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Arm function and changes to arm in general

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robotics1
2023-12-02 10:47:59 -08:00
parent c5bc5df6a3
commit 6943172487
2 changed files with 220 additions and 15 deletions
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30
HARDWARE.md
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@ -10,22 +10,22 @@ There are two robots: 14493-DS, and FTC-992M.
Below are the following configurations for our robots
| physical port | hub | robot part | robot part location | robot software config name |
|---------------|-----------|-----------------------------|-------------------------------|----------------------------|
| motor0 | control | UltraPlanetary HD hex motor | right front leg frame | Drive front rt |
| motor1 | control | UltraPlanetary HD hex motor | right back leg frame | Drive back rt |
| motor2 | control | UltraPlanetary HD hex motor | left front leg frame | Drive front lt |
| motor3 | control | UltraPlanetary HD hex motor | left back leg frame | Drive back lt |
| I2C B0 | control | Color sensor V3 | Left outside leg frame | color left |
| I2C B1 | control | Color sensor V3 | Right outside leg frame | color right |
| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
| motor1 | expansion | Core Hex Motor | right back arm frame | hang |
| motor3 | expansion | Digital device | arm frame back right | axle encoder |
| Servo 0 | expansion | Servo | on arm | wrist |
| Servo 1 | expansion | Servo | on arm | gripper |
| physical port | hub | robot part | robot part location | robot software config name |
|---------------|-----------|------------------------------|-------------------------------|----------------------------|
| motor0 | control | UltraPlanetary HD hex motor | right front leg frame | Drive front rt |
| motor1 | control | UltraPlanetary HD hex motor | right back leg frame | Drive back rt |
| motor2 | control | UltraPlanetary HD hex motor | left front leg frame | Drive front lt |
| motor3 | control | UltraPlanetary HD hex motor | left back leg frame | Drive back lt |
| I2C B0 | control | Color sensor V3 | Left outside leg frame | color left |
| I2C B1 | control | Color sensor V3 | Right outside leg frame | color right |
| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
| motor1 | expansion | Core Hex Motor | right back arm frame | hang |
| motor3 | expansion | UltraPlanetary HD hex motor* | arm frame back right | axle encoder |
| Servo 0 | expansion | Servo | on arm | wrist |
| Servo 1 | expansion | Servo | on arm | gripper |
** * **: The device plugged into motor3 is actually a Digital Device encoder but behaves like a UltraPlanetary HD hex motor encoder.

205
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manualChasis.java Normal file
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@ -0,0 +1,205 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
@TeleOp( name = "manual Chasis")
public class manualChasis extends OpMode {
DcMotor arm;
Servo gripper;
Servo wrist;
public double axial;
public double lateral;
public double yaw;
DcMotor frontRight;
DcMotor backRight;
DcMotor frontLeft;
DcMotor backLeft;
DcMotor hang;
/**
* this function takes a long milliseconds parameter and sleeps
* @param millis milliseconds to sleep
*/
public void sleepmillis(long millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {
}
}
/**
* stops all drive motors
*/
public void off() {
arm.setPower(0);
frontRight.setPower(0);
backRight.setPower(0);
frontLeft.setPower(0);
backLeft.setPower(0);
}
/**
* User defined init method
* This method will be called once when the INIT button is pressed.
*/
public void init() {
telemetry.addData("Status","In Init()");
telemetry.update();
arm = hardwareMap.dcMotor.get("arm raise");
gripper = hardwareMap.servo.get("gripper");
wrist = hardwareMap.servo.get("wrist");
frontRight = hardwareMap.dcMotor.get("Drive front rt");
backRight = hardwareMap.dcMotor.get("Drive back rt");
frontLeft = hardwareMap.dcMotor.get("Drive front lt");
backLeft = hardwareMap.dcMotor.get("Drive back lt");
hang = hardwareMap.dcMotor.get("hang");
}
/**
* User defined init_loop method
* This method will be called repeatedly when the INIT button is pressed.
* This method is optional. By default this method takes no action.
*/
public void init_loop(){
// Wait for the game to start (driver presses PLAY)
telemetry.addData("Status", "Initialized");
telemetry.update();
}
/**
* User defined start method.
* This method will be called once when the PLAY button is first pressed.
* This method is optional. By default this method takes not action. Example usage: Starting another thread.
*/
public void start() {
}
/**
* User defined stop method
* This method will be called when this op mode is first disabled.
* The stop method is optional. By default this method takes no action.
*/
public void stop(){
}
//double num = 2.25;
final static double MOTOR_HI_SPEED_RATIO = 2.25;
final static double MOTOR_LO_SPEED_RATIO = 3.5;
final static double ARM_POWER = 3.5;
double num = MOTOR_HI_SPEED_RATIO;
/**
* User defined loop method.
* This method will be called repeatedly in a loop while this op mode is running
*/
public void loop() {
frontLeft.setDirection(DcMotor.Direction.REVERSE);
backLeft.setDirection(DcMotor.Direction.FORWARD);
frontRight.setDirection(DcMotor.Direction.REVERSE);
backRight.setDirection(DcMotor.Direction.FORWARD);
double armPower = gamepad2.right_stick_y/ARM_POWER;
// Normalize the values so no wheel power exceeds 100%
// This ensures that the robot maintains the desired motion.
if(gamepad1.a)
{
num = MOTOR_HI_SPEED_RATIO;
}
if (gamepad1.b)
{
num = MOTOR_LO_SPEED_RATIO;
}
if(gamepad2.right_stick_y != 0)
{
arm.setPower(armPower);
telemetry.addData("joystick y value", gamepad2.right_stick_y);
telemetry.update();
}
else
{
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
arm.setPower(0);
}
if(gamepad2.left_trigger > 0.35)
{
gripper.setPosition(0);
}
if(gamepad2.right_trigger > 0.35){
gripper.setPosition(1);
}
if(gamepad2.dpad_up)
{
wrist.setPosition(0.4);
}
if(gamepad2.dpad_down)
{
wrist.setPosition(1);
}
if(gamepad2.dpad_right)
{
wrist.setPosition(0);
}
if (gamepad1.dpad_up)
{
hang.setPower(1);
}
hang.setPower(0);
if (gamepad1.dpad_down)
{
hang.setPower(-.5);
}
else {
hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
hang.setPower(0);
}
axial = -gamepad1.left_stick_y/num; // Note: pushing stick forward gives negative value
lateral = gamepad1.left_stick_x/num;
yaw = gamepad1.right_stick_x/(num);
// 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 rightFrontPower = 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.
double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
max = Math.max(max, Math.abs(leftBackPower));
max = Math.max(max, Math.abs(rightBackPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
}
frontLeft.setPower(leftFrontPower);
frontRight.setPower(rightFrontPower);
backLeft.setPower(leftBackPower);
backRight.setPower(rightBackPower);
// Show the elapsed game time and wheel power
telemetry.addData("Front left, Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left, Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
telemetry.update();
}
}