Silver Branch Code
This commit is contained in:
robotics1
@ -1,210 +0,0 @@
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/* Copyright (c) 2021 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
|
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* Redistributions in binary form must reproduce the above copyright notice, this
|
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
|
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.teamcode;
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import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
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import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
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import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
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import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
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import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
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import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
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import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
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import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
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import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
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import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
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import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
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import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
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import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
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import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
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import org.firstinspires.ftc.teamcode.PedroConstants.*;
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import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.util.ElapsedTime;
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/*
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* This file contains an example of a Linear "OpMode".
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* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
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* The names of OpModes appear on the menu of the FTC Driver Station.
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* When a selection is made from the menu, the corresponding OpMode is executed.
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*
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* This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
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* This code will work with either a Mecanum-Drive or an X-Drive train.
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* Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
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* Note that a Mecanum drive must display an X roller-pattern when viewed from above.
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*
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* Also note that it is critical to set the correct rotation direction for each motor. See details below.
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*
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* Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
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* Each motion axis is controlled by one Joystick axis.
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*
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* 1) Axial: Driving forward and backward Left-joystick Forward/Backward
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* 2) Lateral: Strafing right and left Left-joystick Right and Left
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* 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left
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*
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* This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
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* When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
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* the direction of all 4 motors (see code below).
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
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*/
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@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
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public class BasicOmniOpMode_Linear extends LinearOpMode {
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// Declare OpMode members for each of the 4 motors.
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private ElapsedTime runtime = new ElapsedTime();
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private DcMotor leftFrontDrive = null;
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private DcMotor leftBackDrive = null;
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private DcMotor rightFrontDrive = null;
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private DcMotor rightBackDrive = null;
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private Encoder leftEncoder;
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private Encoder rightEncoder;
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private Encoder strafeEncoder;
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@Override
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public void runOpMode() {
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// Initialize the hardware variables. Note that the strings used here must correspond
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// to the names assigned during the robot configuration step on the DS or RC devices.
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leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
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leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
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rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
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rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
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// ########################################################################################
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// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
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// ########################################################################################
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// Most robots need the motors on one side to be reversed to drive forward.
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// The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
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// If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
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// that your motors are turning in the correct direction. So, start out with the reversals here, BUT
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// when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
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// Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
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// Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
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leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
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leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
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rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
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rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
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// TODO: replace these with your encoder ports
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leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
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rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
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strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
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// TODO: reverse any encoders necessary
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leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
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rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
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strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
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leftEncoder.reset();
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rightEncoder.reset();
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strafeEncoder.reset();
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// Wait for the game to start (driver presses START)
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telemetry.addData("Status", "Initialized");
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telemetry.update();
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waitForStart();
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runtime.reset();
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// run until the end of the match (driver presses STOP)
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while (opModeIsActive()) {
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double max;
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// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
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double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
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double lateral = gamepad1.left_stick_x;
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double yaw = gamepad1.right_stick_x;
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// Combine the joystick requests for each axis-motion to determine each wheel's power.
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// Set up a variable for each drive wheel to save the power level for telemetry.
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double leftFrontPower = axial + lateral + yaw;
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double rightFrontPower = axial - lateral - yaw;
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double leftBackPower = axial - lateral + yaw;
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double rightBackPower = axial + lateral - yaw;
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// Normalize the values so no wheel power exceeds 100%
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// This ensures that the robot maintains the desired motion.
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max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
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max = Math.max(max, Math.abs(leftBackPower));
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max = Math.max(max, Math.abs(rightBackPower));
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if (max > 1.0) {
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leftFrontPower /= max;
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rightFrontPower /= max;
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leftBackPower /= max;
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rightBackPower /= max;
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}
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// This is test code:
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//
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// Uncomment the following code to test your motor directions.
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// Each button should make the corresponding motor run FORWARD.
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// 1) First get all the motors to take to correct positions on the robot
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// by adjusting your Robot Configuration if necessary.
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// 2) Then make sure they run in the correct direction by modifying the
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// the setDirection() calls above.
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// Once the correct motors move in the correct direction re-comment this code.
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// leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad
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// leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad
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// rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad
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// rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad
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// Send calculated power to wheels
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leftFrontDrive.setPower(leftFrontPower);
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rightFrontDrive.setPower(rightFrontPower);
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leftBackDrive.setPower(leftBackPower);
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rightBackDrive.setPower(rightBackPower);
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leftEncoder.update();
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rightEncoder.update();
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strafeEncoder.update();
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// Show the elapsed game time and wheel power.
