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FtcRobotController v7.2

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This commit is contained in:
Cal Kestis
2022-07-23 13:50:42 +09:00
parent e945da24e6
commit fe758edbd4
44 changed files with 619 additions and 1479 deletions
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1
FtcRobotController/build.gradle
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@ -20,6 +20,7 @@ android {
sourceCompatibility JavaVersion.VERSION_1_7
targetCompatibility JavaVersion.VERSION_1_7
}
namespace = 'com.qualcomm.ftcrobotcontroller'
}
apply from: '../build.dependencies.gradle'

5
FtcRobotController/src/main/AndroidManifest.xml
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@ -1,9 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
package="com.qualcomm.ftcrobotcontroller"
android:versionCode="44"
android:versionName="7.1">
android:versionCode="45"
android:versionName="7.2">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

17
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java vendored
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@ -46,15 +46,17 @@ import com.qualcomm.robotcore.util.ElapsedTime;
* 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 backwards Left-joystick Forward/Backwards
* 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 backwards when you push the left stick forward, then you must flip
* 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.
@ -82,9 +84,16 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
// ########################################################################################
// Most robots need the motors on one side to be reversed to drive forward.
// When you first test your robot, push the left joystick forward
// and flip the direction ( FORWARD <-> REVERSE ) of any wheel that runs backwards
// 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(DcMotor.Direction.REVERSE);
leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);

13
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java vendored
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@ -40,13 +40,13 @@ import com.qualcomm.robotcore.util.Range;
* This file contains an example of an iterative (Non-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 an selection is made from the menu, the corresponding OpMode
* When a selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all iterative OpModes contain.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* 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
*/
@ -72,10 +72,11 @@ public class BasicOpMode_Iterative extends OpMode
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// Tell the driver that initialization is complete.
telemetry.addData("Status", "Initialized");

13
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java vendored
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@ -40,13 +40,13 @@ import com.qualcomm.robotcore.util.Range;
/**
* This file contains an minimal 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 an selection is made from the menu, the corresponding OpMode
* of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all linear OpModes contain.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* 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
*/
@ -70,10 +70,11 @@ public class BasicOpMode_Linear extends LinearOpMode {
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// Wait for the game to start (driver presses PLAY)
waitForStart();

28
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java vendored
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@ -33,13 +33,11 @@ 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.CompassSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of calibrating a MR Compass
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* This code assumes there is a compass configured with the name "compass"
*
* This code will put the compass into calibration mode, wait three seconds and then attempt
@ -57,7 +55,8 @@ import com.qualcomm.robotcore.util.ElapsedTime;
public class ConceptCompassCalibration extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
public DcMotor leftDrive = null;
public DcMotor rightDrive = null;
private ElapsedTime runtime = new ElapsedTime();
CompassSensor compass;
@ -68,10 +67,15 @@ public class ConceptCompassCalibration extends LinearOpMode {
@Override
public void runOpMode() {
/* Initialize the drive system variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// Initialize the drive system variables.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// get a reference to our Compass Sensor object.
compass = hardwareMap.get(CompassSensor.class, "compass");
@ -93,8 +97,8 @@ public class ConceptCompassCalibration extends LinearOpMode {
// Start the robot rotating clockwise
telemetry.addData("Compass", "Calibration mode. Turning the robot...");
telemetry.update();
robot.leftDrive.setPower(MOTOR_POWER);
robot.rightDrive.setPower(-MOTOR_POWER);
leftDrive.setPower(MOTOR_POWER);
rightDrive.setPower(-MOTOR_POWER);
// run until time expires OR the driver presses STOP;
runtime.reset();
@ -103,8 +107,8 @@ public class ConceptCompassCalibration extends LinearOpMode {
}
// Stop all motors and turn off claibration
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
leftDrive.setPower(0);
rightDrive.setPower(0);
compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
telemetry.addData("Compass", "Returning to measurement mode");
telemetry.update();

103
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java vendored
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@ -1,103 +0,0 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
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.DeviceInterfaceModule;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This OpMode illustrates using the Device Interface Module as a signalling device.
* The code is structured as a LinearOpMode
*
* This code assumes a DIM name "dim".
*
* There are many examples where the robot might like to signal the driver, without requiring them
* to look at the driver station. This might be something like a "ball in hopper" condition or a
* "ready to shoot" condition.
*
* The DIM has two user settable indicator LEDs (one red one blue). These can be controlled
* directly from your program.
*
* Use Android Studios 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 = "Concept: DIM As Indicator", group = "Concept")
@Disabled
public class ConceptDIMAsIndicator extends LinearOpMode {
static final int BLUE_LED = 0; // Blue LED channel on DIM
static final int RED_LED = 1; // Red LED Channel on DIM
// Create timer to toggle LEDs
private ElapsedTime runtime = new ElapsedTime();
// Define class members
DeviceInterfaceModule dim;
@Override
public void runOpMode() {
// Connect to motor (Assume standard left wheel)
// Change the text in quotes to match any motor name on your robot.
dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
// Toggle LEDs while Waiting for the start button
telemetry.addData(">", "Press Play to test LEDs." );
telemetry.update();
while (!isStarted()) {
// Determine if we are on an odd or even second
boolean even = (((int)(runtime.time()) & 0x01) == 0);
dim.setLED(RED_LED, even); // Red for even
dim.setLED(BLUE_LED, !even); // Blue for odd
idle();
}
// Running now
telemetry.addData(">", "Press X for Blue, B for Red." );
telemetry.update();
// Now just use red and blue buttons to set red and blue LEDs
while(opModeIsActive()){
dim.setLED(BLUE_LED, gamepad1.x);
dim.setLED(RED_LED, gamepad1.b);
idle();
}
// Turn off LEDs;
dim.setLED(BLUE_LED, false);
dim.setLED(RED_LED, false);
telemetry.addData(">", "Done");
telemetry.update();
}
}

