Merge remote-tracking branch 'origin/branch-cooper-v9.0.1' into branch-cooper-v9.0.1
This commit is contained in:
robotics2
@ -11,7 +11,7 @@ There are two robots: 14493-DS, and FTC-992M.
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Below are the following configurations for our robots
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Below are the following configurations for our robots
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| physical port | hub | robot part | robot part location | robot software config name |
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| physical port | hub | robot part | robot part location | robot software config name |
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|---------------|-----------|-----------------------------|-------------------------------|----------------------------|
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|---------------|-----------|------------------------------|-------------------------------|----------------------------|
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| motor0 | control | UltraPlanetary HD hex motor | right front leg frame | Drive front rt |
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| motor0 | control | UltraPlanetary HD hex motor | right front leg frame | Drive front rt |
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| motor1 | control | UltraPlanetary HD hex motor | right back leg frame | Drive back rt |
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| motor1 | control | UltraPlanetary HD hex motor | right back leg frame | Drive back rt |
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| motor2 | control | UltraPlanetary HD hex motor | left front leg frame | Drive front lt |
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| motor2 | control | UltraPlanetary HD hex motor | left front leg frame | Drive front lt |
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@ -21,11 +21,11 @@ Below are the following configurations for our robots
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| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
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| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
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| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
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| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
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| motor1 | expansion | Core Hex Motor | right back arm frame | hang |
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| motor1 | expansion | Core Hex Motor | right back arm frame | hang |
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| motor3 | expansion | Digital device | arm frame back right | axle encoder |
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| motor3 | expansion | UltraPlanetary HD hex motor* | arm frame back right | axle encoder |
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| Servo 0 | expansion | Servo | on arm | wrist |
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| Servo 0 | expansion | Servo | on arm | wrist |
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| Servo 1 | expansion | Servo | on arm | gripper |
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| Servo 1 | expansion | Servo | on arm | gripper |
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** * **: The device plugged into motor3 is actually a Digital Device encoder but behaves like a UltraPlanetary HD hex motor encoder.
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4
NOTES.md
Normal file
4
NOTES.md
Normal file
@ -0,0 +1,4 @@
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- Refactor of code
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- Possibly establish patterns
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- Also, establish github for students as an element of a professional portfolio (laura)
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-
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@ -0,0 +1,99 @@
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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@TeleOp( name = "scds-chassis-manual")
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public class SCDSChassisDriverMode extends OpMode {
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DcMotor frontRight;
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DcMotor backRight;
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DcMotor frontLeft;
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DcMotor backLeft;
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public double axial;
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public double lateral;
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public double yaw;
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final static double MOTOR_LO_SPEED_RATIO = 3.5;
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final static double MOTOR_HI_SPEED_RATIO = 2.25;
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final static double ARM_POWER = 3.5;
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double RUNNING_MOTOR_SPEED_RATIO = MOTOR_LO_SPEED_RATIO;
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double CURRENT_SPEED_RATIO = MOTOR_HI_SPEED_RATIO;
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@Override
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public void init() {
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telemetry.addData("Status","In Init()");
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telemetry.update();
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frontRight = hardwareMap.dcMotor.get("Drive front rt");
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backRight = hardwareMap.dcMotor.get("Drive back rt");
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frontLeft = hardwareMap.dcMotor.get("Drive front lt");
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backLeft = hardwareMap.dcMotor.get("Drive back lt");
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}
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private void setForwardDirection() {
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telemetry.addData("Status","setForwardDirection()");
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telemetry.update();
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frontLeft.setDirection(DcMotor.Direction.REVERSE);
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backLeft.setDirection(DcMotor.Direction.FORWARD);
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frontRight.setDirection(DcMotor.Direction.REVERSE);
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backRight.setDirection(DcMotor.Direction.FORWARD);
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}
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@Override
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public void loop() {
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/*
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Initialize the wheels
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*/
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setForwardDirection();
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/*
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Turn on high speed on the motors
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*/
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if(gamepad1.a) {
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RUNNING_MOTOR_SPEED_RATIO = MOTOR_HI_SPEED_RATIO;
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}
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/*
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Turn on low speed on the motors
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*/
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if(gamepad1.b) {
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RUNNING_MOTOR_SPEED_RATIO = MOTOR_LO_SPEED_RATIO;
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}
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axial = -gamepad1.left_stick_y/CURRENT_SPEED_RATIO; // Note: pushing stick forward gives negative value
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lateral = gamepad1.left_stick_x/CURRENT_SPEED_RATIO;
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yaw = gamepad1.right_stick_x/CURRENT_SPEED_RATIO;
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// Combine the joystick requests for each axis-motion to determine each wheel's power.
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// Set up a variable for each drive wheel to save the power level for telemetry.
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double leftFrontPower = axial + lateral + yaw;
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double rightFrontPower = axial - lateral - yaw;
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double leftBackPower = axial - lateral + yaw;
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double rightBackPower = axial + lateral - yaw;
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// Normalize the values so no wheel power exceeds 100%
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// This ensures that the robot maintains the desired motion.
