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IMU.md
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IMU.md
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# IMU
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## Current list of IMUs
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| Robot Name | Control Hub Firmware | Control Hub IMU | Expansion Hub? | Expansion Hub Firmware | Expansion Hub IMU |
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|--------------------|----------------------|-----------------|-----------------|------------------------|-------------------|
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| 14493-RC | 1.8.2 | None | Yes | 1.8.2 | None |
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| 14493-b-RC | 1.8.2 | None | Yes | 1.8.2 | None |
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| 14493-RC-Chassis | 1.8.2 | BNO055 | No | N/A | N/A |
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@ -23,17 +23,7 @@ android {
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}
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}
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}
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}
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repositories {
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maven {
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url = 'https://maven.brott.dev/'
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}
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}
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dependencies {
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dependencies {
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implementation project(':FtcRobotController')
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implementation project(':FtcRobotController')
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annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
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annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
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implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
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implementation "com.acmerobotics.roadrunner:core:1.0.0-beta8"
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implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta8"
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implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
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}
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}
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@ -1,78 +0,0 @@
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package org.firstinspires.ftc.teamcode;
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import android.util.Size;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
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import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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import org.firstinspires.ftc.vision.VisionPortal;
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import java.util.Locale;
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@TeleOp(name = "CometBots Camera Demo (HDMI)", group = "[14493] CometBots")
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public class CometBotsCameraDemo extends LinearOpMode {
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final boolean USING_WEBCAM = true;
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final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.FRONT;
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final int RESOLUTION_WIDTH = 640;
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final int RESOLUTION_HEIGHT = 480;
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// Internal state
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boolean lastX;
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int frameCount;
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long capReqTime;
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@Override
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public void runOpMode() throws InterruptedException {
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telemetry.speak("Development - Camera Test");
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VisionPortal portal;
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if (USING_WEBCAM)
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{
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portal = new VisionPortal.Builder()
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.setCamera(hardwareMap.get(WebcamName.class, "watch out"))
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.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
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.build();
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}
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else
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{
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portal = new VisionPortal.Builder()
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.setCamera(INTERNAL_CAM_DIR)
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.setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
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.build();
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}
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while (!isStopRequested())
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{
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boolean x = gamepad1.x;
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if (x && !lastX)
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{
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portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
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capReqTime = System.currentTimeMillis();
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}
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lastX = x;
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telemetry.addLine("######## Camera Capture Utility ########");
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telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
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telemetry.addLine(" > Press X (or Square) to capture a frame");
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telemetry.addData(" > Camera Status", portal.getCameraState());
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if (capReqTime != 0)
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{
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telemetry.addLine("\nCaptured Frame!");
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}
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if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
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{
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capReqTime = 0;
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}
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telemetry.update();
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}
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}
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}
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@ -1,72 +0,0 @@
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.IMU;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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@TeleOp(name = "CometBots IMU Demo", group = "[14493] CometBots")
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public class CometBotsIMUDemo extends LinearOpMode {
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IMU imu;
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@Override
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public void runOpMode() throws InterruptedException {
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// Retrieve and initialize the IMU.
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// This sample expects the IMU to be in a REV Hub and named "imu".
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imu = hardwareMap.get(IMU.class, "imu");
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/* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
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*
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* Two input parameters are required to fully specify the Orientation.
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* The first parameter specifies the direction the printed logo on the Hub is pointing.
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* The second parameter specifies the direction the USB connector on the Hub is pointing.
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* All directions are relative to the robot, and left/right is as-viewed from behind the robot.
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*/
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/* The next two lines define Hub orientation.
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* The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
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*
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* To Do: EDIT these two lines to match YOUR mounting configuration.
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*/
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RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
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RevHubOrientationOnRobot.UsbFacingDirection usbDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
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RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
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// Now initialize the IMU with this mounting orientation
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// Note: if you choose two conflicting directions, this initialization will cause a code exception.
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imu.initialize(new IMU.Parameters(orientationOnRobot));
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// Loop and update the dashboard
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while (!isStopRequested()) {
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telemetry.addData("Hub orientation", "Logo=%s USB=%s\n ", logoDirection, usbDirection);
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// Check to see if heading reset is requested
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if (gamepad1.y) {
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telemetry.addData("Yaw", "Resetting\n");
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imu.resetYaw();
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} else {
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telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
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}
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// Retrieve Rotational Angles and Velocities
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YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
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AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
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telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
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telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
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telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
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telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
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telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
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telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
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telemetry.update();
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}
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}
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}
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@ -1,189 +0,0 @@
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/* Copyright (c) 2021 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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||||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.teamcode;
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import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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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.Gamepad;
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import com.qualcomm.robotcore.util.ElapsedTime;
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import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
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/*
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* This file contains an example of a Linear "OpMode".
