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Added motors subsystem plus 2 sample DevOps files

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This commit is contained in:
Carlos Rivas
2024-11-03 15:11:23 -08:00
parent 417847a6b3
commit 0990edb038
3 changed files with 321 additions and 0 deletions
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97
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemix.java Normal file
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
@TeleOp(name = "Dev Teleop Remix", group = "Debug")
@Disabled
public class DevTeleOpRemix extends OpMode {
public ClawSubsystem claw;
public ArmSubsystem arm;
public WristSubsystem wrist;
public LiftSubsystem lift;
public MotorsSubsystem motors;
public Gamepad currentGamepad1;
public Gamepad previousGamepad1;
public Gamepad currentGamepad2;
public Gamepad previousGamepad2;
public double power = .6;
@Override
public void init() {
claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
lift = new LiftSubsystem(hardwareMap);
motors = new MotorsSubsystem(hardwareMap, telemetry, power);
claw.init();
arm.init();
wrist.init();
lift.init();
motors.init();
currentGamepad1 = new Gamepad();
previousGamepad1 = new Gamepad();
currentGamepad2 = new Gamepad();
previousGamepad2 = new Gamepad();
}
public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.a && !previousGamepad1.a) {
wrist.floorWrist();
arm.engageArm();
}
}
public void thePickup(ClawSubsystem claw) {
if (currentGamepad1.x && !previousGamepad1.x) {
claw.switchState();
}
}
public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.b && !previousGamepad1.b) {
arm.parkArm();
wrist.bucketWrist();
}
}
public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad1.y && !previousGamepad1.y) {
lift.toLowBucket();
wrist.bucketWrist();
}
}
@Override
public void loop() {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
theDrop(arm, wrist);
thePickup(claw);
theLift(arm, wrist);
theLowBucketScore(lift, wrist, arm);
motors.calculateTrajectory(gamepad1);
}
}

107
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleOpRemixDeux.java Normal file
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
@TeleOp(name = "Dev Teleop Remix", group = "Debug")
@Disabled
public class DevTeleOpRemixDeux extends OpMode {
private Follower follower;
public ClawSubsystem claw;
public ArmSubsystem arm;
public WristSubsystem wrist;
public LiftSubsystem lift;
public MotorsSubsystem motors;
public Gamepad currentGamepad1;
public Gamepad previousGamepad1;
public Gamepad currentGamepad2;
public Gamepad previousGamepad2;
public double power = .6;
@Override
public void init() {
follower = new Follower(hardwareMap);
claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
motors = new MotorsSubsystem(hardwareMap, telemetry);
lift = new LiftSubsystem(hardwareMap);
claw.init();
arm.init();
wrist.init();
lift.init();
motors.init();
currentGamepad1 = new Gamepad();
previousGamepad1 = new Gamepad();
currentGamepad2 = new Gamepad();
previousGamepad2 = new Gamepad();
follower.setMaxPower(this.power);
follower.startTeleopDrive();
}
public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.a && !previousGamepad1.a) {
wrist.floorWrist();
arm.engageArm();
}
}
public void thePickup(ClawSubsystem claw) {
if (currentGamepad1.x && !previousGamepad1.x) {
claw.switchState();
}
}
public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.b && !previousGamepad1.b) {
arm.parkArm();
wrist.bucketWrist();
}
}
public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad1.y && !previousGamepad1.y) {
lift.toLowBucket();
wrist.bucketWrist();
}
}
@Override
public void loop() {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
theDrop(arm, wrist);
thePickup(claw);
theLift(arm, wrist);
theLowBucketScore(lift, wrist, arm);
follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
follower.update();
}
}

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java Normal file
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package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
public class MotorsSubsystem {
public HardwareMap hardwareMap;
public Telemetry telemetry;
public DcMotor frontLeftMotor;
public DcMotor backLeftMotor;
public DcMotor frontRightMotor;
public DcMotor backRightMotor;
public double power;
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = 1.0;
}
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = power;
}
public void init() {
frontLeftMotor = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
backLeftMotor = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
frontLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
}
public void setFrontLeftMotorPower(double power) {
frontLeftMotor.setPower(power);
}
public void setBackLeftMotorPower(double power) {
backLeftMotor.setPower(power);
}
public void setFrontRightMotorPower(double power) {
frontRightMotor.setPower(power);
}
public void setBackRightMotorPower(double power) {
backRightMotor.setPower(power);
}
public void calculateTrajectory(Gamepad gamepad1) {
double max;
// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
double lateral = gamepad1.left_stick_x;
double yaw = gamepad1.right_stick_x;
// Combine the joystick requests for each axis-motion to determine each wheel's power.
// Set up a variable for each drive wheel to save the power level for telemetry.
double leftFrontPower = axial + lateral + yaw;
double leftBackPower = axial - lateral + yaw;
double rightFrontPower = axial - lateral - yaw;
double rightBackPower = axial + lateral - yaw;
// Normalize the values so no wheel power exceeds 100%
// This ensures that the robot maintains the desired motion.
max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
max = Math.max(max, Math.abs(leftBackPower));
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
// Send calculated power to wheels
this.setFrontLeftMotorPower(leftFrontPower * this.power);
this.setFrontRightMotorPower(rightFrontPower * this.power);
this.setBackLeftMotorPower(leftBackPower * this.power);
this.setBackRightMotorPower(rightBackPower * this.power);
// Show the elapsed game time and wheel power.
this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
this.telemetry.update();
}
}