latest update

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java

@@ -1,7 +1,5 @@
 package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.teamcode.MecanumDriveParameters.*;
-
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.dashboard.canvas.Canvas;
@@ -56,23 +54,24 @@ import java.util.List;
 @Config
 public final class MecanumDrive {
     public static class Params {
-
+        // IMU orientation
-        /*
+        // TODO: fill in these values based on
-        IMU Orientation
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        See https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
+        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-         */
+                RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+                RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
 
         // drive model parameters
-        public double inPerTick = INCHES_PER_TICK_VALUE;
+        //public double inPerTick = 37619.0/112;
-        public double lateralInPerTick = LATERAL_INCHES_PER_TICK_VALUE;
+        public double inPerTick = 18760.5/56;
-        public double trackWidthTicks = TRACK_WIDTH_IN_TICKS_VALUE;
+        public double lateralInPerTick = 293.2046574609792;
+        public double trackWidthTicks = 3968.437903995162;
 
         // feedforward parameters (in tick units)
-        public double kS = KS_VALUE;
+        public double kS = 0.7748584778215575;
-        public double kV = KV_VALUE;
+        public double kV = 0.0005849868585467051;
-        public double kA = KA_VALUE;
+        public double kA = 0;
 
         // path profile parameters (in inches)
         public double maxWheelVel = 50;
@@ -96,18 +95,15 @@ public final class MecanumDrive {
     public static Params PARAMS = new Params();
 
     public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks,
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-            PARAMS.inPerTick / PARAMS.lateralInPerTick);
 
     public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
             PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-
     public final VelConstraint defaultVelConstraint =
             new MinVelConstraint(Arrays.asList(
                     kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
                     new AngularVelConstraint(PARAMS.maxAngVel)
             ));
-
     public final AccelConstraint defaultAccelConstraint =
             new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
 
@@ -140,7 +136,9 @@ public final class MecanumDrive {
             leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
             rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
             rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
+
             imu = lazyImu.get();
+
         }
 
         @Override
@@ -216,34 +214,34 @@ public final class MecanumDrive {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
-        /*
+        // TODO: make sure your config has motors with these names (or change them)
-        Configure motors definitions
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-         */
+        leftFront = hardwareMap.get(DcMotorEx.class, "Drive front lt");
-        leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
+        leftBack = hardwareMap.get(DcMotorEx.class, "Drive back lt");
-        leftBack = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
+        rightBack = hardwareMap.get(DcMotorEx.class, "Drive back rt");
-        rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
+        rightFront = hardwareMap.get(DcMotorEx.class, "Drive front rt");
-        rightBack = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
 
         leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
-        /*
+        // TODO: reverse motor directions if needed
-        Configure motors direction
+        //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-         */
+        rightFront.setDirection(DcMotorSimple.Direction.FORWARD);
-        //leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        rightBack.setDirection(DcMotorSimple.Direction.FORWARD);
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
 
-        /*
+
-        IMU Orientation Application
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        See https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-         */
         lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
 
         voltageSensor = hardwareMap.voltageSensor.iterator().next();
 
-        localizer = new DriveLocalizer();
+        localizer = new ThreeDeadWheelLocalizer(hardwareMap, PARAMS.inPerTick);
 
         FlightRecorder.write("MECANUM_PARAMS", PARAMS);
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDriveParameters.java

@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-
-public class MecanumDriveParameters {
-
-    // Roadrunner tuning parameters
-    public static final double INCHES_PER_TICK_VALUE = 125.5/42126.8333333;
-    public static final double LATERAL_INCHES_PER_TICK_VALUE = 0.0026542073080477006;
-    public static final double TRACK_WIDTH_IN_TICKS_VALUE = 4012.7667474312616;
-
-    // FeedForward parameters (in tick units)
-    public static final double KS_VALUE = 0.7579547290234911;
-    public static final double KV_VALUE = 0.0005724562271687877;
-    public static final double KA_VALUE = 0;
-
-    // Robot motor configurations
-    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
-    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
-    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
-    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SensorIMUOrthogonal.java

@@ -1,144 +0,0 @@
-/* Copyright (c) 2022 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-
-/*
- * This OpMode shows how to use the new universal IMU interface. This
- * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
- * on the robot with the name "imu".
- *
- * The sample will display the current Yaw, Pitch and Roll of the robot.<br>
- * With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
- *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
- *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
- *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
- *
- * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
- *
- * This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
- * (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
- *
- * Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
- *       the alternative SensorImuNonOrthogonal sample in this folder.
- *
- * This "Orthogonal" requirement means that:
- *
- * 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * 2) The USB ports can only be pointing in one of the same six directions:<br>
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
- *    logoFacingDirection<br>
- *    usbFacingDirection
- *
- * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
- * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
- *
- * Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
- * to use those parameters.
- */
-@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
-@Disabled   // Comment this out to add to the OpMode list
-public class SensorIMUOrthogonal extends LinearOpMode
-{
-    // The IMU sensor object
-    IMU imu;
-
-    //----------------------------------------------------------------------------------------------
-    // Main logic
-    //----------------------------------------------------------------------------------------------
-
-    @Override public void runOpMode() throws InterruptedException {
-
-        // Retrieve and initialize the IMU.
-        // This sample expects the IMU to be in a REV Hub and named "imu".
-        imu = hardwareMap.get(IMU.class, "imu");
-
-        /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
-         *
-         * Two input parameters are required to fully specify the Orientation.
-         * The first parameter specifies the direction the printed logo on the Hub is pointing.
-         * The second parameter specifies the direction the USB connector on the Hub is pointing.
-         * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
-         */
-
-        /* The next two lines define Hub orientation.
-         * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
-         *
-         * To Do:  EDIT these two lines to match YOUR mounting configuration.
-         */
-        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
-
-        // Now initialize the IMU with this mounting orientation
-        // Note: if you choose two conflicting directions, this initialization will cause a code exception.
-        imu.initialize(new IMU.Parameters(orientationOnRobot));
-
-        // Loop and update the dashboard
-        while (!isStopRequested()) {
-
-            telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
-
-            // Check to see if heading reset is requested
-            if (gamepad1.y) {
-                telemetry.addData("Yaw", "Resetting\n");
-                imu.resetYaw();
-            } else {
-                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
-            }
-
-            // Retrieve Rotational Angles and Velocities
-            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
-            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
-
-            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
-            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
-            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
-            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
-            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
-            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
-            telemetry.update();
-        }
-    }
-}