From 99099bf78ff6ca7b03c51f525c2c4d6d25c1c6c1 Mon Sep 17 00:00:00 2001 From: Carlos Date: Sun, 20 Oct 2024 17:08:05 -0700 Subject: [PATCH] Changing paths a bit, 3-wheel w/o IMU. This checks out --- .../ftc/teamcode/BasicOmniOpMode_Linear.java | 40 +++- .../ftc/teamcode/PedroConstants.java | 6 +- .../ftc/teamcode/SensorIMUOrthogonal.java | 171 ++++++++++++++++++ .../ftc/teamcode/pedroPathing/TUNING.md | 3 +- .../localization/PoseUpdater.java | 2 +- .../localizers/ThreeWheelLocalizer.java | 21 ++- 6 files changed, 225 insertions(+), 18 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorIMUOrthogonal.java 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 index f323723..835606a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java @@ -29,17 +29,30 @@ 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; +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 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; +import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.util.ElapsedTime; +import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder; + /* * 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. @@ -77,6 +90,9 @@ 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() { @@ -88,6 +104,16 @@ public class BasicOmniOpMode_Linear extends LinearOpMode { rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR); rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR); + // 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); + // ######################################################################################## // !!! IMPORTANT Drive Information. Test your motor directions. !!!!! // ######################################################################################## @@ -98,13 +124,16 @@ public class BasicOmniOpMode_Linear extends LinearOpMode { // 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(DcMotor.Direction.REVERSE); - leftBackDrive.setDirection(DcMotor.Direction.REVERSE); - rightFrontDrive.setDirection(DcMotor.Direction.REVERSE); - rightBackDrive.setDirection(DcMotor.Direction.REVERSE); + 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.addData("Left Encoder Value", leftEncoder.getDeltaPosition()); + telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition()); + telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition()); telemetry.update(); waitForStart(); @@ -166,6 +195,9 @@ public class BasicOmniOpMode_Linear extends LinearOpMode { 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("Left Encoder Value", leftEncoder.getDeltaPosition()); + telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition()); + telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition()); 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 d0846bd..4e98812 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java @@ -22,8 +22,8 @@ public class PedroConstants { // Robot motor direction public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE; public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE; - public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.REVERSE; - public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.REVERSE; + public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD; + public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD; // Robot IMU configuration public static final String IMU = "imu"; @@ -42,7 +42,7 @@ public class PedroConstants { // Robot encoder direction public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD; public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD; - public static final double BACK_ENCODER_DIRECTION = Encoder.REVERSE; + public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD; /* Pedro's parameters diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorIMUOrthogonal.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorIMUOrthogonal.java new file mode 100644 index 0000000..d9640b3 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorIMUOrthogonal.java @@ -0,0 +1,171 @@ +/* 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.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.IMU_LOGO_FACING_DIRECTION; +import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_USB_FACING_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.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.DcMotorEx; +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; +import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder; + +/* + * This OpMode shows how to use the new universal 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". + * + * The sample will display the current Yaw, Pitch and Roll of the robot.
+ * With the correct orientation parameters selected, pitch/roll/yaw should act as follows: + * Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X)
+ * Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y)
+ * Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z)
+ * + * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller) + * + * 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. + * + * 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. + * + * This "Orthogonal" requirement means that: + * + * 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. + * + * 2) The USB ports can only be pointing in one of the same six directions:
+ * FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT. + * + * So, To fully define how your Hub is mounted to the robot, you must simply specify:
+ * logoFacingDirection
+ * usbFacingDirection + * + * 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. + * + * 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; + private Encoder leftEncoder; + private Encoder rightEncoder; + private Encoder strafeEncoder; + + //---------------------------------------------------------------------------------------------- + // 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, PedroConstants.IMU); + + // 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); + + /* 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. + * + * If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the + * RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection. + */ + + /* 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 = IMU_LOGO_FACING_DIRECTION; + RevHubOrientationOnRobot.UsbFacingDirection usbDirection = IMU_USB_FACING_DIRECTION; + + 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(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md index bd22f46..c7fa481 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md @@ -71,7 +71,8 @@ measurements will be in centimeters. of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but what works best for you is most important. Higher numbers will cause a faster brake, but increase oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in - `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference, + `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more +* sensitive than the others. For reference, my P values were in the hundredths and thousandths place values, and my D values were in the hundred thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and `useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth` diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java index ad74928..3576f9d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java @@ -70,7 +70,7 @@ public class PoseUpdater { */ public PoseUpdater(HardwareMap hardwareMap) { // TODO: replace the second argument with your preferred localizer - this(hardwareMap, new DriveEncoderLocalizer(hardwareMap)); + this(hardwareMap, new ThreeWheelLocalizer(hardwareMap)); } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java index b1d5c54..9f850c6 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java @@ -57,9 +57,12 @@ public class ThreeWheelLocalizer extends Localizer { private Pose rightEncoderPose; private Pose strafeEncoderPose; private double totalHeading; - public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963; - public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659; - public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5; +// public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963; + public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963; +// public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659; + public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659; +// public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5; + public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5; /** * This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0) @@ -80,9 +83,9 @@ public class ThreeWheelLocalizer extends Localizer { */ public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) { // TODO: replace these with your encoder positions - leftEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0); - rightEncoderPose = new Pose(-18.4/25.4 - 0.1, -159.6/25.4, 0); - strafeEncoderPose = new Pose(0*(-107.9/25.4+8)+-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90)); + leftEncoderPose = new Pose(0, 6.19375, 0); + rightEncoderPose = new Pose(0, -6.19375, 0); + strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90)); hardwareMap = map; @@ -92,9 +95,9 @@ public class ThreeWheelLocalizer extends Localizer { strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER)); // TODO: reverse any encoders necessary - //leftEncoder.setDirection(Encoder.REVERSE); - // rightEncoder.setDirection(Encoder.REVERSE); - //strafeEncoder.setDirection(Encoder.FORWARD); + leftEncoder.setDirection(LEFT_ENCODER_DIRECTION); + rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION); + strafeEncoder.setDirection(BACK_ENCODER_DIRECTION); setStartPose(setStartPose); timer = new NanoTimer();