diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java new file mode 100644 index 0000000..16f97c0 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java @@ -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(); + } + }} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java index c4c33f0..a238c58 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java @@ -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;