74 lines
2.7 KiB
Java
74 lines
2.7 KiB
Java
package org.firstinspires.ftc.teamcode.drive.opmode;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.roadrunner.geometry.Pose2d;
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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 com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.util.ElapsedTime;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
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import java.util.Objects;
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/**
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* This routine is designed to calculate the maximum angular velocity your bot can achieve under load.
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* <p>
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* Upon pressing start, your bot will turn at max power for RUNTIME seconds.
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* <p>
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* Further fine tuning of MAX_ANG_VEL may be desired.
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*/
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@Config
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@Autonomous(group = "drive")
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public class MaxAngularVeloTuner extends LinearOpMode {
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public static double RUNTIME = 4.0;
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private ElapsedTime timer;
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private double maxAngVelocity = 0.0;
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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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drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
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Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
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telemetry.addLine("Your bot will turn at full speed for " + RUNTIME + " seconds.");
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telemetry.addLine("Please ensure you have enough space cleared.");
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telemetry.addLine("");
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telemetry.addLine("Press start when ready.");
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telemetry.update();
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waitForStart();
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telemetry.clearAll();
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telemetry.update();
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drive.setDrivePower(new Pose2d(0, 0, 1));
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timer = new ElapsedTime();
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while (!isStopRequested() && timer.seconds() < RUNTIME) {
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drive.updatePoseEstimate();
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Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer.");
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maxAngVelocity = Math.max(poseVelo.getHeading(), maxAngVelocity);
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}
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drive.setDrivePower(new Pose2d());
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telemetry.addData("Max Angular Velocity (rad)", maxAngVelocity);
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telemetry.addData("Max Angular Velocity (deg)", Math.toDegrees(maxAngVelocity));
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telemetry.addData("Max Recommended Angular Velocity (rad)", maxAngVelocity * 0.8);
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telemetry.addData("Max Recommended Angular Velocity (deg)", Math.toDegrees(maxAngVelocity * 0.8));
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telemetry.update();
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while (!isStopRequested()) idle();
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}
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}
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