223
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java vendored
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@ -1,223 +0,0 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDeviceInterfaceModule;
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.DeviceInterfaceModule;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.util.RobotLog;
import com.qualcomm.robotcore.util.TypeConversion;
import java.util.concurrent.locks.Lock;
/**
* An example of a linear op mode that shows how to change the I2C address.
*/
@TeleOp(name = "Concept: I2c Address Change", group = "Concept")
@Disabled
public class ConceptI2cAddressChange extends LinearOpMode {
public static final int ADDRESS_SET_NEW_I2C_ADDRESS = 0x70;
// trigger bytes used to change I2C address on ModernRobotics sensors.
public static final byte TRIGGER_BYTE_1 = 0x55;
public static final byte TRIGGER_BYTE_2 = (byte) 0xaa;
// Expected bytes from the Modern Robotics IR Seeker V3 memory map
public static final byte IR_SEEKER_V3_FIRMWARE_REV = 0x12;
public static final byte IR_SEEKER_V3_SENSOR_ID = 0x49;
public static final I2cAddr IR_SEEKER_V3_ORIGINAL_ADDRESS = I2cAddr.create8bit(0x38);
// Expected bytes from the Modern Robotics Color Sensor memory map
public static final byte COLOR_SENSOR_FIRMWARE_REV = 0x10;
public static final byte COLOR_SENSOR_SENSOR_ID = 0x43;
public static final byte COLOR_SENSOR_ORIGINAL_ADDRESS = 0x3C;
public static final byte MANUFACTURER_CODE = 0x4d;
// Currently, this is set to expect the bytes from the IR Seeker.
// If you change these values so you're setting "FIRMWARE_REV" to
// COLOR_SENSOR_FIRMWARE_REV, and "SENSOR_ID" to "COLOR_SENSOR_SENSOR_ID",
// you'll be able to change the I2C address of the ModernRoboticsColorSensor.
// If the bytes you're expecting are different than what this op mode finds,
// a comparison will be printed out into the logfile.
public static final byte FIRMWARE_REV = IR_SEEKER_V3_FIRMWARE_REV;
public static final byte SENSOR_ID = IR_SEEKER_V3_SENSOR_ID;
// These byte values are common with most Modern Robotics sensors.
public static final int READ_MODE = 0x80;
public static final int ADDRESS_MEMORY_START = 0x0;
public static final int TOTAL_MEMORY_LENGTH = 0x0c;
public static final int BUFFER_CHANGE_ADDRESS_LENGTH = 0x03;
// The port where your sensor is connected.
int port = 5;
byte[] readCache;
Lock readLock;
byte[] writeCache;
Lock writeLock;
I2cAddr currentAddress = IR_SEEKER_V3_ORIGINAL_ADDRESS;
// I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
// Different hardware may have different rules.
// Be sure to read the requirements for the hardware you're using!
// If you use an invalid address, you may make your device completely unusable.
I2cAddr newAddress = I2cAddr.create8bit(0x42);
DeviceInterfaceModule dim;
@Override
public void runOpMode() {
// set up the hardware devices we are going to use
dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
readCache = dim.getI2cReadCache(port);
readLock = dim.getI2cReadCacheLock(port);
writeCache = dim.getI2cWriteCache(port);
writeLock = dim.getI2cWriteCacheLock(port);
// I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
// Different hardware may have different rules.
// Be sure to read the requirements for the hardware you're using!
ModernRoboticsUsbDeviceInterfaceModule.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
// wait for the start button to be pressed
waitForStart();
performAction("read", port, currentAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH);
while(!dim.isI2cPortReady(port)) {
telemetry.addData("I2cAddressChange", "waiting for the port to be ready...");
telemetry.update();
sleep(1000);
}
// update the local cache
dim.readI2cCacheFromController(port);
// make sure the first bytes are what we think they should be.
int count = 0;
int[] initialArray = {READ_MODE, currentAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID};
while (!foundExpectedBytes(initialArray, readLock, readCache)) {
telemetry.addData("I2cAddressChange", "Confirming that we're reading the correct bytes...");
telemetry.update();
dim.readI2cCacheFromController(port);
sleep(1000);
count++;
// if we go too long with failure, we probably are expecting the wrong bytes.
if (count >= 10) {
telemetry.addData("I2cAddressChange", String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
hardwareMap.irSeekerSensor.get(String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
telemetry.update();
}
}
// Enable writes to the correct segment of the memory map.
performAction("write", port, currentAddress, ADDRESS_SET_NEW_I2C_ADDRESS, BUFFER_CHANGE_ADDRESS_LENGTH);
// Write out the trigger bytes, and the new desired address.
writeNewAddress();
dim.setI2cPortActionFlag(port);
dim.writeI2cCacheToController(port);
telemetry.addData("I2cAddressChange", "Giving the hardware 60 seconds to make the change...");
telemetry.update();
// Changing the I2C address takes some time.
sleep(60000);
// Query the new address and see if we can get the bytes we expect.
dim.enableI2cReadMode(port, newAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH);
dim.setI2cPortActionFlag(port);
dim.writeI2cCacheToController(port);
int[] confirmArray = {READ_MODE, newAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID};
while (!foundExpectedBytes(confirmArray, readLock, readCache)) {
telemetry.addData("I2cAddressChange", "Have not confirmed the changes yet...");
telemetry.update();
dim.readI2cCacheFromController(port);
sleep(1000);
}
telemetry.addData("I2cAddressChange", "Successfully changed the I2C address. New address: 8bit=0x%02x", newAddress.get8Bit());
telemetry.update();
RobotLog.i("Successfully changed the I2C address." + String.format("New address: 8bit=0x%02x", newAddress.get8Bit()));
/**** IMPORTANT NOTE ******/
// You need to add a line like this at the top of your op mode
// to update the I2cAddress in the driver.
//irSeeker.setI2cAddress(newAddress);
/***************************/
}
private boolean foundExpectedBytes(int[] byteArray, Lock lock, byte[] cache) {
try {
lock.lock();
boolean allMatch = true;
StringBuilder s = new StringBuilder(300 * 4);
String mismatch = "";
for (int i = 0; i < byteArray.length; i++) {
s.append(String.format("expected: %02x, got: %02x \n", TypeConversion.unsignedByteToInt( (byte) byteArray[i]), cache[i]));
if (TypeConversion.unsignedByteToInt(cache[i]) != TypeConversion.unsignedByteToInt( (byte) byteArray[i])) {
mismatch = String.format("i: %d, byteArray[i]: %02x, cache[i]: %02x", i, byteArray[i], cache[i]);
allMatch = false;
}
}
RobotLog.e(s.toString() + "\n allMatch: " + allMatch + ", mismatch: " + mismatch);
return allMatch;
} finally {
lock.unlock();
}
}
private void performAction(String actionName, int port, I2cAddr i2cAddress, int memAddress, int memLength) {
if (actionName.equalsIgnoreCase("read")) dim.enableI2cReadMode(port, i2cAddress, memAddress, memLength);
if (actionName.equalsIgnoreCase("write")) dim.enableI2cWriteMode(port, i2cAddress, memAddress, memLength);
dim.setI2cPortActionFlag(port);
dim.writeI2cCacheToController(port);
dim.readI2cCacheFromController(port);
}
private void writeNewAddress() {
try {
writeLock.lock();
writeCache[4] = (byte) newAddress.get8Bit();
writeCache[5] = TRIGGER_BYTE_1;
writeCache[6] = TRIGGER_BYTE_2;
} finally {
writeLock.unlock();
}
}
}

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java vendored
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@ -38,7 +38,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
* This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed.
* The code is structured as a LinearOpMode
*
* This code assumes a DC motor configured with the name "left_drive" as is found on a pushbot.
* This code assumes a DC motor configured with the name "left_drive" as is found on a Robot.
*
* INCREMENT sets how much to increase/decrease the power each cycle
* CYCLE_MS sets the update period.

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java vendored
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@ -44,8 +44,8 @@ import com.qualcomm.robotcore.util.Range;
* robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'
* and name them 'left_drive' and 'right_drive'.
*
* Use Android Studios 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
* 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="REV SPARKmini Simple Drive Example", group="Concept")
@ -69,7 +69,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
// Reverse the motor that runs backward when connected directly to the battery
leftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
rightDrive.setDirection(DcMotorSimple.Direction.REVERSE);

6
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java vendored
View File

@ -35,12 +35,12 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Servo;
/**
* This OpMode scans a single servo back and forwards until Stop is pressed.
* This OpMode scans a single servo back and forward until Stop is pressed.
* The code is structured as a LinearOpMode
* INCREMENT sets how much to increase/decrease the servo position each cycle
* CYCLE_MS sets the update period.
*
* This code assumes a Servo configured with the name "left_hand" as is found on a pushbot.
* This code assumes a Servo configured with the name "left_hand" as is found on a Robot.
*
* NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other
* connected servos are able to move freely before running this test.
@ -66,7 +66,7 @@ public class ConceptScanServo extends LinearOpMode {
@Override
public void runOpMode() {
// Connect to servo (Assume PushBot Left Hand)
// Connect to servo (Assume Robot Left Hand)
// Change the text in quotes to match any servo name on your robot.
servo = hardwareMap.get(Servo.class, "left_hand");

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java vendored
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@ -43,7 +43,7 @@ import java.io.File;
*
* If you are using OnBotJava, please see the ConceptSoundsOnBotJava sample
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* 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
*
* Operation:

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java vendored
View File

@ -41,8 +41,8 @@ import com.qualcomm.robotcore.eventloop.opmode.Disabled;
* It does this by creating a simple "chooser" controlled by the gamepad Up Down buttons.
* This code also prevents sounds from stacking up by setting a "playing" flag, which is cleared when the sound finishes playing.
*
* Use Android Studios 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
* 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
*
* Operation:
* Use the DPAD to change the selected sound, and the Right Bumper to play it.

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java vendored
View File

@ -44,7 +44,7 @@ import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
* determine the position of the Freight Frenzy game elements.
*
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentification.java vendored
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@ -59,7 +59,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained in {@link ConceptVuforiaNavigation}.

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuMarkIdentificationWebcam.java vendored
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@ -60,7 +60,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
* see ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
*
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained in {@link ConceptVuforiaNavigationWebcam}.

7
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaDriveToTargetWebcam.java vendored
View File

@ -112,9 +112,10 @@ public class ConceptVuforiaDriveToTargetWebcam extends LinearOpMode
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
telemetry.addData(">", "Press Play to start");
telemetry.update();

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigation.java vendored
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@ -67,7 +67,7 @@ import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocaliz
* To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder
*
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaFieldNavigationWebcam.java vendored
View File

@ -69,7 +69,7 @@ import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.
* To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder
*
* 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.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*
* IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
* is explained below.