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* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
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* The names of OpModes appear on the menu of the FTC Driver Station.
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* When a selection is made from the menu, the corresponding OpMode is executed.
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*
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* This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
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* This code will work with either a Mecanum-Drive or an X-Drive train.
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* Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
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* Note that a Mecanum drive must display an X roller-pattern when viewed from above.
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*
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* Also note that it is critical to set the correct rotation direction for each motor. See details below.
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*
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* Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
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* Each motion axis is controlled by one Joystick axis.
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*
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* 1) Axial: Driving forward and backward Left-joystick Forward/Backward
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* 2) Lateral: Strafing right and left Left-joystick Right and Left
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* 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left
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*
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* This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
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* When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
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* the direction of all 4 motors (see code below).
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
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*/
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@TeleOp(name="CometBots Linear OpMode Demo", group = "[14493] CometBots")
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public class CometBotsLinearOpMode extends LinearOpMode {
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// Declare OpMode members for each of the 4 motors.
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private ElapsedTime runtime = new ElapsedTime();
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private DcMotor rhw = null;
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private DcMotor rlw = null;
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private DcMotor lhw = null;
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private DcMotor llw = null;
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@Override
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public void runOpMode() {
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// Button A counter to cycle speeds
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int cntBtnA = 1;
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// Initialize the hardware variables. Note that the strings used here must correspond
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// to the names assigned during the robot configuration step on the DS or RC devices.
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rhw = hardwareMap.get(DcMotor.class, RT_FRONT);
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rlw = hardwareMap.get(DcMotor.class, RT_BACK);
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lhw = hardwareMap.get(DcMotor.class, LT_FRONT);
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llw = hardwareMap.get(DcMotor.class, LT_BACK);
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/*
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Put all motors in an array for easier handling
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NOTE: Placement of motor in array is important especially when dealing with functions
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that set direction
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*/
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DcMotor[] motors = {rhw, rlw, lhw, llw};
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/*
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Initialize all wheels forward using motors a
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*/
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MovementLibrary.setDirectionForward(motors);
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telemetry.addData("Status", "Initialized");
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telemetry.update();
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waitForStart();
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runtime.reset();
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// run until the end of the match (driver presses STOP)
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while (opModeIsActive()) {
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double max;
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// POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
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||||||
double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value
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double lateral = gamepad1.left_stick_x;
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double yaw = gamepad1.right_stick_x;
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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 lftFrntPwr = axial + lateral + yaw;
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double rtFrntPwr = axial - lateral - yaw;
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double ltBckPwr = axial - lateral + yaw;
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double rtBckPwr = 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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max = Math.max(Math.abs(lftFrntPwr), Math.abs(rtFrntPwr));
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max = Math.max(max, Math.abs(ltBckPwr));
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max = Math.max(max, Math.abs(rtBckPwr));
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||||||
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||||||
if (max > 1.0) {
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||||||
lftFrntPwr /= max;
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||||||
rtFrntPwr /= max;
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||||||
ltBckPwr /= max;
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||||||
rtBckPwr /= max;
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||||||
}
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||||||
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|
||||||
// This is test code:
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|
||||||
//
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|
||||||
// Uncomment the following code to test your motor directions.
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|
||||||
// Each button should make the corresponding motor run FORWARD.
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|
||||||
// 1) First get all the motors to take to correct positions on the robot
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|
||||||
// by adjusting your Robot Configuration if necessary.
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|
||||||
// 2) Then make sure they run in the correct direction by modifying the
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|
||||||
// the setDirection() calls above.
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|
||||||
// Once the correct motors move in the correct direction re-comment this code.
