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Add sample driving file

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carlos
2024-10-17 11:12:34 -07:00
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java Normal file
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/* 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
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*
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* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
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*
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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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 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")
@Disabled
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();
}
}}