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SCDS:master SCDS:branch-swiss-cheese SCDS:branch-rc-chassis-14493-subsystem-actions SCDS:branch-silver-14493-v2 SCDS:branch-rc-chassis-14493-new-subsystem-actions SCDS:branch-silver-14493 SCDS:branch-rc-chassis-14493-subsystem SCDS:branch-rc-chassis-14493 SCDS:branch-bobito-14493 SCDS:branch-black-14493 SCDS:branch-pedro-led-light SCDS:branch-asher SCDS:branch-pedro-into-the-deep SCDS:branch-alex SCDS:branch-carlos SCDS:branch-into-the-deep
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compare: SCDS:branch-bobito-14493
Branches Tags
SCDS:branch-swiss-cheese SCDS:branch-rc-chassis-14493-subsystem-actions SCDS:branch-silver-14493-v2 SCDS:branch-rc-chassis-14493-new-subsystem-actions SCDS:branch-silver-14493 SCDS:branch-rc-chassis-14493-subsystem SCDS:branch-rc-chassis-14493 SCDS:branch-bobito-14493 SCDS:branch-black-14493 SCDS:branch-pedro-led-light SCDS:branch-asher SCDS:branch-pedro-into-the-deep SCDS:branch-alex SCDS:branch-carlos SCDS:branch-into-the-deep SCDS:master

18 Commits
branch-sil ... branch-bob

Author SHA1 Message Date
Carlos Rivas
bee78d7d71 WIP bobito tunings 2024-10-30 19:39:49 -07:00
Carlos Rivas
b442008fb6 Updating localizer/tuning values for Bobito 2024-10-30 12:54:51 -07:00
Carlos Rivas
4e8c37e01b Added motor direction logic 2024-10-22 22:46:20 -07:00
Carlos Rivas
6a125ff247 Added tuned values for Bobito 2024-10-22 22:46:04 -07:00
Carlos Rivas
1c4b3723c3 Added debugging for encoder logic 2024-10-22 22:44:55 -07:00
Carlos Rivas
7a028835f8 Removing unnecessary files for the current iteration of this drive encoded robot 2024-10-22 22:44:24 -07:00
Carlos Rivas
cd10d3a01b Preliminary configuration for Bobito as a DriveEncoder robot 2024-10-22 20:36:02 -07:00
Carlos Rivas
89f4c1b9a0 Merge remote-tracking branch 'origin/branch-rc-chassis-14493' into branch-rc-chassis-14493 2024-10-22 20:26:28 -07:00
Carlos Rivas
6f784936d2 Add Carlos's file 2024-10-22 20:26:15 -07:00
robotics1
945a77ca49 Aditya's sample code 2024-10-22 17:28:55 -07:00
Carlos Rivas
43c505e292 Updated values back to when they worked 2024-10-22 16:26:33 -07:00
Carlos
5cec300e58 Upgrade libs to 10.1 2024-10-21 21:56:23 -07:00
Carlos
00146b2e40 Currently working with Pedro Pathing and tuned as of this date. 2024-10-21 21:54:09 -07:00
Carlos
ba5e1e6fe4 Committing translational and heading PID 2024-10-20 19:03:52 -07:00
Carlos
a64a558f2f Commit tune in progress 2024-10-20 17:23:31 -07:00
Carlos
99099bf78f Changing paths a bit, 3-wheel w/o IMU. This checks out 2024-10-20 17:08:05 -07:00
Carlos
efd3302645 Outstanding robot 2024-09-26 16:16:10 -07:00
robotics2
a7f060c3eb Add initial code 2024-09-24 17:10:22 -07:00
42 changed files with 205 additions and 3695 deletions
Expand all files Collapse all files

62
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleFour.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExample.java
View File

@ -1,10 +1,17 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
@ -26,15 +33,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
public class AutoExampleFour extends OpMode {
@Autonomous(name = "AutoExample", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(12,60, 0);
private final Pose startPose = new Pose(12.0, 11, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -44,45 +51,54 @@ public class AutoExampleFour extends OpMode {
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setMaxPower(.6);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(12.000, 60.000, Point.CARTESIAN),
new Point(60.000, 60.000, Point.CARTESIAN),
new Point(60.000, 12.000, Point.CARTESIAN)
new BezierLine(
new Point(12.804, 11.223, Point.CARTESIAN),
new Point(12.804, 42.362, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 12.000, Point.CARTESIAN),
new Point(40.000, 12.000, Point.CARTESIAN)
new BezierCurve(
new Point(12.804, 42.362, Point.CARTESIAN),
new Point(11.381, 57.379, Point.CARTESIAN),
new Point(31.614, 56.588, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierCurve(
new Point(40.000, 12.000, Point.CARTESIAN),
new Point(35.000, 35.000, Point.CARTESIAN),
new Point(12.000, 35.000, Point.CARTESIAN)
new BezierLine(
new Point(31.614, 56.588, Point.CARTESIAN),
new Point(51.214, 56.746, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(12.000, 35.000, Point.CARTESIAN),
new Point(12.000, 60.000, Point.CARTESIAN)
new BezierCurve(
new Point(51.214, 56.746, Point.CARTESIAN),
new Point(64.334, 58.643, Point.CARTESIAN),
new Point(61.172, 45.524, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(0))
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierCurve(
new Point(61.172, 45.524, Point.CARTESIAN),
new Point(36.198, 26.239, Point.CARTESIAN),
new Point(19.759, 11.065, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.build();
follower.followPath(path);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleSeason2025V1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleSeason2025V1.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;

23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleThree.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleThree.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -26,7 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
@Autonomous(name = "AutoExampleThree", group = "Autonomous Pathing Tuning")
public class AutoExampleThree extends OpMode {
private Telemetry telemetryA;
@ -34,7 +34,7 @@ public class AutoExampleThree extends OpMode {
private PathChain path;
private final Pose startPose = new Pose(10,45, 0);
private final Pose startPose = new Pose(10.0, 40, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -52,21 +52,12 @@ public class AutoExampleThree extends OpMode {
.addPath(
// Line 1
new BezierCurve(
new Point(10.000, 45.000, Point.CARTESIAN),
new Point(45.000, 45.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
new Point(10.000, 20.000, Point.CARTESIAN),
new Point(29.089, 61.232, Point.CARTESIAN),
new Point(48.054, 19.607, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.addPath(
// Line 2
new BezierLine(
new Point(50.000, 20.000, Point.CARTESIAN),
new Point(10.000, 20.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
.build();
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
follower.followPath(path);

33
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleTwo.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleTwo.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -10,6 +10,7 @@ import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@ -25,7 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
@Autonomous(name = "AutoExampleTwo", group = "Autonomous Pathing Tuning")
public class AutoExampleTwo extends OpMode {
private Telemetry telemetryA;
@ -33,7 +34,7 @@ public class AutoExampleTwo extends OpMode {
private PathChain path;
private final Pose startPose = new Pose(10.0, 45, 0);
private final Pose startPose = new Pose(10.0, 40, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@ -50,14 +51,28 @@ public class AutoExampleTwo extends OpMode {
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(10.000, 45.000, Point.CARTESIAN),
new Point(45.000, 45.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
new BezierLine(
new Point(10.000, 40.000, Point.CARTESIAN),
new Point(60.000, 40.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
.build();
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 40.000, Point.CARTESIAN),
new Point(60.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 3
new BezierLine(
new Point(60.000, 25.000, Point.CARTESIAN),
new Point(10.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
follower.followPath(path);

74
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BasicOmniOpMode_Linear.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
View File

@ -27,10 +27,8 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots.projects;
package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
@ -39,10 +37,6 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@ -80,12 +74,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
*/
@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
@TeleOp(name = "Basic: Omni Linear OpMode", group = "Linear OpMode")
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private final ElapsedTime runtime = new ElapsedTime();
private Encoder leftFront;
private Encoder rightFront;
private Encoder leftRear;
private Encoder rightRear;
@Override
public void runOpMode() {
@ -96,18 +93,12 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
// TODO: replace these with your encoder ports
Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
// ########################################################################################
@ -123,11 +114,20 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
leftFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftFrontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftBackDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightFrontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightBackDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
telemetry.update();
waitForStart();
@ -138,16 +138,16 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
double max;
// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
double lateral = gamepad1.left_stick_x;
double yaw = gamepad1.right_stick_x;
double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
double lateral = gamepad1.left_stick_x;
double yaw = gamepad1.right_stick_x;
// Combine the joystick requests for each axis-motion to determine each wheel's power.
// Set up a variable for each drive wheel to save the power level for telemetry.
double leftFrontPower = axial + lateral + yaw;
double leftFrontPower = axial + lateral + yaw;
double rightFrontPower = axial - lateral - yaw;
double leftBackPower = axial - lateral + yaw;
double rightBackPower = axial + lateral - yaw;
double leftBackPower = axial - lateral + yaw;
double rightBackPower = axial + lateral - yaw;
// Normalize the values so no wheel power exceeds 100%
// This ensures that the robot maintains the desired motion.
@ -156,10 +156,10 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
// This is test code:
@ -186,12 +186,14 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
rightBackDrive.setPower(rightBackPower);
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Status", "Run Time: " + runtime);
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
telemetry.addData("Encoder Front Left", leftFrontDrive.getDirection() + " : " + leftFrontDrive.getCurrentPosition());
telemetry.addData("Encoder Front Right", rightFrontDrive.getCurrentPosition());
telemetry.addData("Encoder Back Left", leftBackDrive.getCurrentPosition());
telemetry.addData("Encoder Back Right", rightBackDrive.getCurrentPosition());
telemetry.update();
}
}}
}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluebAutoV1.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BluebAutoV1.java
View File