310
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptWebcam.java vendored
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@ -1,310 +0,0 @@
/* Copyright (c) 2020 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.robotcontroller.external.samples;
import android.graphics.Bitmap;
import android.graphics.ImageFormat;
import android.os.Handler;
import androidx.annotation.NonNull;
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.util.RobotLog;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.android.util.Size;
import org.firstinspires.ftc.robotcore.external.function.Consumer;
import org.firstinspires.ftc.robotcore.external.function.Continuation;
import org.firstinspires.ftc.robotcore.external.hardware.camera.Camera;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureRequest;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureSequenceId;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureSession;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCharacteristics;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraException;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraFrame;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraManager;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.internal.collections.EvictingBlockingQueue;
import org.firstinspires.ftc.robotcore.internal.network.CallbackLooper;
import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import org.firstinspires.ftc.robotcore.internal.system.ContinuationSynchronizer;
import org.firstinspires.ftc.robotcore.internal.system.Deadline;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.util.Locale;
import java.util.concurrent.ArrayBlockingQueue;
import java.util.concurrent.TimeUnit;
/**
* This OpMode illustrates how to open a webcam and retrieve images from it. It requires a configuration
* containing a webcam with the default name ("Webcam 1"). When the opmode runs, pressing the 'A' button
* will cause a frame from the camera to be written to a file on the device, which can then be retrieved
* by various means (e.g.: Device File Explorer in Android Studio; plugging the device into a PC and
* using Media Transfer; ADB; etc)
*/
@TeleOp(name="Concept: Webcam", group ="Concept")
@Disabled
public class ConceptWebcam extends LinearOpMode {
//----------------------------------------------------------------------------------------------
// State
//----------------------------------------------------------------------------------------------
private static final String TAG = "Webcam Sample";
/** How long we are to wait to be granted permission to use the camera before giving up. Here,
* we wait indefinitely */
private static final int secondsPermissionTimeout = Integer.MAX_VALUE;
/** State regarding our interaction with the camera */
private CameraManager cameraManager;
private WebcamName cameraName;
private Camera camera;
private CameraCaptureSession cameraCaptureSession;
/** The queue into which all frames from the camera are placed as they become available.
* Frames which are not processed by the OpMode are automatically discarded. */
private EvictingBlockingQueue<Bitmap> frameQueue;
/** State regarding where and how to save frames when the 'A' button is pressed. */
private int captureCounter = 0;
private File captureDirectory = AppUtil.ROBOT_DATA_DIR;
/** A utility object that indicates where the asynchronous callbacks from the camera
* infrastructure are to run. In this OpMode, that's all hidden from you (but see {@link #startCamera}
* if you're curious): no knowledge of multi-threading is needed here. */
private Handler callbackHandler;
//----------------------------------------------------------------------------------------------
// Main OpMode entry
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() {
callbackHandler = CallbackLooper.getDefault().getHandler();
cameraManager = ClassFactory.getInstance().getCameraManager();
cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
initializeFrameQueue(2);
AppUtil.getInstance().ensureDirectoryExists(captureDirectory);
try {
openCamera();
if (camera == null) return;
startCamera();
if (cameraCaptureSession == null) return;
telemetry.addData(">", "Press Play to start");
telemetry.update();
waitForStart();
telemetry.clear();
telemetry.addData(">", "Started...Press 'A' to capture frame");
boolean buttonPressSeen = false;
boolean captureWhenAvailable = false;
while (opModeIsActive()) {
boolean buttonIsPressed = gamepad1.a;
if (buttonIsPressed && !buttonPressSeen) {
captureWhenAvailable = true;
}
buttonPressSeen = buttonIsPressed;
if (captureWhenAvailable) {
Bitmap bmp = frameQueue.poll();
if (bmp != null) {
captureWhenAvailable = false;
onNewFrame(bmp);
}
}
telemetry.update();
}
} finally {
closeCamera();
}
}
/** Do something with the frame */
private void onNewFrame(Bitmap frame) {
saveBitmap(frame);
frame.recycle(); // not strictly necessary, but helpful
}
//----------------------------------------------------------------------------------------------
// Camera operations
//----------------------------------------------------------------------------------------------
private void initializeFrameQueue(int capacity) {
/** The frame queue will automatically throw away bitmap frames if they are not processed
* quickly by the OpMode. This avoids a buildup of frames in memory */
frameQueue = new EvictingBlockingQueue<Bitmap>(new ArrayBlockingQueue<Bitmap>(capacity));
frameQueue.setEvictAction(new Consumer<Bitmap>() {
@Override public void accept(Bitmap frame) {
// RobotLog.ii(TAG, "frame recycled w/o processing");
frame.recycle(); // not strictly necessary, but helpful
}
});
}
private void openCamera() {
if (camera != null) return; // be idempotent
Deadline deadline = new Deadline(secondsPermissionTimeout, TimeUnit.SECONDS);
camera = cameraManager.requestPermissionAndOpenCamera(deadline, cameraName, null);
if (camera == null) {
error("camera not found or permission to use not granted: %s", cameraName);
}
}
private void startCamera() {
if (cameraCaptureSession != null) return; // be idempotent
/** YUY2 is supported by all Webcams, per the USB Webcam standard: See "USB Device Class Definition
* for Video Devices: Uncompressed Payload, Table 2-1". Further, often this is the *only*
* image format supported by a camera */
final int imageFormat = ImageFormat.YUY2;
/** Verify that the image is supported, and fetch size and desired frame rate if so */
CameraCharacteristics cameraCharacteristics = cameraName.getCameraCharacteristics();
if (!contains(cameraCharacteristics.getAndroidFormats(), imageFormat)) {
error("image format not supported");
return;
}
final Size size = cameraCharacteristics.getDefaultSize(imageFormat);
final int fps = cameraCharacteristics.getMaxFramesPerSecond(imageFormat, size);
/** Some of the logic below runs asynchronously on other threads. Use of the synchronizer
* here allows us to wait in this method until all that asynchrony completes before returning. */
final ContinuationSynchronizer<CameraCaptureSession> synchronizer = new ContinuationSynchronizer<>();
try {
/** Create a session in which requests to capture frames can be made */
camera.createCaptureSession(Continuation.create(callbackHandler, new CameraCaptureSession.StateCallbackDefault() {
@Override public void onConfigured(@NonNull CameraCaptureSession session) {
try {
/** The session is ready to go. Start requesting frames */
final CameraCaptureRequest captureRequest = camera.createCaptureRequest(imageFormat, size, fps);
session.startCapture(captureRequest,
new CameraCaptureSession.CaptureCallback() {
@Override public void onNewFrame(@NonNull CameraCaptureSession session, @NonNull CameraCaptureRequest request, @NonNull CameraFrame cameraFrame) {
/** A new frame is available. The frame data has <em>not</em> been copied for us, and we can only access it
* for the duration of the callback. So we copy here manually. */
Bitmap bmp = captureRequest.createEmptyBitmap();
cameraFrame.copyToBitmap(bmp);
frameQueue.offer(bmp);
}
},
Continuation.create(callbackHandler, new CameraCaptureSession.StatusCallback() {
@Override public void onCaptureSequenceCompleted(@NonNull CameraCaptureSession session, CameraCaptureSequenceId cameraCaptureSequenceId, long lastFrameNumber) {
RobotLog.ii(TAG, "capture sequence %s reports completed: lastFrame=%d", cameraCaptureSequenceId, lastFrameNumber);
}
})
);
synchronizer.finish(session);
} catch (CameraException|RuntimeException e) {
RobotLog.ee(TAG, e, "exception starting capture");
error("exception starting capture");
session.close();
synchronizer.finish(null);
}
}
}));
} catch (CameraException|RuntimeException e) {
RobotLog.ee(TAG, e, "exception starting camera");
error("exception starting camera");
synchronizer.finish(null);
}
/** Wait for all the asynchrony to complete */
try {
synchronizer.await();
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
/** Retrieve the created session. This will be null on error. */
cameraCaptureSession = synchronizer.getValue();
}
private void stopCamera() {
if (cameraCaptureSession != null) {
cameraCaptureSession.stopCapture();
cameraCaptureSession.close();
cameraCaptureSession = null;
}
}
private void closeCamera() {
stopCamera();
if (camera != null) {
camera.close();
camera = null;
}
}
//----------------------------------------------------------------------------------------------
// Utilities
//----------------------------------------------------------------------------------------------
private void error(String msg) {
telemetry.log().add(msg);
telemetry.update();
}
private void error(String format, Object...args) {
telemetry.log().add(format, args);
telemetry.update();
}
private boolean contains(int[] array, int value) {
for (int i : array) {
if (i == value) return true;
}
return false;
}
private void saveBitmap(Bitmap bitmap) {
File file = new File(captureDirectory, String.format(Locale.getDefault(), "webcam-frame-%d.jpg", captureCounter++));
try {
try (FileOutputStream outputStream = new FileOutputStream(file)) {
bitmap.compress(Bitmap.CompressFormat.JPEG, 100, outputStream);
telemetry.log().add("captured %s", file.getName());
}
} catch (IOException e) {
RobotLog.ee(TAG, e, "exception in saveBitmap()");
error("exception saving %s", file.getName());
}
}
}

