Re-wired and reconfigured
This commit is contained in:
@ -0,0 +1,177 @@
|
||||
/* Copyright (c) 2021 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.teamcode;
|
||||
|
||||
|
||||
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 org.firstinspires.ftc.teamcode.PedroConstants.*;
|
||||
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.util.ElapsedTime;
|
||||
|
||||
/*
|
||||
* This file contains an example of a Linear "OpMode".
|
||||
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
|
||||
* The names of OpModes appear on the menu of the FTC Driver Station.
|
||||
* When a selection is made from the menu, the corresponding OpMode is executed.
|
||||
*
|
||||
* This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
|
||||
* This code will work with either a Mecanum-Drive or an X-Drive train.
|
||||
* Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
|
||||
* Note that a Mecanum drive must display an X roller-pattern when viewed from above.
|
||||
*
|
||||
* Also note that it is critical to set the correct rotation direction for each motor. See details below.
|
||||
*
|
||||
* Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
|
||||
* Each motion axis is controlled by one Joystick axis.
|
||||
*
|
||||
* 1) Axial: Driving forward and backward Left-joystick Forward/Backward
|
||||
* 2) Lateral: Strafing right and left Left-joystick Right and Left
|
||||
* 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left
|
||||
*
|
||||
* This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
|
||||
* When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
|
||||
* the direction of all 4 motors (see code below).
|
||||
*
|
||||
* 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
|
||||
*/
|
||||
|
||||
@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 ElapsedTime runtime = new ElapsedTime();
|
||||
private DcMotor leftFrontDrive = null;
|
||||
private DcMotor leftBackDrive = null;
|
||||
private DcMotor rightFrontDrive = null;
|
||||
private DcMotor rightBackDrive = null;
|
||||
|
||||
@Override
|
||||
public void runOpMode() {
|
||||
|
||||
// Initialize the hardware variables. Note that the strings used here must correspond
|
||||
// to the names assigned during the robot configuration step on the DS or RC devices.
|
||||
leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
|
||||
leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
|
||||
rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
|
||||
rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
|
||||
|
||||
// ########################################################################################
|
||||
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
|
||||
// ########################################################################################
|
||||
// Most robots need the motors on one side to be reversed to drive forward.
|
||||
// The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
|
||||
// If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
|
||||
// that your motors are turning in the correct direction. So, start out with the reversals here, BUT
|
||||
// when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
|
||||
// Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
|
||||
// Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
|
||||
leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
|
||||
leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
|
||||
rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
|
||||
rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
|
||||
|
||||
// Wait for the game to start (driver presses START)
|
||||
telemetry.addData("Status", "Initialized");
|
||||
telemetry.update();
|
||||
|
||||
waitForStart();
|
||||
runtime.reset();
|
||||
|
||||
// run until the end of the match (driver presses STOP)
|
||||
while (opModeIsActive()) {
|
||||
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 rightFrontPower = 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.
|
||||
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;
|
||||
}
|
||||
|
||||
// This is test code:
|
||||
//
|
||||
// Uncomment the following code to test your motor directions.
|
||||
// Each button should make the corresponding motor run FORWARD.
|
||||
// 1) First get all the motors to take to correct positions on the robot
|
||||
// by adjusting your Robot Configuration if necessary.
|
||||
// 2) Then make sure they run in the correct direction by modifying the
|
||||
// the setDirection() calls above.
|
||||
// Once the correct motors move in the correct direction re-comment this code.
|
||||
|
||||
|
||||
// leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad
|
||||
// leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad
|
||||
// rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad
|
||||
// rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad
|
||||
|
||||
|
||||
// Send calculated power to wheels
|
||||
leftFrontDrive.setPower(leftFrontPower);
|
||||
rightFrontDrive.setPower(rightFrontPower);
|
||||
leftBackDrive.setPower(leftBackPower);
|
||||
rightBackDrive.setPower(rightBackPower);
|
||||
|
||||
// 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.update();
|
||||
}
|
||||
}}
|
||||
@ -12,10 +12,10 @@ public class PedroConstants {
|
||||
*/
|
||||
|
||||
// Robot motor configurations
|
||||
public static final String FRONT_LEFT_MOTOR = "Drive front lt";
|
||||
public static final String BACK_LEFT_MOTOR = "Drive back lt";
|
||||
public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
|
||||
public static final String BACK_RIGHT_MOTOR = "Drive back rt";
|
||||
public static final String FRONT_LEFT_MOTOR = "front-left";
|
||||
public static final String BACK_LEFT_MOTOR = "back-left";
|
||||
public static final String FRONT_RIGHT_MOTOR = "front-right";
|
||||
public static final String BACK_RIGHT_MOTOR = "back-right";
|
||||
|
||||
// Robot motor direction
|
||||
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
|
||||
@ -28,14 +28,14 @@ public class PedroConstants {
|
||||
|
||||
// Robot IMU placement
|
||||
public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
|
||||
= RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
|
||||
= RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
|
||||
public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
|
||||
= RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
|
||||
= RevHubOrientationOnRobot.UsbFacingDirection.UP;
|
||||
|
||||
// Robot encoders
|
||||
public static final String LEFT_ENCODER = "encoder left";
|
||||
public static final String RIGHT_ENCODER = "encoder right";
|
||||
public static final String BACK_ENCODER = "encoder back";
|
||||
public static final String LEFT_ENCODER = "front-left";
|
||||
public static final String RIGHT_ENCODER = "front-right";
|
||||
public static final String BACK_ENCODER = "back-left";
|
||||
|
||||
// Robot encoder direction
|
||||
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
|
||||
|
||||
Reference in New Issue
Block a user