diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java index 6212476..dc87b1c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java @@ -68,20 +68,18 @@ import com.qualcomm.robotcore.util.ElapsedTime; public class Autonomoustest extends LinearOpMode { /* Declare OpMode members. */ - private DcMotor leftDrive = null; - private DcMotor rightDrive = null; - private DcMotor backrightDrive = null; - private DcMotor backleftDrive = null; - private ColorSensor colorRight = null; + private DcMotor leftDrive = null; + private DcMotor rightDrive = null; + private DcMotor backrightDrive = null; + private DcMotor backleftDrive = null; + private ColorSensor colorRight = null; private ColorSensor colorLeft = null; private Servo wrist = null; private Servo gripper = null; private DcMotor arm = null; - - - private ElapsedTime runtime = new ElapsedTime(); + private ElapsedTime runtime = new ElapsedTime(); // Calculate the COUNTS_PER_INCH for your specific drive train. // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV @@ -89,27 +87,32 @@ public class Autonomoustest extends LinearOpMode { // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear. // This is gearing DOWN for less speed and more torque. // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation. - static final double COUNTS_PER_MOTOR_REV = 537.6 ; // eg: TETRIX Motor Encoder - static final double DRIVE_GEAR_REDUCTION = 1.0 ; // No External Gearing. - static final double WHEEL_DIAMETER_INCHES = 3.77953 ; // For figuring circumference - static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / - (WHEEL_DIAMETER_INCHES * Math.PI); - static final double DRIVE_SPEED = 0.2; - static final double TURN_SPEED = 0.4; + static final double COUNTS_PER_MOTOR_REV = 537.6; // eg: TETRIX Motor Encoder + static final double DRIVE_GEAR_REDUCTION = 1.0; // No External Gearing. + static final double WHEEL_DIAMETER_INCHES = 3.77953; // For figuring circumference + static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / + (WHEEL_DIAMETER_INCHES * Math.PI); + static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI); + static final double DRIVE_SPEED = 0.2; + static final double TURN_SPEED = 0.4; - static final double LONG_TIMEOUT = 1000; - static final double DEGREE_TOO_DISTANCE = 0.21944444444; @Override + static final double LONG_TIMEOUT = 1000; + static final double DEGREE_TOO_DISTANCE = 0.21944444444; + static final double ARM_SPEED = .1; + static final double TICKS_TO_DEGREES = 0.07462686567; + + @Override public void runOpMode() { // Initialize the drive system variables - leftDrive = hardwareMap.get(DcMotor.class, "Drive front lt"); + leftDrive = hardwareMap.get(DcMotor.class, "Drive front lt"); rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt"); backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt"); backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt"); colorRight = hardwareMap.get(ColorSensor.class, "color right"); colorLeft = hardwareMap.get(ColorSensor.class, "color left"); gripper = hardwareMap.get(Servo.class, "gripper"); - arm = hardwareMap.get(DcMotor.class , "arm raise"); + arm = hardwareMap.get(DcMotor.class, "arm raise"); wrist = hardwareMap.get(Servo.class, "wrist"); // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. @@ -118,7 +121,7 @@ public class Autonomoustest extends LinearOpMode { rightDrive.setDirection(DcMotor.Direction.FORWARD); backrightDrive.setDirection(DcMotor.Direction.REVERSE); backleftDrive.setDirection(DcMotor.Direction.REVERSE); - arm.setDirection(DcMotor.Direction.REVERSE); + arm.setDirection(DcMotor.Direction.FORWARD); leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); @@ -146,68 +149,57 @@ public class Autonomoustest extends LinearOpMode { // Step through each leg of the path, // Note: Reverse movement is obtained by setting a negative distance (not speed) - raisearm(1); - arm.setPower(0.001); - sleep(10000); - //driveForward(2); -// driveForward(28); -// { -// int blueleft = readColorLeft(); -// int blueright = readColorRight(); -// if (blueleft > 75) -// { -// //telemetry.addData("color sensor","left"); -// if(blueleft > blueright) -// telemetry.addData("color sensor","left"); -// turnLeft(90); -// straightLeft(2); -// driveForward(11); -// driveForward(-30); -// turnLeft(180); -// driveForward(19); -// straightLeft(7); -// //use arm to place pixel -// straightRight(34); -// driveForward(11); -// terminateOpModeNow(); -// -// -// -// -// } -// if (blueright > 75) -// { -// //telemetry.addData("color sensor", "right"); -// if(blueleft < blueright) -// telemetry.addData("color sensor","right"); -// straightRight(11); -// driveForward(-17); -// turnRight(90); -// straightLeft(8); -// driveForward(28.5); -// //use arm to place pixel -// straightRight(20); -// driveForward(11); -// terminateOpModeNow(); -// -// -// } -// else -// telemetry.addData("position","center"); -// driveForward(11); -// driveForward(-17); -// turnRight(90); -// driveForward(39); -// straightRight(3.5); -// //use arm to place pixel -// straightRight(23.5); -// driveForward(11); -// -// telemetry.update(); -// sleep(250); -// -// } + { + raisearm(100); + int blueleft = readColorLeft(); + int blueright = readColorRight(); + if (blueleft > 75) + { + //telemetry.addData("color sensor","left"); + if(blueleft > blueright) + telemetry.addData("color sensor","left"); + turnLeft(90); + straightLeft(2); + driveForward(11); + driveForward(-30); + terminateOpModeNow(); + + + + + } + if (blueright > 75) + { + //telemetry.addData("color sensor", "right"); + if(blueleft < blueright) + telemetry.addData("color sensor","right"); + straightRight(11); + driveForward(-17); + turnRight(90); + straightLeft(8); + driveForward(-28.5); + raisearm(80); + straightRight(22); + driveForward(-11); + terminateOpModeNow(); + + + } + else + telemetry.addData("position","center"); + driveForward(7); + driveForward(-13); + turnRight(90); + driveForward(-35); + raisearm(80); + straightRight(22.5); + driveForward(-11); + + telemetry.update(); + sleep(250); + + } //Values were created from robot with wheel issues 9/28/23 @@ -217,50 +209,49 @@ public class Autonomoustest extends LinearOpMode { sleep(1000); // pause to display final telemetry message. } - public void driveForward(double distance) - { + public void driveForward(double distance) { leftDrive.setDirection(DcMotor.Direction.REVERSE); rightDrive.setDirection(DcMotor.Direction.FORWARD); backrightDrive.setDirection(DcMotor.Direction.REVERSE); backleftDrive.setDirection(DcMotor.Direction.REVERSE); - encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); // S1: Forward 47 Inches with 5 Sec timeout + encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); // S1: Forward 47 Inches with 5 Sec timeout } - public void straightLeft(double distance) - { + + public void straightLeft(double distance) { leftDrive.setDirection(DcMotor.Direction.FORWARD); rightDrive.setDirection(DcMotor.Direction.FORWARD); backrightDrive.setDirection(DcMotor.Direction.FORWARD); backleftDrive.setDirection(DcMotor.Direction.REVERSE); - encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); + encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); } - public void straightRight(double distance) - { + + public void straightRight(double distance) { leftDrive.setDirection(DcMotor.Direction.REVERSE); rightDrive.setDirection(DcMotor.Direction.REVERSE); backrightDrive.setDirection(DcMotor.Direction.REVERSE); backleftDrive.setDirection(DcMotor.Direction.FORWARD); - encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); + encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); } - public void turnLeft(double degrees) - { + + public void turnLeft(double degrees) { leftDrive.setDirection(DcMotor.Direction.FORWARD); rightDrive.setDirection(DcMotor.Direction.FORWARD); backrightDrive.setDirection(DcMotor.Direction.REVERSE); backleftDrive.setDirection(DcMotor.Direction.FORWARD); double turning_distance = degrees * DEGREE_TOO_DISTANCE; - encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); + encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); } - public void turnRight(double degrees) - { + + public void turnRight(double degrees) { leftDrive.setDirection(DcMotor.Direction.REVERSE); rightDrive.setDirection(DcMotor.Direction.REVERSE); backrightDrive.setDirection(DcMotor.Direction.FORWARD); backleftDrive.setDirection(DcMotor.Direction.REVERSE); double turning_distance = degrees * DEGREE_TOO_DISTANCE; - encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); + encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); } - public int readColorRight() - { + + public int readColorRight() { telemetry.addData("Clear", colorRight.alpha()); telemetry.addData("Red ", colorRight.red()); telemetry.addData("Green", colorRight.green()); @@ -268,8 +259,8 @@ public class Autonomoustest extends LinearOpMode { int bluenumber = colorRight.blue(); return bluenumber; } - public