105
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbot.java vendored
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@ -1,105 +0,0 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This is NOT an opmode.
*
* This class can be used to define all the specific hardware for a single robot.
* In this case that robot is a Pushbot.
* See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples.
*
* This hardware class assumes the following device names have been configured on the robot:
* Note: All names are lower case and some have single spaces between words.
*
* Motor channel: Left drive motor: "left_drive"
* Motor channel: Right drive motor: "right_drive"
* Motor channel: Manipulator drive motor: "left_arm"
* Servo channel: Servo to open left claw: "left_hand"
* Servo channel: Servo to open right claw: "right_hand"
*/
public class HardwarePushbot
{
/* Public OpMode members. */
public DcMotor leftDrive = null;
public DcMotor rightDrive = null;
public DcMotor leftArm = null;
public Servo leftClaw = null;
public Servo rightClaw = null;
public static final double MID_SERVO = 0.5 ;
public static final double ARM_UP_POWER = 0.45 ;
public static final double ARM_DOWN_POWER = -0.45 ;
/* local OpMode members. */
HardwareMap hwMap = null;
private ElapsedTime period = new ElapsedTime();
/* Constructor */
public HardwarePushbot(){
}
/* Initialize standard Hardware interfaces */
public void init(HardwareMap ahwMap) {
// Save reference to Hardware map
hwMap = ahwMap;
// Define and Initialize Motors
leftDrive = hwMap.get(DcMotor.class, "left_drive");
rightDrive = hwMap.get(DcMotor.class, "right_drive");
leftArm = hwMap.get(DcMotor.class, "left_arm");
leftDrive.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
rightDrive.setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors
// Set all motors to zero power
leftDrive.setPower(0);
rightDrive.setPower(0);
leftArm.setPower(0);
// Set all motors to run without encoders.
// May want to use RUN_USING_ENCODERS if encoders are installed.
leftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
leftArm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// Define and initialize ALL installed servos.
leftClaw = hwMap.get(Servo.class, "left_hand");
rightClaw = hwMap.get(Servo.class, "right_hand");
leftClaw.setPosition(MID_SERVO);
rightClaw.setPosition(MID_SERVO);
}
}

118
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveToLine_Linear.java vendored
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@ -1,118 +0,0 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.LightSensor;
/**
* This file illustrates the concept of driving up to a line and then stopping.
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* The code shows using two different light sensors:
* The Primary sensor shown in this code is a legacy NXT Light sensor (called "sensor_light")
* Alternative "commented out" code uses a MR Optical Distance Sensor (called "sensor_ods")
* instead of the LEGO sensor. Chose to use one sensor or the other.
*
* Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
* This should be set half way between the light and dark values.
* These values can be read on the screen once the OpMode has been INIT, but before it is STARTED.
* Move the senso on asnd off the white line and not the min and max readings.
* Edit this code to make WHITE_THRESHOLD half way between the min and max.
*
* Use Android Studios 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
*/
@Autonomous(name="Pushbot: Auto Drive To Line", group="Pushbot")
@Disabled
public class PushbotAutoDriveToLine_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
LightSensor lightSensor; // Primary LEGO Light sensor,
// OpticalDistanceSensor lightSensor; // Alternative MR ODS sensor
static final double WHITE_THRESHOLD = 0.2; // spans between 0.1 - 0.5 from dark to light
static final double APPROACH_SPEED = 0.5;
@Override
public void runOpMode() {
/* Initialize the drive system variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
// robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// get a reference to our Light Sensor object.
lightSensor = hardwareMap.lightSensor.get("sensor_light"); // Primary LEGO Light Sensor
// lightSensor = hardwareMap.opticalDistanceSensor.get("sensor_ods"); // Alternative MR ODS sensor.
// turn on LED of light sensor.
lightSensor.enableLed(true);
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Ready to run"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
// Abort this loop is started or stopped.
while (!(isStarted() || isStopRequested())) {
// Display the light level while we are waiting to start
telemetry.addData("Light Level", lightSensor.getLightDetected());
telemetry.update();
idle();
}
// Start the robot moving forward, and then begin looking for a white line.
robot.leftDrive.setPower(APPROACH_SPEED);
robot.rightDrive.setPower(APPROACH_SPEED);
// run until the white line is seen OR the driver presses STOP;
while (opModeIsActive() && (lightSensor.getLightDetected() < WHITE_THRESHOLD)) {
// Display the light level while we are looking for the line
telemetry.addData("Light Level", lightSensor.getLightDetected());
telemetry.update();
}
// Stop all motors
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
}
}

98
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByEncoder_Linear.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByEncoder_Linear.java vendored
View File

@ -33,45 +33,53 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on encoder counts.
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* The code REQUIRES that you DO have encoders on the wheels,
* otherwise you would use: PushbotAutoDriveByTime;
* otherwise you would use: RobotAutoDriveByTime;
*
* This code ALSO requires that the drive Motors have been configured such that a positive
* power command moves them forwards, and causes the encoders to count UP.
* power command moves them forward, and causes the encoders to count UP.
*
* The desired path in this example is:
* - Drive forward for 48 inches
* - Spin right for 12 Inches
* - Drive Backwards for 24 inches
* - Drive Backward for 24 inches
* - Stop and close the claw.
*
* The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
* that performs the actual movement.
* This methods assumes that each movement is relative to the last stopping place.
* This method assumes that each movement is relative to the last stopping place.
* There are other ways to perform encoder based moves, but this method is probably the simplest.
* This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* 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
*/
@Autonomous(name="Pushbot: Auto Drive By Encoder", group="Pushbot")
@Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
@Disabled
public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
private ElapsedTime runtime = new ElapsedTime();
// Calculate the COUNTS_PER_INCH for your specific drive train.
// Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
// For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
// For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
// This is gearing DOWN for less speed and more torque.
// For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder
static final double DRIVE_GEAR_REDUCTION = 2.0 ; // This is < 1.0 if geared UP
static final double DRIVE_GEAR_REDUCTION = 1.0 ; // No External Gearing.
static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * 3.1415);
@ -81,26 +89,26 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
@Override
public void runOpMode() {
/*
* Initialize the drive system variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// Initialize the drive system variables.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Resetting Encoders"); //
telemetry.update();
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Send telemetry message to indicate successful Encoder reset
telemetry.addData("Path0", "Starting at %7d :%7d",
robot.leftDrive.getCurrentPosition(),
robot.rightDrive.getCurrentPosition());
telemetry.addData("Starting at", "%7d :%7d",
leftDrive.getCurrentPosition(),
rightDrive.getCurrentPosition());
telemetry.update();
// Wait for the game to start (driver presses PLAY)
@ -112,12 +120,9 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout
encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout
robot.leftClaw.setPosition(1.0); // S4: Stop and close the claw.
robot.rightClaw.setPosition(0.0);
sleep(1000); // pause for servos to move
telemetry.addData("Path", "Complete");
telemetry.update();
sleep(1000); // pause to display final telemetry message.
}
/*
@ -138,19 +143,19 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
newLeftTarget = robot.leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
newRightTarget = robot.rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
robot.leftDrive.setTargetPosition(newLeftTarget);
robot.rightDrive.setTargetPosition(newRightTarget);
newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
leftDrive.setTargetPosition(newLeftTarget);
rightDrive.setTargetPosition(newRightTarget);
// Turn On RUN_TO_POSITION
robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// reset the timeout time and start motion.
runtime.reset();
robot.leftDrive.setPower(Math.abs(speed));
robot.rightDrive.setPower(Math.abs(speed));
leftDrive.setPower(Math.abs(speed));
rightDrive.setPower(Math.abs(speed));
// keep looping while we are still active, and there is time left, and both motors are running.
// Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
@ -160,25 +165,24 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
// onto the next step, use (isBusy() || isBusy()) in the loop test.
while (opModeIsActive() &&
(runtime.seconds() < timeoutS) &&
(robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) {
(leftDrive.isBusy() && rightDrive.isBusy())) {
// Display it for the driver.
telemetry.addData("Path1", "Running to %7d :%7d", newLeftTarget, newRightTarget);
telemetry.addData("Path2", "Running at %7d :%7d",
robot.leftDrive.getCurrentPosition(),
robot.rightDrive.getCurrentPosition());
telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget);
telemetry.addData("Currently at", " at %7d :%7d",
leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
telemetry.update();
}
// Stop all motion;
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
leftDrive.setPower(0);
rightDrive.setPower(0);
// Turn off RUN_TO_POSITION
robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// sleep(250); // optional pause after each move
sleep(250); // optional pause after each move.
}
}
}

141
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByGyro_Linear.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByGyro_Linear.java vendored
View File

