Add Roadrunner

TeamCode/drive/opmode/MaxVelocityTuner.java

@@ -0,0 +1,84 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+import java.util.Objects;
+
+/**
+ * This routine is designed to calculate the maximum velocity your bot can achieve under load. It
+ * will also calculate the effective kF value for your velocity PID.
+ * <p>
+ * Upon pressing start, your bot will run at max power for RUNTIME seconds.
+ * <p>
+ * Further fine tuning of kF may be desired.
+ */
+@Config
+@Autonomous(group = "drive")
+public class MaxVelocityTuner extends LinearOpMode {
+    public static double RUNTIME = 2.0;
+
+    private ElapsedTime timer;
+    private double maxVelocity = 0.0;
+
+    private VoltageSensor batteryVoltageSensor;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        batteryVoltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        telemetry.addLine("Your bot will go at full speed for " + RUNTIME + " seconds.");
+        telemetry.addLine("Please ensure you have enough space cleared.");
+        telemetry.addLine("");
+        telemetry.addLine("Press start when ready.");
+        telemetry.update();
+
+        waitForStart();
+
+        telemetry.clearAll();
+        telemetry.update();
+
+        drive.setDrivePower(new Pose2d(1, 0, 0));
+        timer = new ElapsedTime();
+
+        while (!isStopRequested() && timer.seconds() < RUNTIME) {
+            drive.updatePoseEstimate();
+
+            Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer.");
+
+            maxVelocity = Math.max(poseVelo.vec().norm(), maxVelocity);
+        }
+
+        drive.setDrivePower(new Pose2d());
+
+        double effectiveKf = DriveConstants.getMotorVelocityF(veloInchesToTicks(maxVelocity));
+
+        telemetry.addData("Max Velocity", maxVelocity);
+        telemetry.addData("Max Recommended Velocity", maxVelocity * 0.8);
+        telemetry.addData("Voltage Compensated kF", effectiveKf * batteryVoltageSensor.getVoltage() / 12);
+        telemetry.update();
+
+        while (!isStopRequested() && opModeIsActive()) idle();
+    }
+
+    private double veloInchesToTicks(double inchesPerSec) {
+        return inchesPerSec / (2 * Math.PI * DriveConstants.WHEEL_RADIUS) / DriveConstants.GEAR_RATIO * DriveConstants.TICKS_PER_REV;
+    }
+}