@ -1,4 +1,4 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
@ -9,6 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BluenbAutov1.java Normal file
View File

@ -0,0 +1,4 @@
package org.firstinspires.ftc.teamcode;
public class BluenbAutov1 {
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java
View File

@ -1,24 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment;
@TeleOp(name = "CometBot Auto", group = "Development")
public class CometBotDevAuto extends OpMode {
public CometBotAutoDevelopment runMode;
@Override
public void init() {
this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
}
@Override
public void loop() {
this.runMode.update();
telemetry.update();
}
}

64
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NetAuto.java
View File

@ -1,64 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine2;
import org.firstinspires.ftc.teamcode.subsystem.AutoLine3;
@Autonomous(name = "BlueNetAuto", group = "Dev")
public class NetAuto extends OpMode {
public Follower follower;
public AutoLine1 myFirstPath = new AutoLine1();
public AutoLine2 mySecondPath = new AutoLine2();
public int pathState = 0;
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(0.65);
myFirstPath.moveToAutoLine1(follower);
}
@Override
public void loop() {
follower.update();
switch(pathState) {
case 0:
if (!follower.isBusy()) {
pathState = 1;
mySecondPath.moveToAutoLine2(follower);
}
case 1:
if (!follower.isBusy()) {
System.out.println("Finished");
}
}
// switch(pathState) {
// case 0:
// if (!follower.isBusy()) {
// mySecondPath.moveToAutoLine2(follower);
// pathState = 1;
// }
// case 1:
// if (!follower.isBusy()) {
// pathState = 2;
// }
// case 2:
// // set path 3
// // as if busy, if not, set path 4 and so on.
// System.out.print("we're at the end");
//
// }
follower.telemetryDebug(telemetry);
}
}

59
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
View File

@ -12,71 +12,46 @@ public class PedroConstants {
*/
// Robot motor configurations
public static final String FRONT_LEFT_MOTOR = "front-left";
public static final String BACK_LEFT_MOTOR = "back-left";
public static final String FRONT_RIGHT_MOTOR = "front-right";
public static final String BACK_RIGHT_MOTOR = "back-right";
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";
// Robot motor direction
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
/*
Motor Max Power
*/
public static final double MAX_POWER = .75;
// Robot IMU configuration
public static final String IMU = "imu";
// Robot IMU placement
public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
= RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
= RevHubOrientationOnRobot.UsbFacingDirection.UP;
// Robot encoders
// NOTE: Encoders are plugged into the same ports as motors hence the weird names
public static final String RIGHT_ENCODER = "back-right"; //0
public static final String BACK_ENCODER = "front-right"; //1
public static final String LEFT_ENCODER = "front-left"; //2
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.REVERSE;
// Robot encoder direction
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
// Arm config
public static final String SLIDE_MOTOR = "SlideMotor";
public static final String Claw_Servo = "ClawServo";
public static final String Wrist_Servo = "WristServo";
public static final String Arm_Servo = "ArmServo";
public static final double FRONT_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
public static final double BACK_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
public static final double FRONT_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
public static final double BACK_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
/*
Pedro's parameters
*/
// The weight of the robot in Kilograms
public static final double ROBOT_WEIGHT_IN_KG = 9;
public static final double ROBOT_WEIGHT_IN_KG = 5.15;
// Maximum velocity of the robot going forward
public static final double ROBOT_SPEED_FORWARD = 51.5;
public static final double ROBOT_SPEED_FORWARD = 66.6117;
// Maximum velocity of the robot going right
public static final double ROBOT_SPEED_LATERAL = 28.7;
public static final double ROBOT_SPEED_LATERAL = 60.0671;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -59.8;
public static final double FORWARD_ZERO_POWER_ACCEL = -71.154;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -99.7;
public static final double LATERAL_ZERO_POWER_ACCEL = -109.5358;
// Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
public static final double ZERO_POWER_ACCEL_MULT = 3.5;
public static final double ZERO_POWER_ACCEL_MULT = 4.0;
/* Centripetal force correction - increase if robot is correcting into the path
- decrease if robot is correcting away from the path */
public static final double CENTRIPETAL_SCALING = 0.0004;
public static final double CENTRIPETAL_SCALING = 0.0005;
}

122
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
View File

@ -1,122 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
public class PreLoadedBlueBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(7.875, 89.357);
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(8.036, 89.196, Point.CARTESIAN),
new Point(10.125, 126.804, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(10.125, 126.804, Point.CARTESIAN),
new Point(37.607, 90.000, Point.CARTESIAN),
new Point(62.357, 119.893, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierCurve(
new Point(62.357, 119.893, Point.CARTESIAN),
new Point(33.750, 112.500, Point.CARTESIAN),
new Point(15.107, 130.661, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierCurve(
new Point(15.107, 130.661, Point.CARTESIAN),
new Point(58.821, 103.018, Point.CARTESIAN),
new Point(59.625, 126.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(15.107, 130.339, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(15.107, 130.339, Point.CARTESIAN),
new Point(59.625, 126.964, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierLine(
new Point(59.625, 126.964, Point.CARTESIAN),
new Point(57.857, 133.071, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(57.857, 133.071, Point.CARTESIAN),
new Point(18.964, 134.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierCurve(
new Point(18.964, 134.679, Point.CARTESIAN),
new Point(84.536, 131.786, Point.CARTESIAN),
new Point(80.036, 96.429, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
follower.telemetryDebug(telemetryA);
}
}

151
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BlueNonBasketAuto.java
View File

@ -1,151 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "BlueNonBasketAuto", group = "Autonomous Pathing Tuning")
public class BlueNonBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.929, 55.446, 0);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierCurve(
new Point(10.929, 55.446, Point.CARTESIAN),
new Point(42.429, 46.446, Point.CARTESIAN),
new Point(36.321, 38.089, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierLine(
new Point(36.321, 38.089, Point.CARTESIAN),
new Point(59.786, 36.643, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierLine(
new Point(59.786, 36.643, Point.CARTESIAN),
new Point(59.304, 24.750, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierLine(
new Point(59.304, 24.750, Point.CARTESIAN),
new Point(13.982, 23.946, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierLine(
new Point(13.982, 23.946, Point.CARTESIAN),
new Point(59.464, 24.429, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(59.464, 24.429, Point.CARTESIAN),
new Point(58.982, 15.268, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierLine(
new Point(58.982, 15.268, Point.CARTESIAN),
new Point(13.821, 14.464, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(13.821, 14.464, Point.CARTESIAN),
new Point(58.661, 13.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(58.661, 13.500, Point.CARTESIAN),
new Point(58.339, 8.679, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierLine(
new Point(58.339, 8.679, Point.CARTESIAN),
new Point(14.625, 8.518, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0)).build();
follower.followPath(path, true);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
/**
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
* the Telemetry, as well as the FTC Dashboard.
*/
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(path, true);
}
follower.telemetryDebug(telemetryA);
}
}

142
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
View File

@ -1,142 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.SleepAction;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.states.FieldStates;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
public class CometBotAutoDevelopment {
/*
Subsystems
*/
private MotorsSubsystem motors;
/*
Controllers
*/
public Gamepad GP1;
public Gamepad GP2;
public Gamepad currentGP1;
public Gamepad previousGP1;
public Gamepad currentGP2;
public Gamepad previousGP2;
private Telemetry telemetry;
public FieldStates fieldStates;
private boolean centricity = false;
private Follower follower;
private HardwareMap hardwareMap;
public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry);
this.GP1 = gp1;
this.GP2 = gp2;
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.currentGP1 = new Gamepad();
this.currentGP2 = new Gamepad();
this.previousGP1 = new Gamepad();
this.previousGP2 = new Gamepad();
this.fieldStates = new FieldStates();
this.follower = new Follower(hardwareMap);
}
public class ZeroOutPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(0);
System.out.println("Running ZeroOutPower");
return follower.isBusy();
}
}
public class ReturnToMaxPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
System.out.println("Running ReturnToMaxPower");
return follower.isBusy();
}
}
public Action zeroOutPower() {
return new ZeroOutPower();
}
public Action returnToMaxPower() {
return new ReturnToMaxPower();
}
public void init() {
this.motors.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
public void update() {
this.previousGP1.copy(currentGP1);
this.currentGP1.copy(this.GP1);
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
this.toFixMotorBlockingIssueFirstMethod();
this.toFixMotorBlockingIssueSecondMethod();
this.changeCentricity();
follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
follower.update();
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
}
public void changeCentricity() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
this.centricity = !centricity;
this.follower.breakFollowing();
this.follower.startTeleopDrive();
}
}
public void toFixMotorBlockingIssueFirstMethod() {
if (this.currentGP1.cross && !this.previousGP1.cross) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.zeroOutPower(),
new SleepAction(3),
this.returnToMaxPower()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
}
}
public void toFixMotorBlockingIssueSecondMethod() {
if (this.currentGP1.circle && !this.previousGP1.circle) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
new SleepAction(3)
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
}

135
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AsherPathV1.java
View File

