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FtcRobotController v8.1

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Cal Kestis
2022-11-21 14:53:43 -08:00
parent 2390680ce6
commit 35d4aa7192
10 changed files with 611 additions and 20 deletions
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4
FtcRobotController/src/main/AndroidManifest.xml
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@ -1,8 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:versionCode="47"
android:versionName="8.0">
android:versionCode="48"
android:versionName="8.1">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExploringIMUOrientation.java vendored Normal file
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/*
Copyright (c) 2022 REV Robotics, FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted (subject to the limitations in the disclaimer below) provided that
the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
Neither the name of REV Robotics nor the names of its contributors may be used to
endorse or promote products derived from this software without specific prior
written permission.
NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
/**
* This file demonstrates the impact of setting the IMU orientation correctly or incorrectly. This
* code assumes there is an IMU configured with the name "imu".
* <p>
* Note: This OpMode is more of a tool than a code sample. The User Interface portion of this code
* goes beyond simply showing how to interface to the IMU.<br>
* For a minimal example of interfacing to an IMU, please see the SensorIMUOrthogonal or SensorIMUNonOrthogonal sample OpModes.
* <p>
* This sample enables you to re-specify the Hub Mounting orientation dynamically by using gamepad controls.
* While doing so, the sample will display how Pitch, Roll and Yaw angles change as the hub is moved.
* <p>
* The gamepad controls let you change the two parameters that specify how the Control/Expansion Hub is mounted. <br>
* The first parameter specifies which direction the printed logo on the Hub is pointing. <br>
* The second parameter specifies which direction the USB connector on the Hub is pointing. <br>
* All directions are relative to the robot, and left/right is as viewed from behind the robot.
* <p>
* How will you know if you have chosen the correct Orientation? With the correct orientation
* parameters selected, pitch/roll/yaw should act as follows:
* <p>
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
* <p>
* The Yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
* <p>
* The rotational velocities should follow the change in corresponding axes.
*/
@TeleOp(name="Concept: IMU Orientation", group="Concept")
@Disabled
public class ConceptExploringIMUOrientation extends LinearOpMode {
static RevHubOrientationOnRobot.LogoFacingDirection[] logoFacingDirections
= RevHubOrientationOnRobot.LogoFacingDirection.values();
static RevHubOrientationOnRobot.UsbFacingDirection[] usbFacingDirections
= RevHubOrientationOnRobot.UsbFacingDirection.values();
static int LAST_DIRECTION = logoFacingDirections.length - 1;
static float TRIGGER_THRESHOLD = 0.2f;
IMU imu;
int logoFacingDirectionPosition;
int usbFacingDirectionPosition;
boolean orientationIsValid = true;
@Override public void runOpMode() throws InterruptedException {
imu = hardwareMap.get(IMU.class, "imu");
logoFacingDirectionPosition = 0; // Up
usbFacingDirectionPosition = 2; // Forward
updateOrientation();
boolean justChangedLogoDirection = false;
boolean justChangedUsbDirection = false;
// Loop until stop requested
while (!isStopRequested()) {
// Check to see if Yaw reset is requested (Y button)
if (gamepad1.y) {
telemetry.addData("Yaw", "Resetting\n");
imu.resetYaw();
} else {
telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset.\n");
}
// Check to see if new Logo Direction is requested
if (gamepad1.left_bumper || gamepad1.right_bumper) {
if (!justChangedLogoDirection) {
justChangedLogoDirection = true;
if (gamepad1.left_bumper) {
logoFacingDirectionPosition--;
if (logoFacingDirectionPosition < 0) {
logoFacingDirectionPosition = LAST_DIRECTION;
}
} else {
logoFacingDirectionPosition++;
if (logoFacingDirectionPosition > LAST_DIRECTION) {
logoFacingDirectionPosition = 0;
}
}
updateOrientation();
}
} else {
justChangedLogoDirection = false;
}
// Check to see if new USB Direction is requested
if (gamepad1.left_trigger > TRIGGER_THRESHOLD || gamepad1.right_trigger > TRIGGER_THRESHOLD) {
if (!justChangedUsbDirection) {
justChangedUsbDirection = true;
if (gamepad1.left_trigger > TRIGGER_THRESHOLD) {
usbFacingDirectionPosition--;
if (usbFacingDirectionPosition < 0) {
usbFacingDirectionPosition = LAST_DIRECTION;
}
} else {
usbFacingDirectionPosition++;
if (usbFacingDirectionPosition > LAST_DIRECTION) {
usbFacingDirectionPosition = 0;
}
}
updateOrientation();
}
} else {
justChangedUsbDirection = false;
}
// Display User instructions and IMU data
telemetry.addData("logo Direction (set with bumpers)", logoFacingDirections[logoFacingDirectionPosition]);
telemetry.addData("usb Direction (set with triggers)", usbFacingDirections[usbFacingDirectionPosition] + "\n");
if (orientationIsValid) {
YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
} else {
telemetry.addData("Error", "Selected orientation on robot is invalid");
}
telemetry.update();
}
}
// apply any requested orientation changes.
void updateOrientation() {
RevHubOrientationOnRobot.LogoFacingDirection logo = logoFacingDirections[logoFacingDirectionPosition];
RevHubOrientationOnRobot.UsbFacingDirection usb = usbFacingDirections[usbFacingDirectionPosition];
try {
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logo, usb);
imu.initialize(new IMU.Parameters(orientationOnRobot));
orientationIsValid = true;
} catch (IllegalArgumentException e) {
orientationIsValid = false;
}
}
}