int readColorLeft() - { + + public int readColorLeft() { telemetry.addData("Clear Left", colorLeft.alpha()); telemetry.addData("Red left ", colorLeft.red()); telemetry.addData("Green left", colorLeft.green()); @@ -279,14 +270,14 @@ public class Autonomoustest extends LinearOpMode { return bluenumber; + } + + public void raisearm(int degrees) { + armEncoder(ARM_SPEED, degrees*TICKS_TO_DEGREES, LONG_TIMEOUT); } - public void raisearm(long seconds) - { - arm.setPower(.1); - sleep(seconds * 1000); - } + @@ -306,15 +297,16 @@ public class Autonomoustest extends LinearOpMode { int newLeftTarget; int newRightTarget; int newBackLeftTarget; - int newbackRightTarget; + int newbackRightTarget; + if (opModeIsActive()) { // Determine new target position, and pass to motor controller - newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH); - newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH); - newBackLeftTarget = backleftDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH); - newbackRightTarget = backrightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH); + newLeftTarget = leftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH); + newRightTarget = rightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); + newBackLeftTarget = backleftDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); + newbackRightTarget = backrightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); leftDrive.setTargetPosition(newLeftTarget); rightDrive.setTargetPosition(newRightTarget); backrightDrive.setTargetPosition(newbackRightTarget); @@ -340,22 +332,21 @@ public class Autonomoustest extends LinearOpMode { // However, if you require that BOTH motors have finished their moves before the robot continues // onto the next step, use (isBusy() || isBusy()) in the loop test. while (opModeIsActive() && - (runtime.seconds() < timeoutS) && - (leftDrive.isBusy() && rightDrive.isBusy() && backleftDrive.isBusy() && backrightDrive.isBusy())) { + (runtime.seconds() < timeoutS) && + (leftDrive.isBusy() && rightDrive.isBusy() && backleftDrive.isBusy() && backrightDrive.isBusy() && backrightDrive.isBusy())) { // Display it for the driver. - telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget); - telemetry.addData("Currently at", " at %7d :%7d", - leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition(), backrightDrive.getCurrentPosition(), backleftDrive.getCurrentPosition()); + telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget); + telemetry.addData("Currently at", " at %7d :%7d", + leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition(), backrightDrive.getCurrentPosition(), backleftDrive.getCurrentPosition()); telemetry.update(); } - - leftDrive.setPower(0); - rightDrive.setPower(0); - backrightDrive.setPower(0); - backleftDrive.setPower(0); + leftDrive.setPower(0); + rightDrive.setPower(0); + backrightDrive.setPower(0); + backleftDrive.setPower(0); // Turn off RUN_TO_POSITION @@ -367,4 +358,48 @@ public class Autonomoustest extends LinearOpMode { sleep(250); // optional pause after each move. } } -} + + public void armEncoder(double speed, + double Inches, double timeoutS) { + int newarmTarget; + + + if (opModeIsActive()) { + + // Determine new target position, and pass to motor controller + newarmTarget = arm.getCurrentPosition() + (int) (Inches * COUNTS_PER_ARM_INCH); + arm.setTargetPosition(newarmTarget); + + // Turn On RUN_TO_POSITION + arm.setMode(DcMotor.RunMode.RUN_TO_POSITION); + + // reset the timeout time and start motion. + runtime.reset(); + arm.setPower(Math.abs(speed)); + + // keep looping while we are still active, and there is time left, and both motors are running. + // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits + // its target position, the motion will stop. This is "safer" in the event that the robot will + // always end the motion as soon as possible. + // However, if you require that BOTH motors have finished their moves before the robot continues + // onto the next step, use (isBusy() || isBusy()) in the loop test. + while (opModeIsActive() && + (runtime.seconds() < timeoutS) && + (arm.isBusy())) { + + // Display it for the driver. + telemetry.addData("Running to", " %7d", newarmTarget); + telemetry.addData("Currently at", " at %7d", + arm.getCurrentPosition()); + telemetry.update(); + } + + + arm.setPower(0); + + + // Turn off RUN_TO_POSITION + arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + } + } +} \ No newline at end of file