BlueAuto first auto path created by ThanhLamTr · Pull Request #17 · XBOT-FTC/3231-Decode

ThanhLamTr · 2025-10-24T01:23:54Z

robot shoot the ball and wait 5s each time shooting

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robot shoot the ball and wait 5s each time shooting

danzuo · 2025-10-27T23:28:19Z

+                .strafeToLinearHeading(new Vector2d(-40, -34), Math.toRadians(-130))
+                .waitSeconds(5)
+                .strafeToLinearHeading(new Vector2d(38, -32), Math.toRadians(270))
+                //.splineTo(new Vector2d(38, -32), Math.toRadians(90))


Do you need to keep this commented code? Consider removing or adding some description for why it is here to help readbility of the code

Jxwoon · 2025-10-27T23:28:57Z

+
+import org.firstinspires.ftc.teamcode.MecanumDrive;
+
+@Autonomous(name = "BlueAuto", group = "Autonomous")


Can we name this to be more specific? Like BlueAutoFarSide? Or something more specific to the route?

danzuo · 2025-10-27T23:29:47Z

                .start();
    }
 }
+                //.splineTo(new Vector2d(38, -32), Math.toRadians(90))


Same as above. If no longer needed consider removing this commented code.

danzuo · 2025-10-27T23:37:59Z

Just a tip, but it might help to explain why this file is also being changed in this commit.

danzuo

Looks fine, but think about why you would be adding commented blocks of navigation code. Is it for reference?

Jxwoon · 2025-10-31T01:01:57Z

+
+@Autonomous(name = "BlueAuto", group = "Autonomous")
+public class BlueAuto {
+    public void runOpMode(){


We need to add an @Override above public void runOpMode()

Jxwoon · 2025-10-31T01:04:28Z

+import org.firstinspires.ftc.teamcode.MecanumDrive;
+
+@Autonomous(name = "BlueAuto", group = "Autonomous")
+public class BlueAuto {


Need to add extend LinearOpMode

Copilot

Pull Request Overview

This PR introduces a new autonomous path for the Blue alliance team, implementing a routine where the robot moves to shooting positions, waits 5 seconds to shoot, collects balls from two locations, and parks.

Key changes:

New autonomous OpMode BlueSmallToBigTriangleAuto with a defined trajectory for the Blue alliance
Minor updates to the MeepMeep testing file including background theme change and commented test code

Reviewed Changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 4 comments.

File	Description
BlueSmallToBigTriangleAuto.java	New autonomous program defining the Blue alliance's robot path with shooting and ball collection sequences
MeepMeepTesting.java	Updated background theme and added commented-out test code for the new Blue auto path

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Copilot · 2025-11-18T00:36:19Z

+
+@Autonomous(name = "BlueAuto", group = "Autonomous")
+public class BlueSmallToBigTriangleAuto extends LinearOpMode {
+


Missing @OverRide annotation. All runOpMode() methods in LinearOpMode subclasses should be annotated with @OverRide for consistency with other auto files in the codebase (e.g., RedSmallTriangleAuto.java, RedMainAuto.java).

Suggested change

@Override

Copilot · 2025-11-18T00:36:20Z

+    public void runOpMode(){
+        Pose2d startingPose = new Pose2d(68, -10, Math.toRadians(0));
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, startingPose);
+
+        Action trajectoryAction = drive.actionBuilder(startingPose)
+                .strafeToLinearHeading(new Vector2d(-40, -34), Math.toRadians(230))
+                //come to destination to shoot
+                .waitSeconds(5)
+                // wait 5s to shoot
+                .strafeToLinearHeading(new Vector2d(-13, -30), Math.toRadians(270))
+                //come to the 1st location to take the ball and start the intake
+                .strafeToLinearHeading(new Vector2d(-13, -47),Math.toRadians(270))
+                //take the ball
+                .strafeToLinearHeading(new Vector2d(-40, -34), Math.toRadians(-130))
+                //back to the location to shoot stop intake
+                .waitSeconds(5)
+                //wait 5s to shoot
+                .strafeToLinearHeading(new Vector2d(12, -30), Math.toRadians(270))
+                //come to 2nd location to take the ball start intake
+                .strafeToLinearHeading(new Vector2d(12, -47),Math.toRadians(270))
+                //take 2nd line of ball
+                .strafeToLinearHeading(new Vector2d(-40, -34), Math.toRadians(-130))
+                //back to location to shoot stop intake
+                .waitSeconds(5)
+                //5s to shoot
+                .strafeToLinearHeading(new Vector2d(38, -32), Math.toRadians(270))
+                //go to the location to park
+                .build();
+    }


The autonomous OpMode builds the trajectory action but never waits for start or executes it. Add waitForStart(); before building the action, and use Actions.runBlocking(trajectoryAction); after building it to execute the trajectory. See SplineTest.java and ManualFeedbackTuner.java for reference implementations.

Copilot · 2025-11-18T00:36:20Z

+        RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
+                // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
+                .build();


The myBot entity is created but never used. Either remove this unused variable or integrate it into the visualization by calling myBot.runAction() and adding it via .addEntity(myBot).