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telemetry.addData("Status", "Run Time: " + runtime.toString());
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telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
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telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
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telemetry.addData("Encoder Left", leftEncoder.getDeltaPosition());
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telemetry.addData("Encoder Right", rightEncoder.getDeltaPosition());
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telemetry.addData("Encoder Back (Right is +)", strafeEncoder.getDeltaPosition());
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telemetry.update();
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}
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}}
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@ -40,7 +40,7 @@ public class PedroConstants {
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// Robot encoder direction
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public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
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public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
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public static final double BACK_ENCODER_DIRECTION = Encoder.REVERSE;
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public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
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// Arm config
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public static final String SLIDE_MOTOR = "SlideMotor";
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@ -53,24 +53,24 @@ public class PedroConstants {
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*/
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// The weight of the robot in Kilograms
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public static final double ROBOT_WEIGHT_IN_KG = 10.5;
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public static final double ROBOT_WEIGHT_IN_KG = 9;
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// Maximum velocity of the robot going forward
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public static final double ROBOT_SPEED_FORWARD = 79.0257;
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public static final double ROBOT_SPEED_FORWARD = 51.5;
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// Maximum velocity of the robot going right
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public static final double ROBOT_SPEED_LATERAL = 12.3941;
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public static final double ROBOT_SPEED_LATERAL = 28.7;
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// Rate of deceleration when power is cut-off when the robot is moving forward
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public static final double FORWARD_ZERO_POWER_ACCEL = -50.7945;
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public static final double FORWARD_ZERO_POWER_ACCEL = -59.8;
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// Rate of deceleration when power is cut-off when the robot is moving to the right
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public static final double LATERAL_ZERO_POWER_ACCEL = -92.733;
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public static final double LATERAL_ZERO_POWER_ACCEL = -99.7;
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// Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
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public static final double ZERO_POWER_ACCEL_MULT = 2.5;
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public static final double ZERO_POWER_ACCEL_MULT = 3.5;
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/* Centripetal force correction - increase if robot is correcting into the path
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- decrease if robot is correcting away from the path */
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public static final double CENTRIPETAL_SCALING = 0.0005;
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public static final double CENTRIPETAL_SCALING = 0.0004;
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}
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@ -35,7 +35,7 @@ public class BlueBasketAuto extends OpMode {
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private PathChain path;
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private final Pose startPose = new Pose(11.25, 95.75);
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private final Pose startPose = new Pose(11.25, 95.75, 0);
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/**
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* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
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@ -140,7 +140,7 @@ public class BlueBasketAuto extends OpMode {
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)
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)
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.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
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follower.followPath(path);
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follower.followPath(path, true);
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telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
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telemetryA.update();
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@ -154,7 +154,7 @@ public class BlueBasketAuto extends OpMode {
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public void loop() {
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follower.update();
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if (follower.atParametricEnd()) {
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follower.followPath(path);
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follower.followPath(path, true);
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}
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follower.telemetryDebug(telemetryA);
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}
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@ -69,7 +69,7 @@ public class PoseUpdater {
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*/
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public PoseUpdater(HardwareMap hardwareMap) {
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// TODO: replace the second argument with your preferred localizer
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this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
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this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
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}
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/**
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@ -65,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
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private double previousIMUOrientation;
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private double deltaRadians;
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private double totalHeading;
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public static double FORWARD_TICKS_TO_INCHES = 0.004;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
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public static double STRAFE_TICKS_TO_INCHES = -0.0036;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