@ -1,135 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
public class AsherPathV1 extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.0, 40, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.4);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
/*
* Only update this path
*/
.addPath(
// Line 1
new BezierCurve(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(33.000, 105.000, Point.CARTESIAN),
new Point(80.000, 118.000, Point.CARTESIAN),
new Point(55.000, 120.000, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierCurve(
new Point(55.000, 120.000, Point.CARTESIAN),
new Point(22.000, 106.000, Point.CARTESIAN),
new Point(11.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierCurve(
new Point(11.000, 131.000, Point.CARTESIAN),
new Point(75.000, 95.000, Point.CARTESIAN),
new Point(112.000, 132.000, Point.CARTESIAN),
new Point(61.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(61.000, 131.000, Point.CARTESIAN),
new Point(11.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 5
new BezierCurve(
new Point(11.000, 131.000, Point.CARTESIAN),
new Point(100.000, 118.000, Point.CARTESIAN),
new Point(103.000, 135.000, Point.CARTESIAN),
new Point(61.000, 135.000, Point.CARTESIAN)
)
)
.addPath(
// Line 6
new BezierLine(
new Point(61.000, 135.000, Point.CARTESIAN),
new Point(11.000, 131.000, Point.CARTESIAN)
)
)
.addPath(
// Line 7
new BezierCurve(
new Point(11.000, 131.000, Point.CARTESIAN),
new Point(113.000, 95.000, Point.CARTESIAN),
new Point(67.000, 95.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
/*
* End of only update this path
*/
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
/**
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
* the Telemetry, as well as the FTC Dashboard.
*/
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(path);
}
follower.telemetryDebug(telemetryA);
}
}

79
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExample.java
View File

@ -1,79 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(0.0, 20.0, 0);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.6);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(0.000, 20.000, Point.CARTESIAN),
new Point(50.000, 20.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
/**
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
* the Telemetry, as well as the FTC Dashboard.
*/
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(path);
}
follower.telemetryDebug(telemetryA);
}
}

91
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoTest.java
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@ -1,91 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous (name = "Test", group = "Autonomous Pathing Tuning")
public class AutoTest extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain test;
@Override
public void init() {
follower = new Follower(hardwareMap);
test = follower.pathBuilder()
.addPath(
new BezierLine(
new Point(8.000, 60.000, Point.CARTESIAN),
new Point(18.000, 60.000, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierCurve(
new Point(18.000, 60.000, Point.CARTESIAN),
new Point(18.000, 23.000, Point.CARTESIAN),
new Point(48.000, 23.000, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierLine(
new Point(48.000, 23.000, Point.CARTESIAN),
new Point(60.000, 36.000, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(60.000, 36.000, Point.CARTESIAN),
new Point(60.000, 49.000, Point.CARTESIAN)
)
).build();
follower.followPath(test);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(test);
}
follower.telemetryDebug(telemetryA);
}
}

128
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueAuto.java
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@ -1,128 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
public class BlueAuto {
public void GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(8.442, 129.227, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(8.442, 129.227, Point.CARTESIAN),
new Point(52.762, 101.628, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(52.762, 101.628, Point.CARTESIAN),
new Point(79.224, 116.564, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(79.224, 116.564, Point.CARTESIAN),
new Point(54.548, 130.525, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(54.548, 130.525, Point.CARTESIAN),
new Point(12.338, 133.772, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(12.338, 133.772, Point.CARTESIAN),
new Point(52.437, 101.628, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(52.437, 101.628, Point.CARTESIAN),
new Point(71.594, 120.947, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(71.594, 120.947, Point.CARTESIAN),
new Point(52.275, 120.785, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(52.275, 120.785, Point.CARTESIAN),
new Point(11.039, 131.012, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(11.039, 131.012, Point.CARTESIAN),
new Point(70.782, 120.460, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 11
new BezierLine(
new Point(70.782, 120.460, Point.CARTESIAN),
new Point(50.327, 142.377, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 12
new BezierLine(
new Point(50.327, 142.377, Point.CARTESIAN),
new Point(13.799, 134.422, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 13
new BezierLine(
new Point(13.799, 134.422, Point.CARTESIAN),
new Point(13.799, 134.422, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 14
new BezierLine(
new Point(13.799, 134.422, Point.CARTESIAN),
new Point(71.919, 103.901, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}

161
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueBasketAuto.java
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@ -1,161 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
public class BlueBasketAuto extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(11.25, 95.75, 0);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.45);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(11.250, 95.750, Point.CARTESIAN),
new Point(37.000, 108.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(37.000, 108.000, Point.CARTESIAN),
new Point(73.286, 111.536, Point.CARTESIAN),
new Point(67.821, 120.536, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 3
new BezierLine(
new Point(67.821, 120.536, Point.CARTESIAN),
new Point(28.000, 121.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 4
new BezierLine(
new Point(28.000, 121.500, Point.CARTESIAN),
new Point(18.000, 130.179, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 5
new BezierCurve(
new Point(18.000, 130.179, Point.CARTESIAN),
new Point(59.000, 102.500, Point.CARTESIAN),
new Point(68.700, 130.500, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 6
new BezierLine(
new Point(68.700, 130.500, Point.CARTESIAN),
new Point(18.000, 130.339, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 7
new BezierCurve(
new Point(18.000, 130.339, Point.CARTESIAN),
new Point(49.018, 121.179, Point.CARTESIAN),
new Point(63.804, 135.321, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 8
new BezierLine(
new Point(63.804, 135.321, Point.CARTESIAN),
new Point(53.036, 135.161, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 9
new BezierLine(
new Point(53.036, 135.161, Point.CARTESIAN),
new Point(18.643, 135.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 10
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(72.300, 97.400, Point.CARTESIAN)
)
)
.addPath(
// Line 9
new BezierLine(
new Point(18.643, 135.000, Point.CARTESIAN),
new Point(83.250, 95.464, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
follower.followPath(path, true);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
/**
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
* the Telemetry, as well as the FTC Dashboard.
*/
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(path, true);
}
follower.telemetryDebug(telemetryA);
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluenbAutov1.java
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@ -1,4 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
public class BluenbAutov1 {
}

109
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/GeneratedPath.java
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@ -1,109 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
public class GeneratedPath {
public GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(28.573, 76.302, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(28.573, 76.302, Point.CARTESIAN),
new Point(36.203, 76.140, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(36.203, 76.140, Point.CARTESIAN),
new Point(35.067, 35.716, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(35.067, 35.716, Point.CARTESIAN),
new Point(73.705, 34.742, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(73.705, 34.742, Point.CARTESIAN),
new Point(73.705, 24.839, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(73.705, 24.839, Point.CARTESIAN),
new Point(7.630, 26.462, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(7.630, 26.462, Point.CARTESIAN),
new Point(64.126, 22.728, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(64.126, 22.728, Point.CARTESIAN),
new Point(63.964, 13.150, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(63.964, 13.150, Point.CARTESIAN),
new Point(12.338, 15.260, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(12.338, 15.260, Point.CARTESIAN),
new Point(63.802, 13.150, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 11
new BezierLine(
new Point(63.802, 13.150, Point.CARTESIAN),
new Point(63.639, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 12
new BezierLine(
new Point(63.639, 11.689, Point.CARTESIAN),
new Point(12.014, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}

99
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/RedAuto.java
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@ -1,99 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
public class RedAuto {
public class GeneratedPath {
public GeneratedPath() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(131.499, 58.931, Point.CARTESIAN),
new Point(131.986, 18.183, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(131.986, 18.183, Point.CARTESIAN),
new Point(90.264, 40.911, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(90.264, 40.911, Point.CARTESIAN),
new Point(83.445, 26.300, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(83.445, 26.300, Point.CARTESIAN),
new Point(136.207, 14.286, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(136.207, 14.286, Point.CARTESIAN),
new Point(81.497, 24.352, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(81.497, 24.352, Point.CARTESIAN),
new Point(82.634, 12.988, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(82.634, 12.988, Point.CARTESIAN),
new Point(133.935, 11.364, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(133.935, 11.364, Point.CARTESIAN),
new Point(82.309, 11.689, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(82.309, 11.689, Point.CARTESIAN),
new Point(83.445, 2.598, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(83.445, 2.598, Point.CARTESIAN),
new Point(132.149, 10.390, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}
}

185
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMU.java
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@ -1,185 +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.teamcode.cometbots.projects;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
import java.util.Locale;
/*
* This OpMode gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* 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
*
* @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
*/
@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
public class SensorBNO055IMU extends LinearOpMode
{
//----------------------------------------------------------------------------------------------
// State
//----------------------------------------------------------------------------------------------
// The IMU sensor object
BNO055IMU imu;
// State used for updating telemetry
Orientation angles;
Acceleration gravity;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() {
// Set up the parameters with which we will use our IMU. Note that integration
// algorithm here just reports accelerations to the logcat log; it doesn't actually
// provide positional information.
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample OpMode
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();
// Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
// on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
// and named "imu".
imu = hardwareMap.get(BNO055IMU.class, "adafruit_imu");
imu.initialize(parameters);
// Set up our telemetry dashboard
composeTelemetry();
// Wait until we're told to go
waitForStart();
// Start the logging of measured acceleration
imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);
// Loop and update the dashboard
while (opModeIsActive()) {
telemetry.update();
}
}
//----------------------------------------------------------------------------------------------
// Telemetry Configuration
//----------------------------------------------------------------------------------------------
void composeTelemetry() {
// At the beginning of each telemetry update, grab a bunch of data
// from the IMU that we will then display in separate lines.
telemetry.addAction(new Runnable() { @Override public void run()
{
// Acquiring the angles is relatively expensive; we don't want
// to do that in each of the three items that need that info, as that's
// three times the necessary expense.
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
gravity = imu.getGravity();
}
});
telemetry.addLine()
.addData("status", new Func<String>() {
@Override public String value() {
return imu.getSystemStatus().toShortString();
}
})
.addData("calib", new Func<String>() {
@Override public String value() {
return imu.getCalibrationStatus().toString();
}
});
telemetry.addLine()
.addData("heading", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.firstAngle);
}
})
.addData("roll", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.secondAngle);
}
})
.addData("pitch", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.thirdAngle);
}
});
telemetry.addLine()
.addData("grvty", new Func<String>() {
@Override public String value() {
return gravity.toString();
}
})
.addData("mag", new Func<String>() {
@Override public String value() {
return String.format(Locale.getDefault(), "%.3f",
Math.sqrt(gravity.xAccel*gravity.xAccel
+ gravity.yAccel*gravity.yAccel
+ gravity.zAccel*gravity.zAccel));
}
});
}
//----------------------------------------------------------------------------------------------
// Formatting
//----------------------------------------------------------------------------------------------
String formatAngle(AngleUnit angleUnit, double angle) {
return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
}
String formatDegrees(double degrees){
return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
}
}