@ -39,14 +39,13 @@ import com.qualcomm.robotcore.util.Range;
/**
* This file illustrates the concept of driving a path based on Gyro heading and encoder counts.
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* The code REQUIRES that you DO have encoders on the wheels,
* otherwise you would use: PushbotAutoDriveByTime;
* otherwise you would use: RobotAutoDriveByTime;
*
* This code ALSO requires that you have a Modern Robotics I2C gyro with the name "gyro"
* otherwise you would use: PushbotAutoDriveByEncoder;
* otherwise you would use: RobotAutoDriveByEncoder;
*
* This code requires that the drive Motors have been configured such that a positive
* power command moves them forward, and causes the encoders to count UP.
@ -62,24 +61,33 @@ import com.qualcomm.robotcore.util.Range;
* the Gyro Calibration process, or whenever the program issues a resetZAxisIntegrator() call on the Gyro.
*
* The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis,
* which means that a Positive rotation is Counter Clock Wise, looking down on the field.
* which means that a Positive rotation is Counter Clockwise, looking down on the field.
* This is consistent with the FTC field coordinate conventions set out in the document:
* ftc_app\doc\tutorial\FTC_FieldCoordinateSystemDefinition.pdf
*
* Use Android Studios 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
* 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
*/
@Autonomous(name="Pushbot: Auto Drive By Gyro", group="Pushbot")
@Autonomous(name="Robot: Auto Drive By Gyro", group="Robot")
@Disabled
public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
ModernRoboticsI2cGyro gyro = null; // Additional Gyro device
private double robotHeading = 0;
// Calculate the COUNTS_PER_INCH for your specific drive train.
// Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
// For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
// For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
// This is gearing DOWN for less speed and more torque.
// For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder
static final double DRIVE_GEAR_REDUCTION = 2.0 ; // This is < 1.0 if geared UP
static final double DRIVE_GEAR_REDUCTION = 1.0 ; // No External Gearing.
static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * 3.1415);
@ -97,16 +105,21 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
@Override
public void runOpMode() {
/*
* Initialize the standard drive system variables.
* The init() method of the hardware class does most of the work here
*/
robot.init(hardwareMap);
// Initialize the drive system variables.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
gyro = (ModernRoboticsI2cGyro)hardwareMap.gyroSensor.get("gyro");
// Ensure the robot it stationary, then reset the encoders and calibrate the gyro.
robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
// Send telemetry message to alert driver that we are calibrating;
telemetry.addData(">", "Calibrating Gyro"); //
@ -123,43 +136,46 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
telemetry.addData(">", "Robot Ready."); //
telemetry.update();
robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Wait for the game to start (Display Gyro value), and reset gyro before we move..
while (!isStarted()) {
telemetry.addData(">", "Robot Heading = %d", gyro.getIntegratedZValue());
// Wait for the game to start (Display Gyro value)
while (opModeInInit()) {
telemetry.addData(">", "Robot Heading = %4.0f", getHeading());
telemetry.update();
}
// Reset gyro before we move..
gyro.resetZAxisIntegrator();
getHeading();
// Step through each leg of the path,
// Note: Reverse movement is obtained by setting a negative distance (not speed)
// Put a hold after each turn
gyroDrive(DRIVE_SPEED, 48.0, 0.0); // Drive FWD 48 inches
gyroTurn( TURN_SPEED, -45.0); // Turn CCW to -45 Degrees
gyroHold( TURN_SPEED, -45.0, 0.5); // Hold -45 Deg heading for a 1/2 second
gyroDrive(DRIVE_SPEED, 48.0, 0.0); // Drive FWD 48 inches
gyroTurn( TURN_SPEED, -45.0); // Turn CW to -45 Degrees
gyroHold( TURN_SPEED, -45.0, 0.5); // Hold -45 Deg heading for a 1/2 second
gyroDrive(DRIVE_SPEED, 12.0, -45.0); // Drive FWD 12 inches at 45 degrees
gyroTurn( TURN_SPEED, 45.0); // Turn CW to 45 Degrees
gyroTurn( TURN_SPEED, 45.0); // Turn CCW to 45 Degrees
gyroHold( TURN_SPEED, 45.0, 0.5); // Hold 45 Deg heading for a 1/2 second
gyroTurn( TURN_SPEED, 0.0); // Turn CW to 0 Degrees
gyroTurn( TURN_SPEED, 0.0); // Turn CW to 0 Degrees
gyroHold( TURN_SPEED, 0.0, 1.0); // Hold 0 Deg heading for a 1 second
gyroDrive(DRIVE_SPEED,-48.0, 0.0); // Drive REV 48 inches
telemetry.addData("Path", "Complete");
telemetry.addData("Final Heading", "%5.0f", getHeading());
telemetry.update();
sleep(1000); // Pause to display last telemetry message.
}
/**
* Method to drive on a fixed compass bearing (angle), based on encoder counts.
* Move will stop if either of these conditions occur:
* 1) Move gets to the desired position
* 2) Driver stops the opmode running.
*
* @param speed Target speed for forward motion. Should allow for _/- variance for adjusting heading
* @param distance Distance (in inches) to move from current position. Negative distance means move backwards.
* @param speed Target speed for forward motion. Should allow for +/- variance for adjusting heading
* @param distance Distance (in inches) to move from current position. Negative distance means move backward.
* @param angle Absolute Angle (in Degrees) relative to last gyro reset.
* 0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
* If a relative angle is required, add/subtract from current heading.
@ -182,24 +198,24 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
// Determine new target position, and pass to motor controller
moveCounts = (int)(distance * COUNTS_PER_INCH);
newLeftTarget = robot.leftDrive.getCurrentPosition() + moveCounts;
newRightTarget = robot.rightDrive.getCurrentPosition() + moveCounts;
newLeftTarget = leftDrive.getCurrentPosition() + moveCounts;
newRightTarget = rightDrive.getCurrentPosition() + moveCounts;
// Set Target and Turn On RUN_TO_POSITION
robot.leftDrive.setTargetPosition(newLeftTarget);
robot.rightDrive.setTargetPosition(newRightTarget);
leftDrive.setTargetPosition(newLeftTarget);
rightDrive.setTargetPosition(newRightTarget);
robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// start motion.
speed = Range.clip(Math.abs(speed), 0.0, 1.0);
robot.leftDrive.setPower(speed);
robot.rightDrive.setPower(speed);
leftDrive.setPower(speed);
rightDrive.setPower(speed);
// keep looping while we are still active, and BOTH motors are running.
while (opModeIsActive() &&
(robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) {
(leftDrive.isBusy() && rightDrive.isBusy())) {
// adjust relative speed based on heading error.
error = getError(angle);
@ -220,25 +236,26 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
rightSpeed /= max;
}
robot.leftDrive.setPower(leftSpeed);
robot.rightDrive.setPower(rightSpeed);
leftDrive.setPower(leftSpeed);
rightDrive.setPower(rightSpeed);
// Display drive status for the driver.
telemetry.addData("Err/St", "%5.1f/%5.1f", error, steer);
telemetry.addData("Target", "%7d:%7d", newLeftTarget, newRightTarget);
telemetry.addData("Actual", "%7d:%7d", robot.leftDrive.getCurrentPosition(),
robot.rightDrive.getCurrentPosition());
telemetry.addData("Speed", "%5.2f:%5.2f", leftSpeed, rightSpeed);
telemetry.addData("Angle Target:Current", "%5.2f:%5.0f", angle, robotHeading);
telemetry.addData("Error:Steer", "%5.1f:%5.1f", error, steer);
telemetry.addData("Target L:R", "%7d:%7d", newLeftTarget, newRightTarget);
telemetry.addData("Actual L:R", "%7d:%7d", leftDrive.getCurrentPosition(),
rightDrive.getCurrentPosition());
telemetry.addData("Speed L:R", "%5.2f:%5.2f", leftSpeed, rightSpeed);
telemetry.update();
}
// Stop all motion;
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
leftDrive.setPower(0);
rightDrive.setPower(0);
// Turn off RUN_TO_POSITION
robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}
@ -285,8 +302,8 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
}
// Stop all motion;
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
leftDrive.setPower(0);
rightDrive.setPower(0);
}
/**
@ -322,13 +339,13 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
}
// Send desired speeds to motors.
robot.leftDrive.setPower(leftSpeed);
robot.rightDrive.setPower(rightSpeed);
leftDrive.setPower(leftSpeed);
rightDrive.setPower(rightSpeed);
// Display it for the driver.
telemetry.addData("Target", "%5.2f", angle);
telemetry.addData("Err/St", "%5.2f/%5.2f", error, steer);
telemetry.addData("Speed.", "%5.2f:%5.2f", leftSpeed, rightSpeed);
telemetry.addData("Target/Current", "%5.2f / %5.0f", angle, robotHeading);
telemetry.addData("Error/Steer", "%5.2f / %5.2f", error, steer);
telemetry.addData("Speed.", "%5.2f : %5.2f", leftSpeed, rightSpeed);
return onTarget;
}
@ -344,12 +361,20 @@ public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
double robotError;
// calculate error in -179 to +180 range (
robotError = targetAngle - gyro.getIntegratedZValue();
robotError = targetAngle - getHeading();
while (robotError > 180) robotError -= 360;
while (robotError <= -180) robotError += 360;
return robotError;
}
/**
* read and save the current robot heading
*/
public double getHeading() {
robotHeading = (double)gyro.getIntegratedZValue();
return robotHeading;
}
/**
* returns desired steering force. +/- 1 range. +ve = steer left
* @param error Error angle in robot relative degrees