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double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
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max = Math.max(max, Math.abs(leftBackPower));
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max = Math.max(max, Math.abs(rightBackPower));
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if (max > 1.0) {
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leftFrontPower /= max;
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rightFrontPower /= max;
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leftBackPower /= max;
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rightBackPower /= max;
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}
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frontLeft.setPower(leftFrontPower);
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frontRight.setPower(rightFrontPower);
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backLeft.setPower(leftBackPower);
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backRight.setPower(rightBackPower);
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// Show the elapsed game time and wheel power
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telemetry.addData("Front left, Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
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telemetry.addData("Back left, Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
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telemetry.update();
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}
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}
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@ -0,0 +1,205 @@
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
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import com.qualcomm.robotcore.hardware.Servo;
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@TeleOp( name = "manual Chasis")
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public class manualChasis extends OpMode {
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DcMotor arm;
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Servo gripper;
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Servo wrist;
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public double axial;
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public double lateral;
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public double yaw;
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DcMotor frontRight;
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DcMotor backRight;
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DcMotor frontLeft;
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DcMotor backLeft;
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DcMotor hang;
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/**
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* this function takes a long milliseconds parameter and sleeps
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* @param millis milliseconds to sleep
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*/
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public void sleepmillis(long millis) {
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try {
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Thread.sleep(millis);
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} catch (Exception e) {
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}
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}
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/**
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* stops all drive motors
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*/
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public void off() {
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arm.setPower(0);
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frontRight.setPower(0);
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backRight.setPower(0);
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frontLeft.setPower(0);
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backLeft.setPower(0);
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}
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/**
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* User defined init method
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* This method will be called once when the INIT button is pressed.
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*/
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public void init() {
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telemetry.addData("Status","In Init()");
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telemetry.update();
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arm = hardwareMap.dcMotor.get("arm raise");
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gripper = hardwareMap.servo.get("gripper");
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wrist = hardwareMap.servo.get("wrist");
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frontRight = hardwareMap.dcMotor.get("Drive front rt");
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backRight = hardwareMap.dcMotor.get("Drive back rt");
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frontLeft = hardwareMap.dcMotor.get("Drive front lt");
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backLeft = hardwareMap.dcMotor.get("Drive back lt");
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hang = hardwareMap.dcMotor.get("hang");
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}
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/**
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* User defined init_loop method
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* This method will be called repeatedly when the INIT button is pressed.
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* This method is optional. By default this method takes no action.
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*/
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public void init_loop(){
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// Wait for the game to start (driver presses PLAY)
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telemetry.addData("Status", "Initialized");
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telemetry.update();
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}
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/**
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* User defined start method.
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* This method will be called once when the PLAY button is first pressed.
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* This method is optional. By default this method takes not action. Example usage: Starting another thread.
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*/
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public void start() {
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}
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/**
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* User defined stop method
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* This method will be called when this op mode is first disabled.
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* The stop method is optional. By default this method takes no action.
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*/
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public void stop(){
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}
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//double num = 2.25;
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final static double MOTOR_HI_SPEED_RATIO = 2.25;
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final static double MOTOR_LO_SPEED_RATIO = 3.5;
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final static double ARM_POWER = 3.5;
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double num = MOTOR_HI_SPEED_RATIO;
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/**
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* User defined loop method.
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* This method will be called repeatedly in a loop while this op mode is running
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*/
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public void loop() {
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frontLeft.setDirection(DcMotor.Direction.REVERSE);
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backLeft.setDirection(DcMotor.Direction.FORWARD);
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frontRight.setDirection(DcMotor.Direction.REVERSE);
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backRight.setDirection(DcMotor.Direction.FORWARD);
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double armPower = gamepad2.right_stick_y/ARM_POWER;
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// Normalize the values so no wheel power exceeds 100%
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// This ensures that the robot maintains the desired motion.
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if(gamepad1.a)
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{
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num = MOTOR_HI_SPEED_RATIO;
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}
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if (gamepad1.b)
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{
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num = MOTOR_LO_SPEED_RATIO;
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}
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if(gamepad2.right_stick_y != 0)
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{
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arm.setPower(armPower);
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telemetry.addData("joystick y value", gamepad2.right_stick_y);
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telemetry.update();
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}
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else
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{
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arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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arm.setPower(0);
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}
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if(gamepad2.left_trigger > 0.35)
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{
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gripper.setPosition(0);
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}
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if(gamepad2.right_trigger > 0.35){
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gripper.setPosition(1);
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}
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if(gamepad2.dpad_up)
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{
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wrist.setPosition(0.4);
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}
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if(gamepad2.dpad_down)
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{
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wrist.setPosition(1);
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}
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if(gamepad2.dpad_right)
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{
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wrist.setPosition(0);
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}
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if (gamepad1.dpad_up)
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{
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hang.setPower(1);
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}
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hang.setPower(0);
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if (gamepad1.dpad_down)
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{
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hang.setPower(-.5);
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}
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else {
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hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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hang.setPower(0);
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}
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axial = -gamepad1.left_stick_y/num; // Note: pushing stick forward gives negative value
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lateral = gamepad1.left_stick_x/num;
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yaw = gamepad1.right_stick_x/(num);
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// Combine the joystick requests for each axis-motion to determine each wheel's power.
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// Set up a variable for each drive wheel to save the power level for telemetry.
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double leftFrontPower = axial + lateral + yaw;
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double rightFrontPower = axial - lateral - yaw;
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double leftBackPower = axial - lateral + yaw;
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double rightBackPower = axial + lateral - yaw;
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// Normalize the values so no wheel power exceeds 100%
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// This ensures that the robot maintains the desired motion.
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double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
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max = Math.max(max, Math.abs(leftBackPower));
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max = Math.max(max, Math.abs(rightBackPower));
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if (max > 1.0) {
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leftFrontPower /= max;
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rightFrontPower /= max;
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leftBackPower /= max;
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rightBackPower /= max;
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}
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frontLeft.setPower(leftFrontPower);
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frontRight.setPower(rightFrontPower);
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backLeft.setPower(leftBackPower);
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backRight.setPower(rightBackPower);
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// Show the elapsed game time and wheel power
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telemetry.addData("Front left, Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
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telemetry.addData("Back left, Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
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telemetry.update();
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}
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}
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Reference in New Issue
Block a user