229
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMUCalibration.java
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@ -1,229 +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.teamcode.cometbots.projects;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.ReadWriteFile;
import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
import java.io.File;
import java.util.Locale;
/*
* This OpMode calibrates a BNO055 IMU per
* "Section 3.11 Calibration" of the BNO055 specification.
*
* Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
* Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
*
* Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer (which is not used by the
* default "IMU" SensorMode), the BNO055 is internally self-calibrating and thus can be very successfully used without
* manual intervention. That said, performing a one-time calibration, saving the results persistently, then loading them
* again at each run can help reduce the time that automatic calibration requires.
*
* This summary of the calibration process from Intel is informative:
* http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html
*
* "This device requires calibration in order to operate accurately. [...] Calibration data is
* lost on a power cycle. See one of the examples for a description of how to calibrate the device,
* but in essence:
*
* There is a calibration status register available [...] that returns the calibration status
* of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS).
* Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration [ideally]
* involves certain motions to get all 4 values at 3. The motions are as follows (though see the
* datasheet for more information):
*
* 1. GYR: Simply let the sensor sit flat for a few seconds.</ol>
* 2. ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
* degrees, hold for a few seconds, then continue rotating another 45 degrees and
* hold, etc. 6 or more movements of this type may be required. You can move through
* any axis you desire, but make sure that the device is lying at least once
* perpendicular to the x, y, and z axis.</ol>
* 3. MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
* 4. SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
* slowly moving the device though various axes until it does."</ol>
*
* To calibrate the IMU, run this sample OpMode with a gamepad attached to the driver station.
* Once the IMU has reached sufficient calibration as reported on telemetry, press the 'A'
* button on the gamepad to write the calibration to a file. That file can then be indicated
* later when running an OpMode which uses the IMU.
*
* Note: if your intended uses of the IMU do not include use of all its sensors (for example,
* you might not use the magnetometer), then it makes little sense for you to wait for full
* calibration of the sensors you are not using before saving the calibration data. Indeed,
* it appears that in a SensorMode that doesn't use the magnetometer (for example), the
* magnetometer cannot actually be calibrated.
*
* References:
* The AdafruitBNO055IMU Javadoc
* The BNO055IMU.Parameters.calibrationDataFile Javadoc
* The BNO055 product page: https://www.bosch-sensortec.com/bst/products/all_products/bno055
* The BNO055 datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf
*/
@TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
public class SensorBNO055IMUCalibration extends LinearOpMode
{
//----------------------------------------------------------------------------------------------
// State
//----------------------------------------------------------------------------------------------
// Our sensors, motors, and other devices go here, along with other long term state
BNO055IMU imu;
// State used for updating telemetry
Orientation angles;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override public void runOpMode() {
telemetry.log().setCapacity(12);
telemetry.log().add("");
telemetry.log().add("Please refer to the calibration instructions");
telemetry.log().add("contained in the Adafruit IMU calibration");
telemetry.log().add("sample OpMode.");
telemetry.log().add("");
telemetry.log().add("When sufficient calibration has been reached,");
telemetry.log().add("press the 'A' button to write the current");
telemetry.log().add("calibration data to a file.");
telemetry.log().add("");
// We are expecting the IMU to be attached to an I2C port on a Core Device Interface Module and named "imu".
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
imu = hardwareMap.get(BNO055IMU.class, "adafruit_imu");
imu.initialize(parameters);
composeTelemetry();
telemetry.log().add("Waiting for start...");
// Wait until we're told to go
while (!isStarted()) {
telemetry.update();
idle();
}
telemetry.log().add("...started...");
while (opModeIsActive()) {
if (gamepad1.a) {
// Get the calibration data
BNO055IMU.CalibrationData calibrationData = imu.readCalibrationData();
// Save the calibration data to a file. You can choose whatever file
// name you wish here, but you'll want to indicate the same file name
// when you initialize the IMU in an OpMode in which it is used. If you
// have more than one IMU on your robot, you'll of course want to use
// different configuration file names for each.
String filename = "AdafruitIMUCalibration.json";
File file = AppUtil.getInstance().getSettingsFile(filename);
ReadWriteFile.writeFile(file, calibrationData.serialize());
telemetry.log().add("saved to '%s'", filename);
// Wait for the button to be released
while (gamepad1.a) {
telemetry.update();
idle();
}
}
telemetry.update();
}
}
void composeTelemetry() {
// At the beginning of each telemetry update, grab a bunch of data
// from the IMU that we will then display in separate lines.
telemetry.addAction(new Runnable() { @Override public void run()
{
// Acquiring the angles is relatively expensive; we don't want
// to do that in each of the three items that need that info, as that's
// three times the necessary expense.
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
}
});
telemetry.addLine()
.addData("status", new Func<String>() {
@Override public String value() {
return imu.getSystemStatus().toShortString();
}
})
.addData("calib", new Func<String>() {
@Override public String value() {
return imu.getCalibrationStatus().toString();
}
});
telemetry.addLine()
.addData("heading", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.firstAngle);
}
})
.addData("roll", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.secondAngle);
}
})
.addData("pitch", new Func<String>() {
@Override public String value() {
return formatAngle(angles.angleUnit, angles.thirdAngle);
}
});
}
//----------------------------------------------------------------------------------------------
// Formatting
//----------------------------------------------------------------------------------------------
String formatAngle(AngleUnit angleUnit, double angle) {
return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
}
String formatDegrees(double degrees){
return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
}
}

172
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorIMUOrthogonal.java
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@ -1,172 +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.cometbots.projects;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_LOGO_FACING_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_USB_FACING_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import org.firstinspires.ftc.teamcode.PedroConstants;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
/*
* This OpMode shows how to use the new universal IMU interface. This
* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
* on the robot with the name "imu".
*
* The sample will display the current Yaw, Pitch and Roll of the robot.<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;
private Encoder leftEncoder;
private Encoder rightEncoder;
private Encoder strafeEncoder;
//----------------------------------------------------------------------------------------------
// Main logic
//----------------------------------------------------------------------------------------------
@Override
public void runOpMode() throws InterruptedException {
// Retrieve and initialize the IMU.
// This sample expects the IMU to be in a REV Hub and named "imu".
imu = hardwareMap.get(IMU.class, PedroConstants.IMU);
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
/* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
*
* Two input parameters are required to fully specify the Orientation.
* The first parameter specifies the direction the printed logo on the Hub is pointing.
* The second parameter specifies the direction the USB connector on the Hub is pointing.
* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
*
* If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
* RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
*/
/* The next two lines define Hub orientation.
* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
*
* To Do: EDIT these two lines to match YOUR mounting configuration.
*/
RevHubOrientationOnRobot.LogoFacingDirection logoDirection = IMU_LOGO_FACING_DIRECTION;
RevHubOrientationOnRobot.UsbFacingDirection usbDirection = IMU_USB_FACING_DIRECTION;
RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
// Now initialize the IMU with this mounting orientation
// Note: if you choose two conflicting directions, this initialization will cause a code exception.
imu.initialize(new IMU.Parameters(orientationOnRobot));
// Loop and update the dashboard
while (!isStopRequested()) {
telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection);
// Check to see if heading reset is requested
if (gamepad1.y) {
telemetry.addData("Yaw", "Resetting\n");
imu.resetYaw();
} else {
telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
}
// Retrieve Rotational Angles and Velocities
YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
telemetry.update();
}
}
}