61
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByTime_Linear.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByTime_Linear.java vendored
View File

@ -32,35 +32,36 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on time.
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* The code assumes that you do NOT have encoders on the wheels,
* otherwise you would use: PushbotAutoDriveByEncoder;
* otherwise you would use: RobotAutoDriveByEncoder;
*
* The desired path in this example is:
* - Drive forward for 3 seconds
* - Spin right for 1.3 seconds
* - Drive Backwards for 1 Second
* - Stop and close the claw.
* - Drive Backward for 1 Second
*
* The code is written in a simple form with no optimizations.
* However, there are several ways that this type of sequence could be streamlined,
*
* Use Android Studios 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
* 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
*/
@Autonomous(name="Pushbot: Auto Drive By Time", group="Pushbot")
@Autonomous(name="Robot: Auto Drive By Time", group="Robot")
@Disabled
public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
public class RobotAutoDriveByTime_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
private ElapsedTime runtime = new ElapsedTime();
@ -70,11 +71,15 @@ public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
@Override
public void runOpMode() {
/*
* Initialize the drive system variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// Initialize the drive system variables.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Ready to run"); //
@ -86,37 +91,35 @@ public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
// Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
// Step 1: Drive forward for 3 seconds
robot.leftDrive.setPower(FORWARD_SPEED);
robot.rightDrive.setPower(FORWARD_SPEED);
leftDrive.setPower(FORWARD_SPEED);
rightDrive.setPower(FORWARD_SPEED);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() < 3.0)) {
telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
telemetry.addData("Path", "Leg 1: %4.1f S Elapsed", runtime.seconds());
telemetry.update();
}
// Step 2: Spin right for 1.3 seconds
robot.leftDrive.setPower(TURN_SPEED);
robot.rightDrive.setPower(-TURN_SPEED);
leftDrive.setPower(TURN_SPEED);
rightDrive.setPower(-TURN_SPEED);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() < 1.3)) {
telemetry.addData("Path", "Leg 2: %2.5f S Elapsed", runtime.seconds());
telemetry.addData("Path", "Leg 2: %4.1f S Elapsed", runtime.seconds());
telemetry.update();
}
// Step 3: Drive Backwards for 1 Second
robot.leftDrive.setPower(-FORWARD_SPEED);
robot.rightDrive.setPower(-FORWARD_SPEED);
// Step 3: Drive Backward for 1 Second
leftDrive.setPower(-FORWARD_SPEED);
rightDrive.setPower(-FORWARD_SPEED);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() < 1.0)) {
telemetry.addData("Path", "Leg 3: %2.5f S Elapsed", runtime.seconds());
telemetry.addData("Path", "Leg 3: %4.1f S Elapsed", runtime.seconds());
telemetry.update();
}
// Step 4: Stop and close the claw.
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
robot.leftClaw.setPosition(1.0);
robot.rightClaw.setPosition(0.0);
// Step 4: Stop
leftDrive.setPower(0);
rightDrive.setPower(0);
telemetry.addData("Path", "Complete");
telemetry.update();

144
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToLine_Linear.java vendored Normal file
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@ -0,0 +1,144 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.LightSensor;
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import com.qualcomm.robotcore.hardware.SwitchableLight;
/**
* This file illustrates the concept of driving up to a line and then stopping.
* The code is structured as a LinearOpMode
*
* The Sensor used here can be a REV Color Sensor V2 or V3. Make sure the white LED is turned on.
* The sensor can be plugged into any I2C port, and must be named "sensor_color" in the active configuration.
*
* Depending on the height of your color sensor, you may want to set the sensor "gain".
* The higher the gain, the greater the reflected light reading will be.
* Use the SensorColor sample in this folder to determine the minimum gain value that provides an
* "Alpha" reading of 1.0 when you are on top of the white line. In this sample, we use a gain of 15
* which works well with a Rev V2 color sensor
*
* Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
* This should be set halfway between the bare-tile, and white-line "Alpha" values.
* The reflected light value can be read on the screen once the OpMode has been INIT, but before it is STARTED.
* Move the sensor on and off the white line and note the min and max readings.
* Edit this code to make WHITE_THRESHOLD halfway between the min and max.
*
* 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
*/
@Autonomous(name="Robot: Auto Drive To Line", group="Robot")
@Disabled
public class RobotAutoDriveToLine_Linear extends LinearOpMode {
/* Declare OpMode members. */
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
/** The colorSensor field will contain a reference to our color sensor hardware object */
NormalizedColorSensor colorSensor;
static final double WHITE_THRESHOLD = 0.5; // spans between 0.0 - 1.0 from dark to light
static final double APPROACH_SPEED = 0.25;
@Override
public void runOpMode() {
// Initialize the drive system variables.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
// robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Get a reference to our sensor object. It's recommended to use NormalizedColorSensor over
// ColorSensor, because NormalizedColorSensor consistently gives values between 0 and 1, while
// the values you get from ColorSensor are dependent on the specific sensor you're using.
colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color");
// If necessary, turn ON the white LED (if there is no LED switch on the sensor)
if (colorSensor instanceof SwitchableLight) {
((SwitchableLight)colorSensor).enableLight(true);
}
// Some sensors allow you to set your light sensor gain for optimal sensitivity...
// See the SensorColor sample in this folder for how to determine the optimal gain.
// A gain of 15 causes a Rev Color Sensor V2 to produce an Alpha value of 1.0 at about 1.5" above the floor.
colorSensor.setGain(15);
// Wait for driver to press PLAY)
// Abort this loop is started or stopped.
while (opModeInInit()) {
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Ready to drive to white line."); //
// Display the light level while we are waiting to start
getBrightness();
}
// Start the robot moving forward, and then begin looking for a white line.
leftDrive.setPower(APPROACH_SPEED);
rightDrive.setPower(APPROACH_SPEED);
// run until the white line is seen OR the driver presses STOP;
while (opModeIsActive() && (getBrightness() < WHITE_THRESHOLD)) {
sleep(5);
}
// Stop all motors
leftDrive.setPower(0);
rightDrive.setPower(0);
}
// to obtain reflected light, read the normalized values from the color sensor. Return the Alpha channel.
double getBrightness() {
NormalizedRGBA colors = colorSensor.getNormalizedColors();
telemetry.addData("Light Level (0 to 1)", "%4.2f", colors.alpha);
telemetry.update();
return colors.alpha;
}
}

69
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopPOV_Linear.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopPOV_Linear.java vendored
View File