Suggested change

RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)

// Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width

.setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)

.build();

Copilot · 2025-11-18T00:36:20Z

+                //.splineTo(new Vector2d(38, -32), Math.toRadians(90))
+                //.waitSeconds(3)
+                /*.splineTo(new Vector2d(-40, -34), Math.toRadians(-150))
+                .waitSeconds(6)
+                .splineTo(new Vector2d(38, -30), Math.toRadians(-90))
+                .turn(Math.toRadians(180))
+                .waitSeconds(4)
+                .splineTo(new Vector2d(-40, -34), Math.toRadians(-150))
+                .waitSeconds(6)
+                .splineTo(new Vector2d(12, -30), Math.toRadians(-90))
+                .turn(Math.toRadians(180))
+                .waitSeconds(4)
+                .splineTo(new Vector2d(-40, -34), Math.toRadians(-150))
+                .waitSeconds(6)
+                .splineTo(new Vector2d(-14, -30), Math.toRadians(-90))
+                .turn(Math.toRadians(180))
+                .waitSeconds(4)
+                .splineTo(new Vector2d(-40, -34), Math.toRadians(-150))
+                .waitSeconds(6)
+                .splineTo(new Vector2d(38, -32), Math.toRadians(-90))
+                .turn(Math.toRadians(180))*/
+
+
+                /*.lineToX(-20)
+                .turn(Math.toRadians(220))
+                .lineToY(-24)
+                .turn(Math.toRadians(90))
+                .lineToX(0)
+                .turn(Math.toRadians(90))
+                .lineToY(0)
+                .turn(Math.toRadians(90))
+                .build());
+
+
+       /* meepMeep.setBackground(MeepMeep.Background.FIELD_DECODE_JUICE_BLACK)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start();
+    }
+} */




Large blocks of commented-out code added outside of any class or method structure (lines 110-150). This creates invalid code structure and should be removed or moved to proper documentation/comments if the code snippets are needed for reference.

Suggested change

//.splineTo(new Vector2d(38, -32), Math.toRadians(90))

//.waitSeconds(3)

/*.splineTo(new Vector2d(-40, -34), Math.toRadians(-150))

.waitSeconds(6)

.splineTo(new Vector2d(38, -30), Math.toRadians(-90))

.turn(Math.toRadians(180))

.waitSeconds(4)

.splineTo(new Vector2d(-40, -34), Math.toRadians(-150))

.waitSeconds(6)

.splineTo(new Vector2d(12, -30), Math.toRadians(-90))

.turn(Math.toRadians(180))

.waitSeconds(4)

.splineTo(new Vector2d(-40, -34), Math.toRadians(-150))

.waitSeconds(6)

.splineTo(new Vector2d(-14, -30), Math.toRadians(-90))

.turn(Math.toRadians(180))

.waitSeconds(4)

.splineTo(new Vector2d(-40, -34), Math.toRadians(-150))

.waitSeconds(6)

.splineTo(new Vector2d(38, -32), Math.toRadians(-90))

.turn(Math.toRadians(180))*/

/*.lineToX(-20)

.turn(Math.toRadians(220))

.lineToY(-24)

.turn(Math.toRadians(90))

.lineToX(0)

.turn(Math.toRadians(90))

.lineToY(0)

.turn(Math.toRadians(90))

.build());

/* meepMeep.setBackground(MeepMeep.Background.FIELD_DECODE_JUICE_BLACK)

.setDarkMode(true)

.setBackgroundAlpha(0.95f)

.addEntity(myBot)

.start();

}

} */

BlueAuto made

6ddf4d9

robot shoot the ball and wait 5s each time shooting

ThanhLamTr requested review from Jxwoon, danzuo and emeersman October 24, 2025 01:23

danzuo reviewed Oct 27, 2025

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Jxwoon reviewed Oct 27, 2025

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danzuo reviewed Oct 27, 2025

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danzuo approved these changes Oct 27, 2025

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Jxwoon requested changes Oct 31, 2025

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ThanhLamTr and others added 3 commits November 6, 2025 17:05

Merge branch 'master' into AutoBlue

033fa54

WalkyProgress

08c3bee

Blue auto fixies completed

e8b0088

NormalDuck requested a review from Copilot November 18, 2025 00:31

Copilot started reviewing on behalf of NormalDuck November 18, 2025 00:32 View session

Copilot finished reviewing on behalf of NormalDuck November 18, 2025 00:33

Copilot AI reviewed Nov 18, 2025

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BlueAuto first auto path created#17

BlueAuto first auto path created#17
ThanhLamTr wants to merge 4 commits into
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AutoBlue

ThanhLamTr commented Oct 24, 2025

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		import org.firstinspires.ftc.teamcode.MecanumDrive;

		@Autonomous(name = "BlueAuto", group = "Autonomous")


		@Autonomous(name = "BlueAuto", group = "Autonomous")
		public class BlueSmallToBigTriangleAuto extends LinearOpMode {

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