237
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bBlueAutoV1.java
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@ -1,237 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "org.firstinspires.ftc.teamcode.cometbots.projects.bBlueAutoV1", group = "V1")
public class bBlueAutoV1 extends OpMode {
public Telemetry telemetry;
public Follower robot;
public PathChain path;
@Override
public void init() {
robot = new Follower(hardwareMap);
PathBuilder builder = new PathBuilder();
path = builder
.addPath(
// Line 1
new BezierLine(
new Point(9.757, 84.983, Point.CARTESIAN),
new Point(28.573, 76.302, Point.CARTESIAN)
)
)
.addPath(
// Line 2
new BezierLine(
new Point(28.573, 76.302, Point.CARTESIAN),
new Point(36.203, 76.140, Point.CARTESIAN)
)
)
.addPath(
// Line 3
new BezierLine(
new Point(36.203, 76.140, Point.CARTESIAN),
new Point(35.067, 35.716, Point.CARTESIAN)
)
)
.addPath(
// Line 4
new BezierLine(
new Point(35.067, 35.716, Point.CARTESIAN),
new Point(73.705, 34.742, Point.CARTESIAN)
)
)
.addPath(
// Line 5
new BezierLine(
new Point(73.705, 34.742, Point.CARTESIAN),
new Point(73.705, 24.839, Point.CARTESIAN)
)
)
.addPath(
// Line 6
new BezierLine(
new Point(73.705, 24.839, Point.CARTESIAN),
new Point(7.630, 26.462, Point.CARTESIAN)
)
)
.addPath(
// Line 7
new BezierLine(
new Point(7.630, 26.462, Point.CARTESIAN),
new Point(64.126, 22.728, Point.CARTESIAN)
)
)
.addPath(
// Line 8
new BezierLine(
new Point(64.126, 22.728, Point.CARTESIAN),
new Point(63.964, 13.150, Point.CARTESIAN)
)
)
.addPath(
// Line 9
new BezierLine(
new Point(63.964, 13.150, Point.CARTESIAN),
new Point(12.338, 15.260, Point.CARTESIAN)
)
)
.addPath(
// Line 10
new BezierLine(
new Point(12.338, 15.260, Point.CARTESIAN),
new Point(63.802, 13.150, Point.CARTESIAN)
)
)
.addPath(
// Line 11
new BezierLine(
new Point(63.802, 13.150, Point.CARTESIAN),
new Point(63.639, 11.689, Point.CARTESIAN)
)
)
.addPath(
// Line 12
new BezierLine(
new Point(63.639, 11.689, Point.CARTESIAN),
new Point(12.014, 11.689, Point.CARTESIAN)
)
)
.addPath(
// Line 13
new BezierLine(
new Point(12.014, 11.689, Point.CARTESIAN),
new Point(62.665, 30.196, Point.CARTESIAN)
)
)
.addPath(
// Line 14
new BezierLine(
new Point(62.665, 30.196, Point.CARTESIAN),
new Point(13.312, 51.463, Point.CARTESIAN)
)
)
.addPath(
// Line 15
new BezierLine(
new Point(13.312, 51.463, Point.CARTESIAN),
new Point(16.234, 103.738, Point.CARTESIAN)
)
)
.addPath(
// Line 16
new BezierLine(
new Point(16.234, 103.738, Point.CARTESIAN),
new Point(68.023, 108.284, Point.CARTESIAN)
)
)
.addPath(
// Line 17
new BezierLine(
new Point(68.023, 108.284, Point.CARTESIAN),
new Point(68.185, 121.109, Point.CARTESIAN)
)
)
.addPath(
// Line 18
new BezierLine(
new Point(68.185, 121.109, Point.CARTESIAN),
new Point(21.754, 119.811, Point.CARTESIAN)
)
)
.addPath(
// Line 19
new BezierLine(
new Point(21.754, 119.811, Point.CARTESIAN),
new Point(11.526, 129.227, Point.CARTESIAN)
)
)
.addPath(
// Line 20
new BezierLine(
new Point(11.526, 129.227, Point.CARTESIAN),
new Point(72.568, 111.856, Point.CARTESIAN)
)
)
.addPath(
// Line 21
new BezierLine(
new Point(72.568, 111.856, Point.CARTESIAN),
new Point(58.607, 128.902, Point.CARTESIAN)
)
)
.addPath(
// Line 22
new BezierLine(
new Point(58.607, 128.902, Point.CARTESIAN),
new Point(11.364, 130.850, Point.CARTESIAN)
)
)
.addPath(
// Line 23
new BezierLine(
new Point(11.364, 130.850, Point.CARTESIAN),
new Point(58.931, 128.577, Point.CARTESIAN)
)
)
.addPath(
// Line 24
new BezierLine(
new Point(58.931, 128.577, Point.CARTESIAN),
new Point(58.769, 133.123, Point.CARTESIAN)
)
)
.addPath(
// Line 25
new BezierLine(
new Point(58.769, 133.123, Point.CARTESIAN),
new Point(13.475, 133.935, Point.CARTESIAN)
)
).build();
;
}
@Override
public void loop() {
robot.update();
if (robot.atParametricEnd())
robot.followPath(path);
robot.telemetryDebug(telemetry);
}
}

174
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bRedAutoV1.java
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@ -1,174 +0,0 @@
package org.firstinspires.ftc.teamcode.cometbots.projects;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
public class bRedAutoV1 {
public bRedAutoV1() {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(133.935, 83.770, Point.CARTESIAN),
new Point(79.874, 117.213, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierLine(
new Point(79.874, 117.213, Point.CARTESIAN),
new Point(79.874, 120.785, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(79.874, 120.785, Point.CARTESIAN),
new Point(131.824, 118.349, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierLine(
new Point(131.824, 118.349, Point.CARTESIAN),
new Point(79.549, 120.460, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierLine(
new Point(79.549, 120.460, Point.CARTESIAN),
new Point(79.549, 128.740, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 6
new BezierLine(
new Point(79.549, 128.740, Point.CARTESIAN),
new Point(131.337, 128.090, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 7
new BezierLine(
new Point(131.337, 128.090, Point.CARTESIAN),
new Point(79.549, 128.740, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 8
new BezierLine(
new Point(79.549, 128.740, Point.CARTESIAN),
new Point(79.549, 133.610, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 9
new BezierLine(
new Point(79.549, 133.610, Point.CARTESIAN),
new Point(130.850, 133.285, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 10
new BezierLine(
new Point(130.850, 133.285, Point.CARTESIAN),
new Point(130.201, 36.528, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 11
new BezierLine(
new Point(130.201, 36.528, Point.CARTESIAN),
new Point(84.095, 36.203, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 12
new BezierLine(
new Point(84.095, 36.203, Point.CARTESIAN),
new Point(84.095, 23.378, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 13
new BezierLine(
new Point(84.095, 23.378, Point.CARTESIAN),
new Point(119.811, 23.378, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 14
new BezierLine(
new Point(119.811, 23.378, Point.CARTESIAN),
new Point(127.603, 13.475, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 15
new BezierLine(
new Point(127.603, 13.475, Point.CARTESIAN),
new Point(88.640, 28.248, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 16
new BezierLine(
new Point(88.640, 28.248, Point.CARTESIAN),
new Point(87.666, 15.910, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 17
new BezierLine(
new Point(87.666, 15.910, Point.CARTESIAN),
new Point(127.603, 12.014, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 18
new BezierLine(
new Point(127.603, 12.014, Point.CARTESIAN),
new Point(86.692, 12.825, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 19
new BezierLine(
new Point(86.692, 12.825, Point.CARTESIAN),
new Point(86.692, 10.390, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 20
new BezierLine(
new Point(86.692, 10.390, Point.CARTESIAN),
new Point(126.467, 9.903, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
}
}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
View File

@ -5,9 +5,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.DriveEncoderLocalizer;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
@ -69,7 +67,7 @@ public class PoseUpdater {
*/
public PoseUpdater(HardwareMap hardwareMap) {
// TODO: replace the second argument with your preferred localizer
this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
this(hardwareMap, new DriveEncoderLocalizer(hardwareMap));
}
/**

75
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
View File

@ -1,11 +1,20 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_ENCODER;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.HardwareMap;
@ -26,21 +35,21 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
*/
@Config
public class DriveEncoderLocalizer extends Localizer {
private HardwareMap hardwareMap;
private final HardwareMap hardwareMap;
private Pose startPose;
private Pose displacementPose;
private Pose currentVelocity;
private Matrix prevRotationMatrix;
private NanoTimer timer;
private final NanoTimer timer;
private long deltaTimeNano;
private Encoder leftFront;
private Encoder rightFront;
private Encoder leftRear;
private Encoder rightRear;
private final Encoder leftFront;
private final Encoder rightFront;
private final Encoder leftRear;
private final Encoder rightRear;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = 1;
public static double STRAFE_TICKS_TO_INCHES = 1;
public static double TURN_TICKS_TO_RADIANS = 1;
public static double FORWARD_TICKS_TO_INCHES = -0.0058;
public static double STRAFE_TICKS_TO_INCHES = -0.0054;
public static double TURN_TICKS_TO_RADIANS = -0.0009;
public static double ROBOT_WIDTH = 1;
public static double ROBOT_LENGTH = 1;
@ -58,22 +67,32 @@ public class DriveEncoderLocalizer extends Localizer {
* This creates a new DriveEncoderLocalizer from a HardwareMap and a Pose, with the Pose
* specifying the starting pose of the localizer.
*
* @param map the HardwareMap
* @param map the HardwareMap
* @param setStartPose the Pose to start from
*/
public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) {
hardwareMap = map;
leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, leftFrontMotorName));
leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, leftRearMotorName));
rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, rightRearMotorName));
rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, rightFrontMotorName));
leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
// TODO: reverse any encoders necessary
leftFront.setDirection(Encoder.REVERSE);
rightRear.setDirection(Encoder.REVERSE);
leftRear.setDirection(Encoder.FORWARD);
rightRear.setDirection(Encoder.FORWARD);
leftFront.setDirection(FRONT_LEFT_MOTOR_ENCODER);
rightFront.setDirection(FRONT_RIGHT_MOTOR_ENCODER);
leftRear.setDirection(BACK_LEFT_MOTOR_ENCODER);
rightRear.setDirection(BACK_RIGHT_MOTOR_ENCODER);
setStartPose(setStartPose);
timer = new NanoTimer();
@ -129,7 +148,7 @@ public class DriveEncoderLocalizer extends Localizer {
* @param heading the rotation of the Matrix
*/
public void setPrevRotationMatrix(double heading) {
prevRotationMatrix = new Matrix(3,3);
prevRotationMatrix = new Matrix(3, 3);
prevRotationMatrix.set(0, 0, Math.cos(heading));
prevRotationMatrix.set(0, 1, -Math.sin(heading));
prevRotationMatrix.set(1, 0, Math.sin(heading));
@ -164,7 +183,7 @@ public class DriveEncoderLocalizer extends Localizer {
Matrix globalDeltas;
setPrevRotationMatrix(getPose().getHeading());
Matrix transformation = new Matrix(3,3);
Matrix transformation = new Matrix(3, 3);
if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
@ -214,13 +233,13 @@ public class DriveEncoderLocalizer extends Localizer {
* @return returns a Matrix containing the robot relative movement.
*/
public Matrix getRobotDeltas() {
Matrix returnMatrix = new Matrix(3,1);
Matrix returnMatrix = new Matrix(3, 1);
// x/forward movement
returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * (leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() + rightRear.getDeltaPosition()));
returnMatrix.set(0, 0, FORWARD_TICKS_TO_INCHES * (leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() + rightRear.getDeltaPosition()));
//y/strafe movement
returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() - rightRear.getDeltaPosition()));
returnMatrix.set(1, 0, STRAFE_TICKS_TO_INCHES * (-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() - rightRear.getDeltaPosition()));
// theta/turning
returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() - leftRear.getDeltaPosition() + rightRear.getDeltaPosition()) / (ROBOT_WIDTH + ROBOT_LENGTH)));
returnMatrix.set(2, 0, TURN_TICKS_TO_RADIANS * ((-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() - leftRear.getDeltaPosition() + rightRear.getDeltaPosition()) / (ROBOT_WIDTH + ROBOT_LENGTH)));
return returnMatrix;
}