@ -32,30 +32,39 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
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.Servo;
import com.qualcomm.robotcore.util.Range;
/**
* This OpMode uses the common Pushbot hardware class to define the devices on the robot.
* All device access is managed through the HardwarePushbot class.
* This particular OpMode executes a POV Game style Teleop for a direct drive robot
* The code is structured as a LinearOpMode
*
* This particular OpMode executes a POV Game style Teleop for a PushBot
* In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
* It raises and lowers the claw using the Gampad Y and A buttons respectively.
* It raises and lowers the arm using the Gamepad Y and A buttons respectively.
* It also opens and closes the claws slowly using the left and right Bumper buttons.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* 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="Pushbot: Teleop POV", group="Pushbot")
@TeleOp(name="Robot: Teleop POV", group="Robot")
@Disabled
public class PushbotTeleopPOV_Linear extends LinearOpMode {
public class RobotTeleopPOV_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
double clawOffset = 0; // Servo mid position
final double CLAW_SPEED = 0.02 ; // sets rate to move servo
public DcMotor leftDrive = null;
public DcMotor rightDrive = null;
public DcMotor leftArm = null;
public Servo leftClaw = null;
public Servo rightClaw = null;
double clawOffset = 0;
public static final double MID_SERVO = 0.5 ;
public static final double CLAW_SPEED = 0.02 ; // sets rate to move servo
public static final double ARM_UP_POWER = 0.45 ;
public static final double ARM_DOWN_POWER = -0.45 ;
@Override
public void runOpMode() {
@ -65,10 +74,26 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
double turn;
double max;
/* Initialize the hardware variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// Define and Initialize Motors
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
leftArm = hardwareMap.get(DcMotor.class, "left_arm");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
// robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Define and initialize ALL installed servos.
leftClaw = hardwareMap.get(Servo.class, "left_hand");
rightClaw = hardwareMap.get(Servo.class, "right_hand");
leftClaw.setPosition(MID_SERVO);
rightClaw.setPosition(MID_SERVO);
// Send telemetry message to signify robot waiting;
telemetry.addData("Say", "Hello Driver"); //
@ -80,7 +105,7 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// Run wheels in POV mode (note: The joystick goes negative when pushed forwards, so negate it)
// Run wheels in POV mode (note: The joystick goes negative when pushed forward, so negate it)
// In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right.
// This way it's also easy to just drive straight, or just turn.
drive = -gamepad1.left_stick_y;
@ -99,8 +124,8 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
}
// Output the safe vales to the motor drives.
robot.leftDrive.setPower(left);
robot.rightDrive.setPower(right);
leftDrive.setPower(left);
rightDrive.setPower(right);
// Use gamepad left & right Bumpers to open and close the claw
if (gamepad1.right_bumper)
@ -110,16 +135,16 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
// Move both servos to new position. Assume servos are mirror image of each other.
clawOffset = Range.clip(clawOffset, -0.5, 0.5);
robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);
leftClaw.setPosition(MID_SERVO + clawOffset);
rightClaw.setPosition(MID_SERVO - clawOffset);
// Use gamepad buttons to move arm up (Y) and down (A)
if (gamepad1.y)
robot.leftArm.setPower(robot.ARM_UP_POWER);
leftArm.setPower(ARM_UP_POWER);
else if (gamepad1.a)
robot.leftArm.setPower(robot.ARM_DOWN_POWER);
leftArm.setPower(ARM_DOWN_POWER);
else
robot.leftArm.setPower(0.0);
leftArm.setPower(0.0);
// Send telemetry message to signify robot running;
telemetry.addData("claw", "Offset = %.2f", clawOffset);

75
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotTeleopTank_Iterative.java → FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopTank_Iterative.java vendored
View File

@ -32,41 +32,66 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
/**
* This file provides basic Telop driving for a Pushbot robot.
* This particular OpMode executes a Tank Drive control TeleOp a direct drive robot
* The code is structured as an Iterative OpMode
*
* This OpMode uses the common Pushbot hardware class to define the devices on the robot.
* All device access is managed through the HardwarePushbot class.
*
* This particular OpMode executes a basic Tank Drive Teleop for a PushBot
* It raises and lowers the claw using the Gampad Y and A buttons respectively.
* In this mode, the left and right joysticks control the left and right motors respectively.
* Pushing a joystick forward will make the attached motor drive forward.
* It raises and lowers the claw using the Gamepad Y and A buttons respectively.
* It also opens and closes the claws slowly using the left and right Bumper buttons.
*
* Use Android Studios 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
* 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="Pushbot: Teleop Tank", group="Pushbot")
@TeleOp(name="Robot: Teleop Tank", group="Robot")
@Disabled
public class PushbotTeleopTank_Iterative extends OpMode{
public class RobotTeleopTank_Iterative extends OpMode{
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // use the class created to define a Pushbot's hardware
double clawOffset = 0.0 ; // Servo mid position
final double CLAW_SPEED = 0.02 ; // sets rate to move servo
public DcMotor leftDrive = null;
public DcMotor rightDrive = null;
public DcMotor leftArm = null;
public Servo leftClaw = null;
public Servo rightClaw = null;
double clawOffset = 0;
public static final double MID_SERVO = 0.5 ;
public static final double CLAW_SPEED = 0.02 ; // sets rate to move servo
public static final double ARM_UP_POWER = 0.50 ; // Run arm motor up at 50% power
public static final double ARM_DOWN_POWER = -0.25 ; // Run arm motor down at -25% power
/*
* Code to run ONCE when the driver hits INIT
*/
@Override
public void init() {
/* Initialize the hardware variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// Define and Initialize Motors
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
leftArm = hardwareMap.get(DcMotor.class, "left_arm");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left and right sticks forward MUST make robot go forward. So adjust these two lines based on your first test drive.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
// robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Define and initialize ALL installed servos.
leftClaw = hardwareMap.get(Servo.class, "left_hand");
rightClaw = hardwareMap.get(Servo.class, "right_hand");
leftClaw.setPosition(MID_SERVO);
rightClaw.setPosition(MID_SERVO);
// Send telemetry message to signify robot waiting;
telemetry.addData("Say", "Hello Driver"); //
@ -94,12 +119,12 @@ public class PushbotTeleopTank_Iterative extends OpMode{
double left;
double right;
// Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
// Run wheels in tank mode (note: The joystick goes negative when pushed forward, so negate it)
left = -gamepad1.left_stick_y;
right = -gamepad1.right_stick_y;
robot.leftDrive.setPower(left);
robot.rightDrive.setPower(right);
leftDrive.setPower(left);
rightDrive.setPower(right);
// Use gamepad left & right Bumpers to open and close the claw
if (gamepad1.right_bumper)
@ -109,16 +134,16 @@ public class PushbotTeleopTank_Iterative extends OpMode{
// Move both servos to new position. Assume servos are mirror image of each other.
clawOffset = Range.clip(clawOffset, -0.5, 0.5);
robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);
leftClaw.setPosition(MID_SERVO + clawOffset);
rightClaw.setPosition(MID_SERVO - clawOffset);
// Use gamepad buttons to move the arm up (Y) and down (A)
if (gamepad1.y)
robot.leftArm.setPower(robot.ARM_UP_POWER);
leftArm.setPower(ARM_UP_POWER);
else if (gamepad1.a)
robot.leftArm.setPower(robot.ARM_DOWN_POWER);
leftArm.setPower(ARM_DOWN_POWER);
else
robot.leftArm.setPower(0.0);
leftArm.setPower(0.0);
// Send telemetry message to signify robot running;
telemetry.addData("claw", "Offset = %.2f", clawOffset);

167
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorAdafruitRGB.java vendored
View File

@ -1,167 +0,0 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
import android.app.Activity;
import android.graphics.Color;
import android.view.View;
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.ColorSensor;
import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
import com.qualcomm.robotcore.hardware.DigitalChannel;
/*
*
* This is an example LinearOpMode that shows how to use
* the Adafruit RGB Sensor. It assumes that the I2C
* cable for the sensor is connected to an I2C port on the
* Core Device Interface Module.
*
* It also assuems that the LED pin of the sensor is connected
* to the digital signal pin of a digital port on the
* Core Device Interface Module.
*
* You can use the digital port to turn the sensor's onboard
* LED on or off.
*
* The op mode assumes that the Core Device Interface Module
* is configured with a name of "dim" and that the Adafruit color sensor
* is configured as an I2C device with a name of "sensor_color".
*
* It also assumes that the LED pin of the RGB sensor
* is connected to the signal pin of digital port #5 (zero indexed)
* of the Core Device Interface Module.
*
* You can use the X button on gamepad1 to toggle the LED on and off.
*
* 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 = "Sensor: AdafruitRGB", group = "Sensor")
@Disabled // Comment this out to add to the opmode list
public class SensorAdafruitRGB extends LinearOpMode {
ColorSensor sensorRGB;
DeviceInterfaceModule cdim;
// we assume that the LED pin of the RGB sensor is connected to
// digital port 5 (zero indexed).
static final int LED_CHANNEL = 5;
@Override
public void runOpMode() {
// hsvValues is an array that will hold the hue, saturation, and value information.
float hsvValues[] = {0F,0F,0F};
// values is a reference to the hsvValues array.
final float values[] = hsvValues;
// get a reference to the RelativeLayout so we can change the background
// color of the Robot Controller app to match the hue detected by the RGB sensor.
int relativeLayoutId = hardwareMap.appContext.getResources().getIdentifier("RelativeLayout", "id", hardwareMap.appContext.getPackageName());
final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(relativeLayoutId);
// bPrevState and bCurrState represent the previous and current state of the button.
boolean bPrevState = false;
boolean bCurrState = false;
// bLedOn represents the state of the LED.
boolean bLedOn = true;
// get a reference to our DeviceInterfaceModule object.
cdim = hardwareMap.deviceInterfaceModule.get("dim");
// set the digital channel to output mode.
// remember, the Adafruit sensor is actually two devices.
// It's an I2C sensor and it's also an LED that can be turned on or off.
cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannel.Mode.OUTPUT);
// get a reference to our ColorSensor object.
sensorRGB = hardwareMap.colorSensor.get("sensor_color");
// turn the LED on in the beginning, just so user will know that the sensor is active.
cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
// wait for the start button to be pressed.
waitForStart();
// loop and read the RGB data.
// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
while (opModeIsActive()) {
// check the status of the x button on gamepad.
bCurrState = gamepad1.x;
// check for button-press state transitions.
if ((bCurrState == true) && (bCurrState != bPrevState)) {
// button is transitioning to a pressed state. Toggle the LED.
bLedOn = !bLedOn;
cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
}
// update previous state variable.
bPrevState = bCurrState;
// convert the RGB values to HSV values.
Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues);
// send the info back to driver station using telemetry function.
telemetry.addData("LED", bLedOn ? "On" : "Off");
telemetry.addData("Clear", sensorRGB.alpha());
telemetry.addData("Red ", sensorRGB.red());
telemetry.addData("Green", sensorRGB.green());
telemetry.addData("Blue ", sensorRGB.blue());
telemetry.addData("Hue", hsvValues[0]);
// change the background color to match the color detected by the RGB sensor.
// pass a reference to the hue, saturation, and value array as an argument
// to the HSVToColor method.
relativeLayout.post(new Runnable() {
public void run() {
relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
}
});
telemetry.update();
}
// Set the panel back to the default color
relativeLayout.post(new Runnable() {
public void run() {
relativeLayout.setBackgroundColor(Color.WHITE);
}
});
}
}

