SCDS/FTCRoadRunnerRobotics
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Added debugging for encoder logic

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This commit is contained in:
Carlos Rivas
2024-10-22 22:44:55 -07:00
parent 7a028835f8
commit 1c4b3723c3
1 changed files with 37 additions and 36 deletions
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73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
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@ -29,8 +29,6 @@
package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
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;
@ -39,12 +37,7 @@ 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 static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
@ -81,12 +74,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
@TeleOp(name = "Basic: Omni Linear OpMode", group = "Linear OpMode")
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
private Encoder leftFront;
private Encoder rightFront;
private Encoder leftRear;
private Encoder rightRear;
@Override
public void runOpMode() {
@ -97,18 +93,12 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
// TODO: replace these with your encoder ports
Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
// ########################################################################################
@ -124,11 +114,20 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
leftFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftFrontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftBackDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightFrontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightBackDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
telemetry.update();
waitForStart();
@ -139,16 +138,16 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
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;
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 leftFrontPower = axial + lateral + yaw;
double rightFrontPower = axial - lateral - yaw;
double leftBackPower = axial - lateral + yaw;
double rightBackPower = axial + lateral - yaw;
double leftBackPower = 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.
@ -157,10 +156,10 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
// This is test code:
@ -187,12 +186,14 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightBackDrive.setPower(rightBackPower);
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Status", "Run Time: " + runtime);
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
telemetry.addData("Encoder Front Left", leftFrontDrive.getDirection() + " : " + leftFrontDrive.getCurrentPosition());
telemetry.addData("Encoder Front Right", rightFrontDrive.getCurrentPosition());
telemetry.addData("Encoder Back Left", leftBackDrive.getCurrentPosition());
telemetry.addData("Encoder Back Right", rightBackDrive.getCurrentPosition());
telemetry.update();
}
}}
}
}