317
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
View File

@ -1,317 +0,0 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedroConstants.*;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
/**
* This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the three wheel odometry set up with the IMU to have more accurate heading
* readings. The diagram below, which is modified from Road Runner, shows a typical set up.
*
* The view is from the top of the robot looking downwards.
*
* left on robot is the y positive direction
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
*
* @author Logan Nash
* @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 7/9/2024
*/
@Config
public class ThreeWheelIMULocalizer extends Localizer {
private HardwareMap hardwareMap;
private Pose startPose;
private Pose displacementPose;
private Pose currentVelocity;
private Matrix prevRotationMatrix;
private NanoTimer timer;
private long deltaTimeNano;
private Encoder leftEncoder;
private Encoder rightEncoder;
private Encoder strafeEncoder;
private Pose leftEncoderPose;
private Pose rightEncoderPose;
private Pose strafeEncoderPose;
public final IMU imu;
private double previousIMUOrientation;
private double deltaRadians;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double TURN_TICKS_TO_RADIANS = 0.0022;//8192 * 1.37795 * 2 * Math.PI * 0.5;
public static boolean useIMU = true;
/**
* This creates a new ThreeWheelIMULocalizer from a HardwareMap, with a starting Pose at (0,0)
* facing 0 heading.
*
* @param map the HardwareMap
*/
public ThreeWheelIMULocalizer(HardwareMap map) {
this(map, new Pose());
}
/**
* This creates a new ThreeWheelIMULocalizer from a HardwareMap and a Pose, with the Pose
* specifying the starting pose of the localizer.
*
* @param map the HardwareMap
* @param setStartPose the Pose to start from
*/
public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) {
hardwareMap = map;
imu = hardwareMap.get(IMU.class, IMU);
// TODO: replace this with your IMU's orientation
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(IMU_LOGO_FACING_DIRECTION, IMU_USB_FACING_DIRECTION)));
// TODO: replace these with your encoder positions
leftEncoderPose = new Pose(0, 6.19375, 0);
rightEncoderPose = new Pose(0, -6.19375, 0);
strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
setStartPose(setStartPose);
timer = new NanoTimer();
deltaTimeNano = 1;
displacementPose = new Pose();
currentVelocity = new Pose();
totalHeading = 0;
resetEncoders();
}
/**
* This returns the current pose estimate.
*
* @return returns the current pose estimate as a Pose
*/
@Override
public Pose getPose() {
return MathFunctions.addPoses(startPose, displacementPose);
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Pose
*/
@Override
public Pose getVelocity() {
return currentVelocity.copy();
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Vector
*/
@Override
public Vector getVelocityVector() {
return currentVelocity.getVector();
}
/**
* This sets the start pose. Changing the start pose should move the robot as if all its
* previous movements were displacing it from its new start pose.
*
* @param setStart the new start pose
*/
@Override
public void setStartPose(Pose setStart) {
startPose = setStart;
}
/**
* This sets the Matrix that contains the previous pose's heading rotation.
*
* @param heading the rotation of the Matrix
*/
public void setPrevRotationMatrix(double heading) {
prevRotationMatrix = new Matrix(3,3);
prevRotationMatrix.set(0, 0, Math.cos(heading));
prevRotationMatrix.set(0, 1, -Math.sin(heading));
prevRotationMatrix.set(1, 0, Math.sin(heading));
prevRotationMatrix.set(1, 1, Math.cos(heading));
prevRotationMatrix.set(2, 2, 1.0);
}
/**
* This sets the current pose estimate. Changing this should just change the robot's current
* pose estimate, not anything to do with the start pose.
*
* @param setPose the new current pose estimate
*/
@Override
public void setPose(Pose setPose) {
displacementPose = MathFunctions.subtractPoses(setPose, startPose);
resetEncoders();
}
/**
* This updates the elapsed time timer that keeps track of time between updates, as well as the
* change position of the Encoders. Then, the robot's global change in position is calculated
* using the pose exponential method.
*/
@Override
public void update() {
deltaTimeNano = timer.getElapsedTime();
timer.resetTimer();
updateEncoders();
Matrix robotDeltas = getRobotDeltas();
Matrix globalDeltas;
setPrevRotationMatrix(getPose().getHeading());
Matrix transformation = new Matrix(3,3);
if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(2, 2, 1.0);
} else {
transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
transformation.set(2, 2, 1.0);
}
globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
totalHeading += globalDeltas.get(2, 0);
}
/**
* This updates the Encoders.
*/
public void updateEncoders() {
leftEncoder.update();
rightEncoder.update();
strafeEncoder.update();
double currentIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
deltaRadians = MathFunctions.getTurnDirection(previousIMUOrientation, currentIMUOrientation) * MathFunctions.getSmallestAngleDifference(currentIMUOrientation, previousIMUOrientation);
previousIMUOrientation = currentIMUOrientation;
}
/**
* This resets the Encoders.
*/
public void resetEncoders() {
leftEncoder.reset();
rightEncoder.reset();
strafeEncoder.reset();
}
/**
* This calculates the change in position from the perspective of the robot using information
* from the Encoders.
*
* @return returns a Matrix containing the robot relative movement.
*/
public Matrix getRobotDeltas() {
Matrix returnMatrix = new Matrix(3,1);
// x/forward movement
returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * ((rightEncoder.getDeltaPosition() * leftEncoderPose.getY() - leftEncoder.getDeltaPosition() * rightEncoderPose.getY()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
//y/strafe movement
returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY()))));
// theta/turning
if (MathFunctions.getSmallestAngleDifference(0, deltaRadians) > 0.00005 && useIMU) {
returnMatrix.set(2, 0, deltaRadians);
} else {
returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
}
return returnMatrix;
}
/**
* This returns how far the robot has turned in radians, in a number not clamped between 0 and
* 2 * pi radians. This is used for some tuning things and nothing actually within the following.
*
* @return returns how far the robot has turned in total, in radians.
*/
public double getTotalHeading() {
return totalHeading;
}
/**
* This returns the multiplier applied to forward movement measurement to convert from encoder
* ticks to inches. This is found empirically through a tuner.
*
* @return returns the forward ticks to inches multiplier
*/
public double getForwardMultiplier() {
return FORWARD_TICKS_TO_INCHES;
}
/**
* This returns the multiplier applied to lateral/strafe movement measurement to convert from
* encoder ticks to inches. This is found empirically through a tuner.
*
* @return returns the lateral/strafe ticks to inches multiplier
*/
public double getLateralMultiplier() {
return STRAFE_TICKS_TO_INCHES;
}
/**
* This returns the multiplier applied to turning movement measurement to convert from encoder
* ticks to radians. This is found empirically through a tuner.
*
* @return returns the turning ticks to radians multiplier
*/
public double getTurningMultiplier() {
return TURN_TICKS_TO_RADIANS;
}
/**
* This resets the IMU.
*/
public void resetIMU() {
imu.resetYaw();
}
}

