52 lines
2.3 KiB
Java
52 lines
2.3 KiB
Java
package org.firstinspires.ftc.teamcode.drive.opmode;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.roadrunner.geometry.Pose2d;
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import com.acmerobotics.roadrunner.trajectory.Trajectory;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
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/*
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* Op mode for preliminary tuning of the follower PID coefficients (located in the drive base
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* classes). The robot drives back and forth in a straight line indefinitely. Utilization of the
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* dashboard is recommended for this tuning routine. To access the dashboard, connect your computer
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* to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're
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* using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once
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* you've successfully connected, start the program, and your robot will begin moving forward and
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* backward. You should observe the target position (green) and your pose estimate (blue) and adjust
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* your follower PID coefficients such that you follow the target position as accurately as possible.
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* If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID.
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* If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID.
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* These coefficients can be tuned live in dashboard.
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*
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* This opmode is designed as a convenient, coarse tuning for the follower PID coefficients. It
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* is recommended that you use the FollowerPIDTuner opmode for further fine tuning.
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*/
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@Config
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@Autonomous(group = "drive")
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public class BackAndForth extends LinearOpMode {
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public static double DISTANCE = 50;
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@Override
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public void runOpMode() throws InterruptedException {
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SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
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Trajectory trajectoryForward = drive.trajectoryBuilder(new Pose2d())
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.forward(DISTANCE)
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.build();
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Trajectory trajectoryBackward = drive.trajectoryBuilder(trajectoryForward.end())
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.back(DISTANCE)
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.build();
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waitForStart();
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while (opModeIsActive() && !isStopRequested()) {
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drive.followTrajectory(trajectoryForward);
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drive.followTrajectory(trajectoryBackward);
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}
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}
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} |