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java vendored
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@ -49,13 +49,16 @@ import java.util.Locale;
/**
* {@link SensorBNO055IMU} gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*
* @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
*/
@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
@Disabled // Comment this out to add to the opmode list
@Disabled // Comment this out to add to the opmode list
public class SensorBNO055IMU extends LinearOpMode
{
//----------------------------------------------------------------------------------------------

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java vendored
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@ -50,6 +50,9 @@ import java.util.Locale;
* {@link SensorBNO055IMUCalibration} calibrates the IMU accelerometer per
* "Section 3.11 Calibration" of the BNO055 specification.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* <p>Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer
* (which is not used by the default {@link BNO055IMU.SensorMode#IMU
* SensorMode#IMU}), the BNO055 is internally self-calibrating and thus can be very successfully

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUNonOrthogonal.java vendored Normal file
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/* Copyright (c) 2022 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
/**
* {@link SensorIMUNonOrthogonal} shows how to use the new universal {@link IMU} interface. This
* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
* on the robot with the name "imu".
* <p>
* The sample will display the current Yaw, Pitch and Roll of the robot.<br>
* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
* <p>
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
* <p>
* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
* <p>
* This specific sample DOES NOT assume that the Hub is mounted on one of the three orthogonal
* planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments.
* <p>
* Note: if your Hub is mounted Orthogonally (on a orthogonal surface, angled at some multiple of
* 90 Degrees) then you should use the simpler SensorImuOrthogonal sample in this folder.
* <p>
* But... If your Hub is mounted Non-Orthogonally, you must specify one or more rotational angles
* that transform a "Default" Hub orientation into your desired orientation. That is what is
* illustrated here.
* <p>
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
* <p>
* Finally, edit this OpMode to use at least one angle around an axis to orient your Hub.
*/
@TeleOp(name = "Sensor: IMU Non-Orthogonal", group = "Sensor")
@Disabled // Comment this out to add to the OpMode list
public class SensorIMUNonOrthogonal extends LinearOpMode
{
// The IMU sensor object
IMU imu;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() throws InterruptedException {
// Retrieve and initialize the IMU.
// This sample expects the IMU to be in a REV Hub and named "imu".
imu = hardwareMap.get(IMU.class, "imu");
/* Define how the hub is mounted to the robot to get the correct Yaw, Pitch and Roll values.
*
* You can apply up to three axis rotations to orient your Hub according to how it's mounted on the robot.
*
* The starting point for these rotations is the "Default" Hub orientation, which is:
* 1) Hub laying flat on a horizontal surface, with the Printed Logo facing UP
* 2) Rotated such that the USB ports are facing forward on the robot.
*
* The order that the rotations are performed matters, so this sample shows doing them in the order X, Y, then Z.
* For specifying non-orthogonal hub mounting orientations, we must temporarily use axes
* defined relative to the Hub itself, instead of the usual Robot Coordinate System axes
* used for the results the IMU gives us. In the starting orientation, the Hub axes are
* aligned with the Robot Coordinate System:
*
* X Axis: Starting at Center of Hub, pointing out towards I2C connectors
* Y Axis: Starting at Center of Hub, pointing out towards USB connectors
* Z Axis: Starting at Center of Hub, pointing Up through LOGO
*
* Positive rotation is defined by right-hand rule with thumb pointing in +ve direction on axis.
*
* Some examples.
*
* ----------------------------------------------------------------------------------------------------------------------------------
* Example A) Assume that the hub is mounted on a sloped plate at the back of the robot, with the USB ports coming out the top of the hub.
* The plate is tilted UP 60 degrees from horizontal.
*
* To get the "Default" hub into this configuration you would just need a single rotation.
* 1) Rotate the Hub +60 degrees around the X axis to tilt up the front edge.
* 2) No rotation around the Y or Z axes.
*
* So the X,Y,Z rotations would be 60,0,0
*
* ----------------------------------------------------------------------------------------------------------------------------------
* Example B) Assume that the hub is laying flat on the chassis, but it has been twisted 30 degrees towards the right front wheel to make
* the USB cable accessible.
*
* To get the "Default" hub into this configuration you would just need a single rotation, but around a different axis.
* 1) No rotation around the X or Y axes.
* 1) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
*
* So the X,Y,Z rotations would be 0,0,-30
*
* ----------------------------------------------------------------------------------------------------------------------------------
* Example C) Assume that the hub is mounted on a vertical plate on the right side of the robot, with the Logo facing out, and the
* Hub rotated so that the USB ports are facing down 30 degrees towards the back wheels of the robot.
*
* To get the "Default" hub into this configuration will require several rotations.
* 1) Rotate the hub +90 degrees around the X axis to get it standing upright with the logo pointing backwards on the robot
* 2) Next, rotate the hub +90 around the Y axis to get it facing to the right.
* 3) Finally rotate the hub +120 degrees around the Z axis to take the USB ports from vertical to sloping down 30 degrees and
* facing towards the back of the robot.
*
* So the X,Y,Z rotations would be 90,90,120
*/
// The next three lines define the desired axis rotations.
// To Do: EDIT these values to match YOUR mounting configuration.
double xRotation = 0; // enter the desired X rotation angle here.
double yRotation = 0; // enter the desired Y rotation angle here.
double zRotation = 0; // enter the desired Z rotation angle here.
Orientation hubRotation = xyzOrientation(xRotation, yRotation, zRotation);
// Now initialize the IMU with this mounting orientation
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(hubRotation);
imu.initialize(new IMU.Parameters(orientationOnRobot));
// Loop and update the dashboard
while (!isStopRequested()) {
telemetry.addData("Hub orientation", "X=%.1f, Y=%.1f, Z=%.1f \n", xRotation, yRotation, zRotation);
// Check to see if heading reset is requested
if (gamepad1.y) {
telemetry.addData("Yaw", "Resetting\n");
imu.resetYaw();
} else {
telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
}
// Retrieve Rotational Angles and Velocities
YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
telemetry.update();
}
}
}