294
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
View File

@ -1,294 +0,0 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedroConstants.*;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
/**
* This is the ThreeWheelLocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the three wheel odometry set up. The diagram below, which is modified from
* Road Runner, shows a typical set up.
*
* The view is from the top of the robot looking downwards.
*
* left on robot is the y positive direction
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
*
* @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 4/2/2024
*/
@Config
public class ThreeWheelLocalizer extends Localizer {
private HardwareMap hardwareMap;
private Pose startPose;
private Pose displacementPose;
private Pose currentVelocity;
private Matrix prevRotationMatrix;
private NanoTimer timer;
private long deltaTimeNano;
private Encoder leftEncoder;
private Encoder rightEncoder;
private Encoder strafeEncoder;
private Pose leftEncoderPose;
private Pose rightEncoderPose;
private Pose strafeEncoderPose;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5;
/**
* This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
* facing 0 heading.
*
* @param map the HardwareMap
*/
public ThreeWheelLocalizer(HardwareMap map) {
this(map, new Pose());
}
/**
* This creates a new ThreeWheelLocalizer from a HardwareMap and a Pose, with the Pose
* specifying the starting pose of the localizer.
*
* @param map the HardwareMap
* @param setStartPose the Pose to start from
*/
public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
// TODO: replace these with your encoder positions
leftEncoderPose = new Pose(0, 6.19375, 0);
rightEncoderPose = new Pose(0, -6.19375, 0);
strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
hardwareMap = map;
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
//leftEncoder.setDirection(Encoder.REVERSE);
// rightEncoder.setDirection(Encoder.REVERSE);
//strafeEncoder.setDirection(Encoder.FORWARD);
setStartPose(setStartPose);
timer = new NanoTimer();
deltaTimeNano = 1;
displacementPose = new Pose();
currentVelocity = new Pose();
totalHeading = 0;
resetEncoders();
}
/**
* This returns the current pose estimate.
*
* @return returns the current pose estimate as a Pose
*/
@Override
public Pose getPose() {
return MathFunctions.addPoses(startPose, displacementPose);
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Pose
*/
@Override
public Pose getVelocity() {
return currentVelocity.copy();
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Vector
*/
@Override
public Vector getVelocityVector() {
return currentVelocity.getVector();
}
/**
* This sets the start pose. Changing the start pose should move the robot as if all its
* previous movements were displacing it from its new start pose.
*
* @param setStart the new start pose
*/
@Override
public void setStartPose(Pose setStart) {
startPose = setStart;
}
/**
* This sets the Matrix that contains the previous pose's heading rotation.
*
* @param heading the rotation of the Matrix
*/
public void setPrevRotationMatrix(double heading) {
prevRotationMatrix = new Matrix(3,3);
prevRotationMatrix.set(0, 0, Math.cos(heading));
prevRotationMatrix.set(0, 1, -Math.sin(heading));
prevRotationMatrix.set(1, 0, Math.sin(heading));
prevRotationMatrix.set(1, 1, Math.cos(heading));
prevRotationMatrix.set(2, 2, 1.0);
}
/**
* This sets the current pose estimate. Changing this should just change the robot's current
* pose estimate, not anything to do with the start pose.
*
* @param setPose the new current pose estimate
*/
@Override
public void setPose(Pose setPose) {
displacementPose = MathFunctions.subtractPoses(setPose, startPose);
resetEncoders();
}
/**
* This updates the elapsed time timer that keeps track of time between updates, as well as the
* change position of the Encoders. Then, the robot's global change in position is calculated
* using the pose exponential method.
*/
@Override
public void update() {
deltaTimeNano = timer.getElapsedTime();
timer.resetTimer();
updateEncoders();
Matrix robotDeltas = getRobotDeltas();
Matrix globalDeltas;
setPrevRotationMatrix(getPose().getHeading());
Matrix transformation = new Matrix(3,3);
if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(2, 2, 1.0);
} else {
transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
transformation.set(2, 2, 1.0);
}
globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
totalHeading += globalDeltas.get(2, 0);
}
/**
* This updates the Encoders.
*/
public void updateEncoders() {
leftEncoder.update();
rightEncoder.update();
strafeEncoder.update();
}
/**
* This resets the Encoders.
*/
public void resetEncoders() {
leftEncoder.reset();
rightEncoder.reset();
strafeEncoder.reset();
}
/**
* This calculates the change in position from the perspective of the robot using information
* from the Encoders.
*
* @return returns a Matrix containing the robot relative movement.
*/
public Matrix getRobotDeltas() {
Matrix returnMatrix = new Matrix(3,1);
// x/forward movement
returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * ((rightEncoder.getDeltaPosition() * leftEncoderPose.getY() - leftEncoder.getDeltaPosition() * rightEncoderPose.getY()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
//y/strafe movement
returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY()))));
// theta/turning
returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
return returnMatrix;
}
/**
* This returns how far the robot has turned in radians, in a number not clamped between 0 and
* 2 * pi radians. This is used for some tuning things and nothing actually within the following.
*
* @return returns how far the robot has turned in total, in radians.
*/
public double getTotalHeading() {
return totalHeading;
}
/**
* This returns the multiplier applied to forward movement measurement to convert from encoder
* ticks to inches. This is found empirically through a tuner.
*
* @return returns the forward ticks to inches multiplier
*/
public double getForwardMultiplier() {
return FORWARD_TICKS_TO_INCHES;
}
/**
* This returns the multiplier applied to lateral/strafe movement measurement to convert from
* encoder ticks to inches. This is found empirically through a tuner.
*
* @return returns the lateral/strafe ticks to inches multiplier
*/
public double getLateralMultiplier() {
return STRAFE_TICKS_TO_INCHES;
}
/**
* This returns the multiplier applied to turning movement measurement to convert from encoder
* ticks to radians. This is found empirically through a tuner.
*
* @return returns the turning ticks to radians multiplier
*/
public double getTurningMultiplier() {
return TURN_TICKS_TO_RADIANS;
}
/**
* This does nothing since this localizer does not use the IMU.
*/
public void resetIMU() {
}
}

302
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
View File

@ -1,302 +0,0 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
/**
* This is the TwoWheelLocalizer class. This class extends the Localizer superclass and is a
* localizer that uses the two wheel odometry with IMU set up. The diagram below, which is modified from
* Road Runner, shows a typical set up.
*
* The view is from the top of the robot looking downwards.
*
* left on robot is the y positive direction
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
*
* @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 4/2/2024
*/
@Config
public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo work
private HardwareMap hardwareMap;
private IMU imu;
private Pose startPose;
private Pose displacementPose;
private Pose currentVelocity;
private Matrix prevRotationMatrix;
private NanoTimer timer;
private long deltaTimeNano;
private Encoder forwardEncoder;
private Encoder strafeEncoder;
private Pose forwardEncoderPose;
private Pose strafeEncoderPose;
private double previousIMUOrientation;
private double deltaRadians;
private double totalHeading;
public static double FORWARD_TICKS_TO_INCHES = 8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
public static double STRAFE_TICKS_TO_INCHES = 8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
/**
* This creates a new TwoWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
* facing 0 heading.
*
* @param map the HardwareMap
*/
public TwoWheelLocalizer(HardwareMap map) {
this(map, new Pose());
}
/**
* This creates a new TwoWheelLocalizer from a HardwareMap and a Pose, with the Pose
* specifying the starting pose of the localizer.
*
* @param map the HardwareMap
* @param setStartPose the Pose to start from
*/
public TwoWheelLocalizer(HardwareMap map, Pose setStartPose) {
// TODO: replace these with your encoder positions
forwardEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
strafeEncoderPose = new Pose(-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
hardwareMap = map;
imu = hardwareMap.get(IMU.class, "imu");
// TODO: replace this with your IMU's orientation
imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.LEFT)));
// TODO: replace these with your encoder ports
forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
forwardEncoder.setDirection(Encoder.REVERSE);
strafeEncoder.setDirection(Encoder.FORWARD);
setStartPose(setStartPose);
timer = new NanoTimer();
deltaTimeNano = 1;
displacementPose = new Pose();
currentVelocity = new Pose();
previousIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
deltaRadians = 0;
}
/**
* This returns the current pose estimate.
*
* @return returns the current pose estimate as a Pose
*/
@Override
public Pose getPose() {
return MathFunctions.addPoses(startPose, displacementPose);
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Pose
*/
@Override
public Pose getVelocity() {
return currentVelocity.copy();
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Vector
*/
@Override
public Vector getVelocityVector() {
return currentVelocity.getVector();
}
/**
* This sets the start pose. Changing the start pose should move the robot as if all its
* previous movements were displacing it from its new start pose.
*
* @param setStart the new start pose
*/
@Override
public void setStartPose(Pose setStart) {
startPose = setStart;
}
/**
* This sets the Matrix that contains the previous pose's heading rotation.
*
* @param heading the rotation of the Matrix
*/
public void setPrevRotationMatrix(double heading) {
prevRotationMatrix = new Matrix(3,3);
prevRotationMatrix.set(0, 0, Math.cos(heading));
prevRotationMatrix.set(0, 1, -Math.sin(heading));
prevRotationMatrix.set(1, 0, Math.sin(heading));
prevRotationMatrix.set(1, 1, Math.cos(heading));
prevRotationMatrix.set(2, 2, 1.0);
}
/**
* This sets the current pose estimate. Changing this should just change the robot's current
* pose estimate, not anything to do with the start pose.
*
* @param setPose the new current pose estimate
*/
@Override
public void setPose(Pose setPose) {
displacementPose = MathFunctions.subtractPoses(setPose, startPose);
resetEncoders();
}
/**
* This updates the elapsed time timer that keeps track of time between updates, as well as the
* change position of the Encoders and the IMU readings. Then, the robot's global change in
* position is calculated using the pose exponential method.
*/
@Override
public void update() {
deltaTimeNano = timer.getElapsedTime();
timer.resetTimer();
updateEncoders();
Matrix robotDeltas = getRobotDeltas();
Matrix globalDeltas;
setPrevRotationMatrix(getPose().getHeading());
Matrix transformation = new Matrix(3,3);
if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
transformation.set(2, 2, 1.0);
} else {
transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
transformation.set(2, 2, 1.0);
}
globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
totalHeading += globalDeltas.get(2, 0);
}
/**
* This updates the Encoders as well as the IMU.
*/
public void updateEncoders() {
forwardEncoder.update();
strafeEncoder.update();
double currentIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
deltaRadians = MathFunctions.getTurnDirection(previousIMUOrientation, currentIMUOrientation) * MathFunctions.getSmallestAngleDifference(currentIMUOrientation, previousIMUOrientation);
previousIMUOrientation = currentIMUOrientation;
}
/**
* This resets the Encoders.
*/
public void resetEncoders() {
forwardEncoder.reset();
strafeEncoder.reset();
}
/**
* This calculates the change in position from the perspective of the robot using information
* from the Encoders and IMU.
*
* @return returns a Matrix containing the robot relative movement.
*/
public Matrix getRobotDeltas() {
Matrix returnMatrix = new Matrix(3,1);
// x/forward movement
returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * (forwardEncoder.getDeltaPosition() - forwardEncoderPose.getY() * deltaRadians));
//y/strafe movement
returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * deltaRadians));
// theta/turning
returnMatrix.set(2,0, deltaRadians);
return returnMatrix;
}
/**
* This returns how far the robot has turned in radians, in a number not clamped between 0 and
* 2 * pi radians. This is used for some tuning things and nothing actually within the following.
*
* @return returns how far the robot has turned in total, in radians.
*/
public double getTotalHeading() {
return totalHeading;
}
/**
* This returns the multiplier applied to forward movement measurement to convert from encoder
* ticks to inches. This is found empirically through a tuner.
*
* @return returns the forward ticks to inches multiplier
*/
public double getForwardMultiplier() {
return FORWARD_TICKS_TO_INCHES;
}
/**
* This returns the multiplier applied to lateral/strafe movement measurement to convert from
* encoder ticks to inches. This is found empirically through a tuner.
*
* @return returns the lateral/strafe ticks to inches multiplier
*/
public double getLateralMultiplier() {
return STRAFE_TICKS_TO_INCHES;
}
/**
* This returns the multiplier applied to turning movement measurement to convert from encoder
* ticks to radians. This is found empirically through a tuner.
*
* @return returns the turning ticks to radians multiplier
*/
public double getTurningMultiplier() {
return 1;
}
/**
* This resets the IMU.
*/
public void resetIMU() {
imu.resetYaw();
}
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LateralTuner.java
View File

