = TeamConstants.getDriveMotors(hardwareMap);
final DcMotorEx[] scoring = TeamConstants.getScoringMotors(hardwareMap);

waitForStart();

if(isStopRequested()) return;

base[0].setPower(-0.5);
base[1].setPower(-0.5);
base[2].setPower(-0.5);
base[3].setPower(-0.5);
sleep(1550);
base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(-0.5);
base[3].setPower(-0.5);
sleep(40);
/*base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(0.5);
base[3].setPower(0.5); */
base[0].setPower(0);
base[1].setPower(0);
base[2].setPower(0);
base[3].setPower(0);
scoring[0].setVelocity(1855);
sleep(4000);
scoring[1].setPower(0);
scoring[2].setPower(1);
sleep(250);;
scoring[1].setPower(0);
scoring[2].setPower(0);
sleep(2500);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(650);
scoring[0].setPower(0);
scoring[1].setPower(0);
scoring[2].setPower(0);
base[0].setPower(-0.5);
base[1].setPower(-0.5);
base[2].setPower(0.5);
base[3].setPower(0.5);
sleep(327);
base[0].setPower(-0.5);
base[1].setPower(0.5);
base[2].setPower(-0.5);
base[3].setPower(0.5);
sleep(638);
scoring[1].setPower(1);
scoring[2].setPower(-.70);
scoring[0].setPower(-1);
base[0].setPower(0.22);
base[1].setPower(0.22);
base[2].setPower(0.22);
base[3].setPower(0.22);
sleep(5950);
scoring[1].setPower(-.35);
scoring[2].setPower(-.35);
sleep(100);
scoring[1].setPower(0);
scoring[2].setPower(0);
base[0].setPower(-0.5);
base[1].setPower(-0.5);
base[2].setPower(-0.5);
base[3].setPower(-0.5);
sleep(1000);
scoring[1].setPower(0);
base[0].setPower(1);
base[1].setPower(-1);
base[2].setPower(1);
base[3].setPower(-1);
sleep(580);
base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(-0.5);
base[3].setPower(-0.5);
sleep(310);
base[0].setPower(0);
base[1].setPower(0);
base[2].setPower(0);
base[3].setPower(0);
scoring[0].setVelocity(1745);
sleep(4000);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(250);;
scoring[1].setPower(0);
scoring[2].setPower(0);
sleep(3300);
scoring[1].setPower(1);
scoring[2].setPower(1);
sleep(800);
scoring[0].setPower(0);
scoring[1].setPower(0);
scoring[2].setPower(0);
sleep(230);
base[0].setPower(-0.5);
base[1].setPower(-0.5);
base[2].setPower(0.5);
base[3].setPower(0.5);
sleep(70);
base[0].setPower(1);
base[1].setPower(-1);
base[2].setPower(1);
base[3].setPower(-1);
sleep(1030);


}
};
26 changes: 26 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoForward.java
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@@ -0,0 +1,26 @@
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;

import org.firstinspires.ftc.teamcode.util.TeamConstants;

@Autonomous
public class AutoForward extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
final DcMotorEx[] base = TeamConstants.getDriveMotors(hardwareMap);
final DcMotorEx[] scoring = TeamConstants.getScoringMotors(hardwareMap);

base[0].setPower(0.5);
base[1].setPower(0.5);
base[2].setPower(0.5);
base[3].setPower(0.5);
sleep(750);
base[0].setPower(0);
base[1].setPower(0);
base[2].setPower(0);
base[3].setPower(0);
}
}
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