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This commit is contained in:
Nick Haemel
2023-08-28 21:16:35 -07:00
parent 729ba8a969
commit 05e56926b2
44 changed files with 4337 additions and 3 deletions
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TeamCode/drive/opmode/BackAndForth.java Normal file
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package org.firstinspires.ftc.teamcode.drive.opmode;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
/*
* Op mode for preliminary tuning of the follower PID coefficients (located in the drive base
* classes). The robot drives back and forth in a straight line indefinitely. Utilization of the
* dashboard is recommended for this tuning routine. To access the dashboard, connect your computer
* to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're
* using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once
* you've successfully connected, start the program, and your robot will begin moving forward and
* backward. You should observe the target position (green) and your pose estimate (blue) and adjust
* your follower PID coefficients such that you follow the target position as accurately as possible.
* If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID.
* If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID.
* These coefficients can be tuned live in dashboard.
*
* This opmode is designed as a convenient, coarse tuning for the follower PID coefficients. It
* is recommended that you use the FollowerPIDTuner opmode for further fine tuning.
*/
@Config
@Autonomous(group = "drive")
public class BackAndForth extends LinearOpMode {
public static double DISTANCE = 50;
@Override
public void runOpMode() throws InterruptedException {
SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
Trajectory trajectoryForward = drive.trajectoryBuilder(new Pose2d())
.forward(DISTANCE)
.build();
Trajectory trajectoryBackward = drive.trajectoryBuilder(trajectoryForward.end())
.back(DISTANCE)
.build();
waitForStart();
while (opModeIsActive() && !isStopRequested()) {
drive.followTrajectory(trajectoryForward);
drive.followTrajectory(trajectoryBackward);
}
}
}