SCDS/FtcRobotController
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Replaced color sensor with distance sensor

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robotics2
2023-11-16 17:07:36 -08:00
parent 81e0825fea
commit e3a3bdfb3b
5 changed files with 43 additions and 59 deletions
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21
HARDWARE.md
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@ -4,26 +4,27 @@
![Bird's eye view of robot.](/Robot.png "Bird's eye view of robot") ![Bird's eye view of robot.](/Robot.png "Bird's eye view of robot")
Configuration Name: **cometBoTsChassis2023** Configuration Name: **CometBoTsChassis2023**
There are two robots: 14493-DS, and FTC-992M. There are two robots: 14493-DS, and FTC-992M.
Below are the following configurations for our robots Below are the following configurations for our robots
| physical port | hub | robot part | robot part location | robot software config name | | 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 | | 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 | | 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 | | 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 | | 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 B0 | control | Color sensor V3 | Left outside leg frame | color left |
| I2C B1 | control | Color sensor V3 | Right outside leg frame | color right | | I2C B1 | control | Color sensor V3 | Right outside leg frame | color right |
| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance | | I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise | | motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
| motor1 | expansion | Core Hex Motor | right back arm frame | hang | | motor1 | expansion | Core Hex Motor | right back arm frame | hang |
| motor3 | expansion | Digital device | arm frame back right | axle encoder | | motor3 | expansion | Digital device | arm frame back right | axle encoder |
| Servo 0 | expansion | Servo | on arm | wrist | | Servo 0 | expansion | Servo | on arm | wrist |
| Servo 1 | expansion | Servo | on arm | gripper | | Servo 1 | expansion | Servo | on arm | gripper |

6
TeamCode/build.gradle
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@ -26,8 +26,4 @@ android {
dependencies { dependencies {
implementation project(':FtcRobotController') implementation project(':FtcRobotController')
annotationProcessor files('lib/OpModeAnnotationProcessor.jar') annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
}
implementation 'org.apache.commons:commons-math3:3.6.1'
implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
implementation 'com.acmerobotics.roadrunner:core:0.5.6'
}

