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Bronco Bots

Turret Mechanism

Turret Subsystem Overview

Section titled “Turret Subsystem Overview”

The Turret class provided an algorithm and public API for tracking an april tag with the turret. Tracking is done via a four stage state machine consisting of a search, acquire, lock, and idle state.

Class Architecture

Section titled “Class Architecture”
Property Value
Package Path org.firstinspires.ftc.teamcode.systemsControls.Turret
Type Utility / Subsystem

Constructor

Section titled “Constructor”
Argument Type Description
camera Limelight3A Reference to the limelight camera
tele Telemetry Reference to the the opModes Telemetry
turretServo Servo Reference to the servo which controls the location of the turret

Method Reference

Section titled “Method Reference”

1. update

Section titled “1. update”
public void update()

Updates the turret state machine. This method should be called once every control loop.

Return Value

Section titled “Return Value”
Type Description
void Processes turret tracking and state transitions.

2. startTracking

Section titled “2. startTracking”
public void startTracking(AprilTags targetTag)

Begins tracking the specified AprilTag. This initializes the turret state machine and starts the search process.

Parameters

Section titled “Parameters”
Name Type Description
targetTag AprilTags The AprilTag that the turret should track.

Return Value

Section titled “Return Value”
Type Description
void Starts the tracking process.

3. stopTracking

Section titled “3. stopTracking”
public void stopTracking()

Stops all active tracking. The turret will return to the idle state during the next update cycle.

Return Value

Section titled “Return Value”
Type Description
void Stops target tracking.

4. setTurretAngle

Section titled “4. setTurretAngle”
public boolean setTurretAngle(float theta)

Commands the turret to rotate to the specified angle while respecting the configured mechanical limits.

Parameters

Section titled “Parameters”
Name Type Description
theta float Desired turret angle in radians.

Return Value

Section titled “Return Value”
Type Description
boolean true once the turret has had sufficient time to reach the requested position.

5. displayDeveloperTelemetry

Section titled “5. displayDeveloperTelemetry”
public void displayDeveloperTelemetry(Telemetry tele)

Displays diagnostic information about the turret for debugging purposes.

Parameters

Section titled “Parameters”
Name Type Description
tele Telemetry Telemetry instance used to display diagnostic information.

Return Value

Section titled “Return Value”
Type Description
void Adds developer telemetry data.

6. getAprilTagRange

Section titled “6. getAprilTagRange”
public float getAprilTagRange(AprilTags tag)

Returns the measured distance from the camera to the specified AprilTag.

Parameters

Section titled “Parameters”
Name Type Description
tag AprilTags The AprilTag whose distance should be measured.

Return Value

Section titled “Return Value”
Type Description
float Distance to the specified AprilTag.

7. getTargetRange

Section titled “7. getTargetRange”
public float getTargetRange()

Returns the measured distance to the currently tracked AprilTag.

Return Value

Section titled “Return Value”
Type Description
float Distance to the active target.

8. getState

Section titled “8. getState”
public TurretState getState()

Returns the current operating state of the turret.

Return Value

Section titled “Return Value”
Type Description
TurretState Current state of the turret state machine.

9. isTracking

Section titled “9. isTracking”
public boolean isTracking(AprilTags tag)

Determines whether the specified AprilTag is currently being tracked.

Parameters

Section titled “Parameters”
Name Type Description
tag AprilTags The AprilTag to compare against the active target.

Return Value

Section titled “Return Value”
Type Description
boolean true if the supplied tag is the current tracking target; otherwise false.

Enums

Section titled “Enums”

TurretState

Section titled “TurretState”
Value Description
IDLE The turret is inactive and not tracking a target.
SEARCHING The turret estimates the target’s location using the robot’s field position.
ACQUIRING The turret performs a small sweep to visually locate the target.
LOCKED The turret actively keeps the target centered in the camera using PID control.