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public static double TURN_TICKS_TO_RADIANS = 0.0043;//8192 * 1.37795 * 2 * Math.PI * 0.5;
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public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
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public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
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public static double TURN_TICKS_TO_RADIANS = 0.0022;//8192 * 1.37795 * 2 * Math.PI * 0.5;
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public static boolean useIMU = true;
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@ -96,9 +96,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
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imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(IMU_LOGO_FACING_DIRECTION, IMU_USB_FACING_DIRECTION)));
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// TODO: replace these with your encoder positions
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leftEncoderPose = new Pose(-7.625, 6.19375, 0);
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rightEncoderPose = new Pose(-7.625, -6.19375, 0);
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strafeEncoderPose = new Pose(7, 1, Math.toRadians(90));
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leftEncoderPose = new Pose(0, 6.19375, 0);
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rightEncoderPose = new Pose(0, -6.19375, 0);
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strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
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// TODO: replace these with your encoder ports
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leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
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||||
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@ -57,9 +57,9 @@ public class ThreeWheelLocalizer extends Localizer {
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private Pose rightEncoderPose;
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private Pose strafeEncoderPose;
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private double totalHeading;
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public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
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||||
public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
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public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5;
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||||
public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
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||||
public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
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||||
public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5;
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||||
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||||
/**
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* This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
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@ -80,9 +80,9 @@ public class ThreeWheelLocalizer extends Localizer {
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||||
*/
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||||
public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
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// TODO: replace these with your encoder positions
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leftEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
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rightEncoderPose = new Pose(-18.4/25.4 - 0.1, -159.6/25.4, 0);
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||||
strafeEncoderPose = new Pose(0*(-107.9/25.4+8)+-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
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||||
leftEncoderPose = new Pose(0, 6.19375, 0);
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||||
rightEncoderPose = new Pose(0, -6.19375, 0);
|
||||
strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
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||||
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||||
hardwareMap = map;
|
||||
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||||
|
||||
@ -40,9 +40,9 @@ public class FollowerConstants {
|
||||
|
||||
// Translational PIDF coefficients (don't use integral)
|
||||
public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
|
||||
0.05,
|
||||
0,
|
||||
0.1,
|
||||
0,
|
||||
0.01,
|
||||
0);
|
||||
|
||||
// Translational Integral
|
||||
@ -58,9 +58,9 @@ public class FollowerConstants {
|
||||
|
||||
// Heading error PIDF coefficients
|
||||
public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
|
||||
1,
|
||||
2,
|
||||
0,
|
||||
0.1,
|
||||
0.025,
|
||||
0);
|
||||
|
||||
// Feed forward constant added on to the heading PIDF
|
||||
@ -69,10 +69,10 @@ public class FollowerConstants {
|
||||
|
||||
// Drive PIDF coefficients
|
||||
public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
|
||||
0.00475,
|
||||
0.006,
|
||||
0,
|
||||
0.00004125,
|
||||
0.0,
|
||||
0.00001,
|
||||
0.8,
|
||||
0);
|
||||
|
||||
// Feed forward constant added on to the drive PIDF
|
||||
@ -81,7 +81,7 @@ public class FollowerConstants {
|
||||
// Kalman filter parameters for the drive error Kalman filter
|
||||
public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
|
||||
6,
|
||||
1);
|
||||
3);
|
||||
|
||||
|
||||
// Mass of robot in kilograms
|
||||
|
||||
@ -93,11 +93,13 @@ public class ForwardVelocityTuner extends OpMode {
|
||||
}
|
||||
|
||||
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
|
||||
telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
|
||||
telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
|
||||
telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
|
||||
telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
|
||||
telemetryA.update();
|
||||
// telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
|
||||
// telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
|
||||
// telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
|
||||
// telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
|
||||
//
|
||||
//
|
||||
// telemetryA.update();
|
||||
|
||||
}
|
||||
|
||||
@ -138,6 +140,13 @@ public class ForwardVelocityTuner extends OpMode {
|
||||
velocities.add(currentVelocity);
|
||||
velocities.remove(0);
|
||||
}
|
||||
telemetryA.addData("x", poseUpdater.getPose().getX());
|
||||
telemetryA.addData("y", poseUpdater.getPose().getY());
|
||||
telemetryA.addData("heading", poseUpdater.getPose().getHeading());
|
||||
telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
|
||||
telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
|
||||
telemetryA.update();
|
||||
|
||||
} else {
|
||||
double average = 0;
|
||||
for (Double velocity : velocities) {
|
||||
@ -146,7 +155,12 @@ public class ForwardVelocityTuner extends OpMode {
|
||||
average /= (double) velocities.size();
|
||||
|
||||
telemetryA.addData("forward velocity:", average);
|
||||
telemetryA.update();
|
||||
// telemetryA.addData("x", poseUpdater.getPose().getX());
|
||||
// telemetryA.addData("y", poseUpdater.getPose().getY());
|
||||
// telemetryA.addData("heading", poseUpdater.getPose().getHeading());
|
||||
// telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
|
||||
// telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
|
||||
// telemetryA.update();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user