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FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUOrthogonal.java vendored Normal file
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/* Copyright (c) 2022 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
/**
* {@link SensorIMUOrthogonal} shows how to use the new universal {@link IMU} interface. This
* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
* on the robot with the name "imu".
* <p>
* The sample will display the current Yaw, Pitch and Roll of the robot.<br>
* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
* <p>
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
* <p>
* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
* <p>
* This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
* (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
* <p>
* Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
* the alternative SensorImuNonOrthogonal sample in this folder.
* <p>
* This "Orthogonal" requirement means that:
* <p>
* 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
* FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
* <p>
* 2) The USB ports can only be pointing in one of the same six directions:<br>
* FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
* <p>
* So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
* logoFacingDirection<br>
* usbFacingDirection
* <p>
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
* <p>
* Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
* to use those parameters.
*/
@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
@Disabled // Comment this out to add to the OpMode list
public class SensorIMUOrthogonal extends LinearOpMode
{
// The IMU sensor object
IMU imu;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() throws InterruptedException {
// Retrieve and initialize the IMU.
// This sample expects the IMU to be in a REV Hub and named "imu".
imu = hardwareMap.get(IMU.class, "imu");
/* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
*
* Two input parameters are required to fully specify the Orientation.
* The first parameter specifies the direction the printed logo on the Hub is pointing.
* The second parameter specifies the direction the USB connector on the Hub is pointing.
* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
*/
/* The next two lines define Hub orientation.
* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
*
* To Do: EDIT these two lines to match YOUR mounting configuration.
*/
RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
RevHubOrientationOnRobot.UsbFacingDirection usbDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
// Now initialize the IMU with this mounting orientation
// Note: if you choose two conflicting directions, this initialization will cause a code exception.
imu.initialize(new IMU.Parameters(orientationOnRobot));
// Loop and update the dashboard
while (!isStopRequested()) {
telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection);
// Check to see if heading reset is requested
if (gamepad1.y) {
telemetry.addData("Yaw", "Resetting\n");
imu.resetYaw();
} else {
telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
}
// Retrieve Rotational Angles and Velocities
YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
telemetry.update();
}
}
}