Merge remote-tracking branch 'origin/branch-cooper' into branch-cooper
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robotics2
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HARDWARE.md
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HARDWARE.md
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# FTC Hardware Config 2023
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**DISCLAIMER:** View the robot like this.
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Configuration Name: **cometBoTsChassis2023**
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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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|--------------- |---------------|--------------------|-----------------------|----------------------------|
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| motor0 | control | HD hex motor | right front motor | Drive front rt |
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| motor1 | control | HD hex motor | right back motor | Drive back rt |
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| motor2 | control | HD hex motor | left front motor | Drive front lt |
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| motor3 | control | HD hex motor | left back motor | Drive back lt |
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| motor4 | control | expansion hub | expansion hub | |
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| motor5 | control | |||
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| motor6 | control | | | |
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| motor7 | control | | | |
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| motor8 | control | Ultraplanetary | Back left high motor | arm raise |
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| motor9 | control | ||||
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| motor10 | control | ||||
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| motor11 | control | ||||
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| I2C0 | control | Color sensor | Left | color left |
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| I2C1 | control | Color sensor | Right | color right |
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| I2C0 | expansion | 2m distance sensor | Middle Back distance |
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| motor0 | expansion | rev encoder | right dead wheel | |
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| motor1 | expansion | rev encoder | back dead wheel |
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| motor2 | expansion | rev encoder | left dead wheel |
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| motor3 | expansion| ||||
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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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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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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.Gamepad;
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import com.qualcomm.robotcore.hardware.Servo;
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import com.qualcomm.robotcore.util.ElapsedTime;
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@TeleOp( name = "fullRobotControl")
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public class FullRobotControl extends OpMode {
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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 armMotor;
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Servo gripper;
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Servo wrist;
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public ElapsedTime runtime = new ElapsedTime();
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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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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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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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armMotor = hardwareMap.dcMotor.get("armMotor");
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gripper = hardwareMap.servo.get("gripper");
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gripper.setPosition(1);
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wrist = hardwareMap.servo.get("wrist");
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wrist.setPosition(1);
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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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/**
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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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double num = 2;
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String speed = "plaid";
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public void loop() {
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frontLeft.setDirection(DcMotor.Direction.REVERSE);
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backLeft.setDirection(DcMotor.Direction.REVERSE);
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frontRight.setDirection(DcMotor.Direction.FORWARD);
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backRight.setDirection(DcMotor.Direction.REVERSE);
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if(gamepad1.a){
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num = 2.5;
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speed = "medium";
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}
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if(gamepad1.b){
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num = 2;
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speed = "fast";
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}
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if(gamepad1.x){
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num = 1.75;
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speed = "Ludicrous";
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}
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if(gamepad1.y ){
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num = 1.5;
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speed = "plaid";
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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+0.5);
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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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double armPower = gamepad1.right_stick_y/3;
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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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if(gamepad1.dpad_down){
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wrist.setPosition(1);
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}
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if(gamepad1.dpad_up){
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wrist.setPosition(0.5);
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}
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if(gamepad1.left_bumper){
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gripper.setPosition(0.25);
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}
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if(gamepad1.right_bumper){
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gripper.setPosition(1);
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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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armMotor.setPower(armPower);
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// Show the elapsed game time and wheel power
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telemetry.addData("Status", "Run Time: " + runtime.toString());
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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.addData("Speed", speed);
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telemetry.update();
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}
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}
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