107
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorDIO.java vendored
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@ -1,107 +0,0 @@
/* Copyright (c) 2017 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.robotcontroller.external.samples;
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.DeviceInterfaceModule;
import com.qualcomm.robotcore.hardware.DigitalChannel;
/*
* This is an example LinearOpMode that shows how to use the digital inputs and outputs on the
* the Modern Robotics Device Interface Module. In addition, it shows how to use the Red and Blue LED
*
* This op mode assumes that there is a Device Interface Module attached, named 'dim'.
* On this DIM there is a digital input named 'digin' and an output named 'digout'
*
* To fully exercise this sample, connect pin 3 of the digin connector to pin 3 of the digout.
* Note: Pin 1 is indicated by the black stripe, so pin 3 is at the opposite end.
*
* The X button on the gamepad will be used to activate the digital output pin.
* The Red/Blue LED will be used to indicate the state of the digital input pin.
* Blue = false (0V), Red = true (5V)
* If the two pins are linked, the gamepad will change the LED color.
*
* 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 = "Sensor: DIM DIO", group = "Sensor")
@Disabled
public class SensorDIO extends LinearOpMode {
final int BLUE_LED_CHANNEL = 0;
final int RED_LED_CHANNEL = 1;
@Override
public void runOpMode() {
boolean inputPin; // Input State
boolean outputPin; // Output State
DeviceInterfaceModule dim; // Device Object
DigitalChannel digIn; // Device Object
DigitalChannel digOut; // Device Object
// get a reference to a Modern Robotics DIM, and IO channels.
dim = hardwareMap.get(DeviceInterfaceModule.class, "dim"); // Use generic form of device mapping
digIn = hardwareMap.get(DigitalChannel.class, "digin"); // Use generic form of device mapping
digOut = hardwareMap.get(DigitalChannel.class, "digout"); // Use generic form of device mapping
digIn.setMode(DigitalChannel.Mode.INPUT); // Set the direction of each channel
digOut.setMode(DigitalChannel.Mode.OUTPUT);
// wait for the start button to be pressed.
telemetry.addData(">", "Press play, and then user X button to set DigOut");
telemetry.update();
waitForStart();
while (opModeIsActive()) {
outputPin = gamepad1.x ; // Set the output pin based on x button
digOut.setState(outputPin);
inputPin = digIn.getState(); // Read the input pin
// Display input pin state on LEDs
if (inputPin) {
dim.setLED(RED_LED_CHANNEL, true);
dim.setLED(BLUE_LED_CHANNEL, false);
}
else {
dim.setLED(RED_LED_CHANNEL, false);
dim.setLED(BLUE_LED_CHANNEL, true);
}
telemetry.addData("Output", outputPin );
telemetry.addData("Input", inputPin );
telemetry.addData("LED", inputPin ? "Red" : "Blue" );
telemetry.update();
}
}
}

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRColor.java vendored
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@ -49,7 +49,7 @@ import com.qualcomm.robotcore.hardware.ColorSensor;
* You can use the X button on gamepad1 to toggle the LED on and off.
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Sensor: MR Color", group = "Sensor")
@Disabled

4
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java vendored
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@ -49,7 +49,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
* I2C channel and is configured with a name of "gyro".
*
* 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
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name = "Sensor: MR Gyro", group = "Sensor")
@Disabled
@ -83,7 +83,7 @@ public class SensorMRGyro extends LinearOpMode {
// A similar approach will work for the Gyroscope interface, if that's all you need.
// Start calibrating the gyro. This takes a few seconds and is worth performing
// during the initialization phase at the start of each opMode.
// during the initialization phase at the start of each OpMode.
telemetry.log().add("Gyro Calibrating. Do Not Move!");
modernRoboticsI2cGyro.calibrate();

15
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md vendored
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@ -27,15 +27,9 @@ Sensor: This is a Sample OpMode that shows how to use a specific sensor.
It is not intended to drive a functioning robot, it is simply showing the minimal code
required to read and display the sensor values.
Hardware: This is NOT an OpMode, but a helper class that is used to describe
one particular robot's hardware configuration: eg: For the K9 or Pushbot.
Look at any Pushbot sample to see how this can be used in an OpMode.
Teams can copy one of these to their team folder to create their own robot definition.
Pushbot: This is a Sample OpMode that uses the Pushbot robot hardware as a base.
It may be used to provide some standard baseline Pushbot OpModes, or
to demonstrate how a particular sensor or concept can be used directly on the
Pushbot chassis.
Robot: This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
It may be used to provide a common baseline driving OpMode, or
to demonstrate how a particular sensor or concept can be used to navigate.
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
These may be complex, but their operation should be explained clearly in the comments,
@ -50,8 +44,7 @@ Library: This is a class, or set of classes used to implement some strategy.
After the prefix, other conventions will apply:
* Sensor class names are constructed as: Sensor - Company - Type
* Hardware class names are constructed as: Hardware - Robot type
* Pushbot class names are constructed as: Pushbot - Mode - Action - OpModetype
* Robot class names are constructed as: Robot - Mode - Action - OpModetype
* Concept class names are constructed as: Concept - Topic - OpModetype
* Library class names are constructed as: Library - Topic - OpModetype

12
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/sample_conventions.md vendored
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@ -18,14 +18,14 @@ Sensor: This is a Sample OpMode that shows how to use a specific sensor.
required to read and display the sensor values.
Hardware: This is not an actual OpMode, but a helper class that is used to describe
one particular robot's hardware configuration: eg: For the K9 or Pushbot.
Look at any Pushbot sample to see how this can be used in an OpMode.
one particular robot's hardware configuration: eg: For the K9 or Robot.
Look at any Robot sample to see how this can be used in an OpMode.
Teams can copy one of these to create their own robot definition.
Pushbot: This is a Sample OpMode that uses the Pushbot robot hardware as a base.
It may be used to provide some standard baseline Pushbot opmodes, or
Robot: This is a Sample OpMode that uses the Robot robot hardware as a base.
It may be used to provide some standard baseline Robot opmodes, or
to demonstrate how a particular sensor or concept can be used directly on the
Pushbot chassis.
Robot chassis.
Concept: This is a sample OpMode that illustrates performing a specific function or concept.
These may be complex, but their operation should be explained clearly in the comments,
@ -41,7 +41,7 @@ After the prefix, other conventions will apply:
* Sensor class names should constructed as: Sensor - Company - Type
* Hardware class names should be constructed as: Hardware - Robot type
* Pushbot class names should be constructed as: Pushbot - Mode - Action - OpModetype
* Robot class names should be constructed as: Robot - Mode - Action - OpModetype
* Concept class names should be constructed as: Concept - Topic - OpModetype
* Library class names should be constructed as: Library - Topic - OpModetype

1
FtcRobotController/src/main/res/xml/device_filter.xml
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@ -37,7 +37,6 @@ https://developer.android.com/guide/topics/connectivity/usb/host
<!-- see also RobotUsbDevice.getUsbIdentifiers() -->
<resources>
<usb-device vendor-id="1027" product-id="24577" /> <!-- FT232 Modern Robotics: 0x0403/0x6001 -->
<usb-device vendor-id="1027" product-id="24597" /> <!-- FT232 Lynx: 0x0403/0x6015 -->
<!-- cameras -->