@ -63,6 +63,7 @@ public class LateralTuner extends OpMode {
telemetryA.addData("distance moved", poseUpdater.getPose().getY());
telemetryA.addLine("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getY() / poseUpdater.getLocalizer().getLateralMultiplier()));
telemetryA.update();
Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LocalizationTest.java
View File

@ -58,9 +58,6 @@ public class LocalizationTest extends OpMode {
rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
for (DcMotorEx motor : motors) {

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
View File

@ -42,7 +42,7 @@ public class FollowerConstants {
public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
0.1,
0,
0.01,
0,
0);
// Translational Integral
@ -53,14 +53,14 @@ public class FollowerConstants {
0);
// Feed forward constant added on to the translational PIDF
public static double translationalPIDFFeedForward = 0.00;
public static double translationalPIDFFeedForward = 0.015;
// Heading error PIDF coefficients
public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
2,
1,
0,
0,
0.025,
0);
// Feed forward constant added on to the heading PIDF
@ -69,10 +69,10 @@ public class FollowerConstants {
// Drive PIDF coefficients
public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
0.006,
0.025,
0,
0.00001,
0.8,
0.6,
0);
// Feed forward constant added on to the drive PIDF
@ -81,7 +81,7 @@ public class FollowerConstants {
// Kalman filter parameters for the drive error Kalman filter
public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
6,
3);
1);
// Mass of robot in kilograms
@ -202,9 +202,9 @@ public class FollowerConstants {
// Secondary drive PIDF coefficients
public static CustomFilteredPIDFCoefficients secondaryDrivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
0.02,
0.00315,
0,
0.000005,
0.0001,
0.6,
0);

26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardVelocityTuner.java
View File

@ -93,13 +93,11 @@ public class ForwardVelocityTuner extends OpMode {
}
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
// telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
// telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
// telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
// telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
//
//
// telemetryA.update();
telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
telemetryA.update();
}
@ -140,13 +138,6 @@ public class ForwardVelocityTuner extends OpMode {
velocities.add(currentVelocity);
velocities.remove(0);
}
telemetryA.addData("x", poseUpdater.getPose().getX());
telemetryA.addData("y", poseUpdater.getPose().getY());
telemetryA.addData("heading", poseUpdater.getPose().getHeading());
telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
telemetryA.update();
} else {
double average = 0;
for (Double velocity : velocities) {
@ -155,12 +146,7 @@ public class ForwardVelocityTuner extends OpMode {
average /= (double) velocities.size();
telemetryA.addData("forward velocity:", average);
// telemetryA.addData("x", poseUpdater.getPose().getX());
// telemetryA.addData("y", poseUpdater.getPose().getY());
// telemetryA.addData("heading", poseUpdater.getPose().getHeading());
// telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
// telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
// telemetryA.update();
telemetryA.update();
}
}
}

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
View File

@ -119,6 +119,13 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
*/
@Override
public void loop() {
telemetry.addData("x",poseUpdater.getPose().getX());
telemetry.addData("y",poseUpdater.getPose().getY());
telemetry.addData("heading",poseUpdater.getPose().getHeading());
telemetry.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
telemetry.addData("velo theta", poseUpdater.getVelocity().getTheta());
if (gamepad1.cross || gamepad1.a) {
requestOpModeStop();
}

18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/states/FieldStates.java
View File

@ -1,18 +0,0 @@
package org.firstinspires.ftc.teamcode.states;
public class FieldStates {
public enum FieldLocation {
BUCKET, SUBMARINE, FLOATING, TRAVELING
}
private FieldLocation fieldLocation;
public FieldLocation getFieldLocation() {
return fieldLocation;
}
public void setFieldLocation(FieldLocation fieldLocation) {
this.fieldLocation = fieldLocation;
}
}

44
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java
View File

@ -1,44 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine1 {
private PathChain pathChain;
private Pose autoLin1StartPose = new Pose(8,65);
public void moveToAutoLine1(Follower robot) {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(8.000, 65.000, Point.CARTESIAN),
new Point(30.000, 72.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0));
pathChain = builder.build();
robot.setStartingPose(autoLin1StartPose);
robot.followPath(pathChain);
}
}

40
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java
View File

@ -1,40 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine2 {
private PathChain pathChain;
public void moveToAutoLine2(Follower robot) {
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 2
new BezierCurve(
new Point(36.000, 72.000, Point.CARTESIAN),
new Point(24.000, 24.000, Point.CARTESIAN),
new Point(72.000, 36.000, Point.CARTESIAN),
new Point(56.000, 24.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java
View File

@ -1,73 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class AutoLine3 implements Action {
private Follower actionRobot;
private PathChain pathChain;
private Pose startPose = new Pose(56,24);
public AutoLine3(Follower robot) {
this.actionRobot = robot;
this.actionRobot.setStartingPose(startPose);
PathBuilder builder = new PathBuilder();
builder
/* .addPath(
// Line 1
new BezierLine(
new Point(8.000, 65.000, Point.CARTESIAN),
new Point(30.000, 72.000, Point.CARTESIAN)
// This is the origional new Point(36.000, 72.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(0))
.addPath(
// Line 2
new BezierCurve(
new Point(36.000, 72.000, Point.CARTESIAN),
new Point(24.000, 24.000, Point.CARTESIAN),
new Point(72.000, 36.000, Point.CARTESIAN),
new Point(56.000, 24.000, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180)) */
.addPath(
// Line 3
new BezierLine(
new Point(56.000, 24.000, Point.CARTESIAN),
new Point(18.000, 24.000, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation();
pathChain = builder.build();
this.actionRobot.followPath(this.pathChain);
}
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
this.actionRobot.update();
return this.actionRobot.isBusy();
}
}

105
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java
View File

@ -1,105 +0,0 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
import androidx.annotation.NonNull;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.Action;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
public class MotorsSubsystem {
public HardwareMap hardwareMap;
public Telemetry telemetry;
public DcMotor frontLeftMotor;
public DcMotor backLeftMotor;
public DcMotor frontRightMotor;
public DcMotor backRightMotor;
public enum TravelState {
STOPPED, MOVING
}
public TravelState travelState;
public double power;
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = MAX_POWER;
}
public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.power = power;
}
public void init() {
frontLeftMotor = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
backLeftMotor = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
frontLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.setState(TravelState.STOPPED);
}
public void setFrontLeftMotorPower(double power) {
frontLeftMotor.setPower(power);
}
public void setBackLeftMotorPower(double power) {
backLeftMotor.setPower(power);
}
public void setFrontRightMotorPower(double power) {
frontRightMotor.setPower(power);
}
public void setBackRightMotorPower(double power) {
backRightMotor.setPower(power);
}
public void setState(TravelState travelState) {
this.travelState = travelState;
}
public TravelState getState() {
return this.travelState;
}
public void setPower(DcMotor motor, double power) {
motor.setPower(power);
if (power < 0.05) {
this.setState(TravelState.MOVING);
} else {
this.setState(TravelState.STOPPED);
}
}
}

5
build.dependencies.gradle
View File

@ -16,9 +16,6 @@ dependencies {
implementation 'org.firstinspires.ftc:Vision:10.1.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
implementation "com.acmerobotics.roadrunner:core:1.0.0"
implementation "com.acmerobotics.roadrunner:actions:1.0.0"
implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
}