65
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
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@ -34,9 +34,12 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor; import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime; import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
/** /**
* This file illustrates the concept of driving a path based on encoder counts. * This file illustrates the concept of driving a path based on encoder counts.
* The code is structured as a LinearOpMode * The code is structured as a LinearOpMode
@ -72,11 +75,12 @@ public class Autonomoustest extends LinearOpMode {
private DcMotor rightDrive = null; private DcMotor rightDrive = null;
private DcMotor backrightDrive = null; private DcMotor backrightDrive = null;
private DcMotor backleftDrive = null; private DcMotor backleftDrive = null;
private ColorSensor colorRight = null; private DistanceSensor distanceRight = null;
private ColorSensor colorLeft = null; private DistanceSensor distanceLeft = null;
private Servo wrist = null; private Servo wrist = null;
private Servo gripper = null; private Servo gripper = null;
private DcMotor arm = null; private DcMotor arm = null;
private DistanceSensor distance = null;
private ElapsedTime runtime = new ElapsedTime(); private ElapsedTime runtime = new ElapsedTime();
@ -179,27 +183,6 @@ public class Autonomoustest extends LinearOpMode {
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
} }
public int readColorRight() {
telemetry.addData("Clear", colorRight.alpha());
telemetry.addData("Red ", colorRight.red());
telemetry.addData("Green", colorRight.green());
telemetry.addData("Blue ", colorRight.blue());
//telemetry.update();
int bluenumber = colorRight.red();
return bluenumber;
}
public int readColorLeft() {
telemetry.addData("Clear Left", colorLeft.alpha());
telemetry.addData("Red left ", colorLeft.red());
telemetry.addData("Green left", colorLeft.green());
telemetry.addData("Blue left", colorLeft.blue());
//telemetry.update();
int bluenumber = colorLeft.red();
return bluenumber;
}
public void raisearm(int degrees) { public void raisearm(int degrees) {
armEncoder(ARM_SPEED, degrees*TICKS_TO_DEGREES, LONG_TIMEOUT); armEncoder(ARM_SPEED, degrees*TICKS_TO_DEGREES, LONG_TIMEOUT);
@ -211,11 +194,12 @@ public class Autonomoustest extends LinearOpMode {
rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt"); rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt");
backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt"); backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt");
backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt"); backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt");
colorRight = hardwareMap.get(ColorSensor.class, "color right"); distanceRight = hardwareMap.get(DistanceSensor.class, "color right");
colorLeft = hardwareMap.get(ColorSensor.class, "color left"); distanceLeft = hardwareMap.get(DistanceSensor.class, "color left");
gripper = hardwareMap.get(Servo.class, "gripper"); 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"); wrist = hardwareMap.get(Servo.class, "wrist");
distance = hardwareMap.get(DistanceSensor.class, "distance");
wrist.setPosition(1); wrist.setPosition(1);
sleep(1000); sleep(1000);
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
@ -254,16 +238,21 @@ public class Autonomoustest extends LinearOpMode {
} }
public void executeAuto() public void executeAuto()
{ {
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
driveForward(26); driveForward(26);
int blueleft = readColorLeft();
int blueright = readColorRight(); int distanceleft = (int)distanceLeft.getDistance(DistanceUnit.CM);
double backboard = 29; int distanceright = (int)distanceRight.getDistance(DistanceUnit.CM);
if (blueleft > 50 ) telemetry.addData("color left sensor",distanceleft);
telemetry.addData("color right sensor",distanceright);
telemetry.update();
sleep(500);
if (distanceleft < 30)
{ {
//telemetry.addData("color sensor","left"); //telemetry.addData("color sensor","left");
if(blueleft > blueright)
telemetry.addData("color sensor","left");
turnLeft(90); turnLeft(90);
straightLeft(2); straightLeft(2);
driveForward(6.5); driveForward(6.5);
@ -286,11 +275,9 @@ public class Autonomoustest extends LinearOpMode {
} }
if (blueright > 50) if (distanceright < 30)
{ {
if(blueleft < blueright) straightRight(13.5);
telemetry.addData("color sensor","right");
straightRight(11);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-15.5); driveForward(-15.5);
@ -309,9 +296,8 @@ public class Autonomoustest extends LinearOpMode {
} }
else
telemetry.addData("position","center"); driveForward(6.5);
driveForward(2.5);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-8); driveForward(-8);
@ -322,6 +308,7 @@ public class Autonomoustest extends LinearOpMode {
driveForward(8); driveForward(8);
driveForward(-26); driveForward(-26);
straightRight(29); straightRight(29);
driveForward(-1.5);
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
@ -370,7 +357,7 @@ public class Autonomoustest extends LinearOpMode {
// Determine new target position, and pass to motor controller // Determine new target position, and pass to motor controller
newLeftTarget = leftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH); newLeftTarget = leftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH);
newRightTarget = rightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); newRightTarget = rightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH);
newBackLeftTarget = backleftDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); newBackLeftTarget = backleftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH);
newbackRightTarget = backrightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); newbackRightTarget = backrightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH);
leftDrive.setTargetPosition(newLeftTarget); leftDrive.setTargetPosition(newLeftTarget);
rightDrive.setTargetPosition(newRightTarget); rightDrive.setTargetPosition(newRightTarget);

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm.java
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@ -100,7 +100,7 @@ public class arm extends OpMode {
} }
double num = 3; double num = 2.5;
/** /**
* User defined loop method. * User defined loop method.
* This method will be called repeatedly in a loop while this op mode is running * This method will be called repeatedly in a loop while this op mode is running
@ -129,7 +129,7 @@ public class arm extends OpMode {
} }
if(gamepad2.left_trigger > 0.35) if(gamepad2.left_trigger > 0.35)
{ {
gripper.setPosition(0.25); gripper.setPosition(0.5);
} }
if(gamepad2.right_trigger > 0.35){ if(gamepad2.right_trigger > 0.35){
gripper.setPosition(1); gripper.setPosition(1);
@ -161,7 +161,7 @@ public class arm extends OpMode {
} }
axial = -gamepad1.left_stick_y/num; // Note: pushing stick forward gives negative value axial = -gamepad1.left_stick_y/num; // Note: pushing stick forward gives negative value
lateral = gamepad1.left_stick_x/num; lateral = gamepad1.left_stick_x/num;
yaw = gamepad1.right_stick_x/(num+0.5); yaw = gamepad1.right_stick_x/(num);
// Combine the joystick requests for each axis-motion to determine each wheel's power. // 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. // Set up a variable for each drive wheel to save the power level for telemetry.
double leftFrontPower = axial + lateral + yaw; double leftFrontPower = axial + lateral + yaw;

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
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@ -265,7 +265,7 @@ public class bluefront extends LinearOpMode {
if(blueleft > blueright) if(blueleft > blueright)
telemetry.addData("color sensor","left"); telemetry.addData("color sensor","left");
straightLeft(11); straightLeft(13.5);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-15.5); driveForward(-15.5);
@ -311,7 +311,7 @@ public class bluefront extends LinearOpMode {
} }
else else
telemetry.addData("position","center"); telemetry.addData("position","center");
driveForward(2.5); driveForward(6.5);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-8); driveForward(-8);