SCDS/FTCRoadRunnerRobotics
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Added encoder naming and usage

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This commit is contained in:
Carlos Rivas
2024-10-01 10:19:40 -07:00
parent 552ff3f339
commit 3950a83ac1
2 changed files with 36 additions and 3 deletions
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33
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
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@ -30,6 +30,8 @@
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;
@ -38,12 +40,19 @@ 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 org.firstinspires.ftc.teamcode.PedroConstants.*;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
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;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;
/*
@ -83,6 +92,9 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
private DcMotor leftBackDrive = null;
private DcMotor rightFrontDrive = null;
private DcMotor rightBackDrive = null;
private Encoder leftEncoder;
private Encoder rightEncoder;
private Encoder strafeEncoder;
@Override
public void runOpMode() {
@ -109,6 +121,20 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_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);
leftEncoder.reset();
rightEncoder.reset();
strafeEncoder.reset();
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
telemetry.update();
@ -168,10 +194,17 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
leftBackDrive.setPower(leftBackPower);
rightBackDrive.setPower(rightBackPower);
leftEncoder.update();
rightEncoder.update();
strafeEncoder.update();
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
telemetry.addData("Encoder Left", leftEncoder.getDeltaPosition());
telemetry.addData("Encoder Right", rightEncoder.getDeltaPosition());
telemetry.addData("Encoder Back (Right is +)", strafeEncoder.getDeltaPosition());
telemetry.update();
}
}}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -33,9 +33,9 @@ public class PedroConstants {
= RevHubOrientationOnRobot.UsbFacingDirection.UP;
// Robot encoders
public static final String LEFT_ENCODER = "front-left";
public static final String RIGHT_ENCODER = "front-right";
public static final String BACK_ENCODER = "back-left";
public static final String LEFT_ENCODER = "encoder-left";
public static final String RIGHT_ENCODER = "encoder-right";
public static final String BACK_ENCODER = "encoder-back";
// Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;