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|
||||||
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|
||||||
/*
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|
||||||
lftFrntPwr = gamepad1.x ? 1.0 : 0.0; // X gamepad
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|
||||||
ltBckPwr = gamepad1.a ? 1.0 : 0.0; // A gamepad
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|
||||||
rtFrntPwr = gamepad1.y ? 1.0 : 0.0; // Y gamepad
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|
||||||
rtBckPwr = gamepad1.b ? 1.0 : 0.0; // B gamepad
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|
||||||
*/
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|
||||||
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|
||||||
lhw.setPower(lftFrntPwr/cntBtnA);
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|
||||||
rhw.setPower(rtFrntPwr/cntBtnA);
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|
||||||
llw.setPower(ltBckPwr/cntBtnA);
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|
||||||
rlw.setPower(rtBckPwr/cntBtnA);
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|
||||||
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|
||||||
// Send calculated power to wheels
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|
||||||
if(gamepad1.left_bumper) {
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|
||||||
sleep(175);
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|
||||||
cntBtnA--;
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|
||||||
if(cntBtnA < 0) {
|
|
||||||
cntBtnA = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if(gamepad1.right_bumper) {
|
|
||||||
sleep(175);
|
|
||||||
cntBtnA++;
|
|
||||||
if(cntBtnA > 4) {
|
|
||||||
cntBtnA = 4;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Show the elapsed game time and wheel power.
|
|
||||||
telemetry.addData("Status", "Run Time: " + runtime.toString());
|
|
||||||
telemetry.addData("Front left/Right", "%4.2f, %4.2f", lftFrntPwr, rtFrntPwr);
|
|
||||||
telemetry.addData("Back left/Right", "%4.2f, %4.2f", ltBckPwr, rtBckPwr);
|
|
||||||
telemetry.addData("Power Mode", cntBtnA);
|
|
||||||
telemetry.update();
|
|
||||||
}
|
|
||||||
}}
|
|
@ -1,132 +0,0 @@
|
|||||||
/* Copyright (c) 2021 FIRST. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without modification,
|
|
||||||
* are permitted (subject to the limitations in the disclaimer below) provided that
|
|
||||||
* the following conditions are met:
|
|
||||||
*
|
|
||||||
* Redistributions of source code must retain the above copyright notice, this list
|
|
||||||
* of conditions and the following disclaimer.
|
|
||||||
*
|
|
||||||
* Redistributions in binary form must reproduce the above copyright notice, this
|
|
||||||
* list of conditions and the following disclaimer in the documentation and/or
|
|
||||||
* other materials provided with the distribution.
|
|
||||||
*
|
|
||||||
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
|
|
||||||
* promote products derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
|
|
||||||
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
|
||||||
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
||||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
|
|
||||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
||||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
||||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
||||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
||||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
||||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
|
|
||||||
|
|
||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.LT_BACK;
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.LT_FRONT;
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.RT_BACK;
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.RT_FRONT;
|
|
||||||
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.acmerobotics.roadrunner.PoseVelocity2d;
|
|
||||||
import com.acmerobotics.roadrunner.Vector2d;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.util.ElapsedTime;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
|
|
||||||
|
|
||||||
/*
|
|
||||||
* This file contains an example of a Linear "OpMode".
|
|
||||||
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
|
|
||||||
* The names of OpModes appear on the menu of the FTC Driver Station.
|
|
||||||
* When a selection is made from the menu, the corresponding OpMode is executed.
|
|
||||||
*
|
|
||||||
* This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
|
|
||||||
* This code will work with either a Mecanum-Drive or an X-Drive train.
|
|
||||||
* Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
|
|
||||||
* Note that a Mecanum drive must display an X roller-pattern when viewed from above.
|
|
||||||
*
|
|
||||||
* Also note that it is critical to set the correct rotation direction for each motor. See details below.
|
|
||||||
*
|
|
||||||
* Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
|
|
||||||
* Each motion axis is controlled by one Joystick axis.
|
|
||||||
*
|
|
||||||
* 1) Axial: Driving forward and backward Left-joystick Forward/Backward
|
|
||||||
* 2) Lateral: Strafing right and left Left-joystick Right and Left
|
|
||||||
* 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left
|
|
||||||
*
|
|
||||||
* This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
|
|
||||||
* When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
|
|
||||||
* the direction of all 4 motors (see code below).
|
|
||||||
*
|
|
||||||
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
|
|
||||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
|
|
||||||
*/
|
|
||||||
|
|
||||||
@TeleOp(name="CometBots Mecanum Drive Demo", group = "[14493] CometBots")
|
|
||||||
public class CometBotsMecanumDriveMode extends LinearOpMode {
|
|
||||||
|
|
||||||
// Declare OpMode members for each of the 4 motors.
|
|
||||||
private ElapsedTime runtime = new ElapsedTime();
|
|
||||||
private DcMotor rhw = null;
|
|
||||||
private DcMotor rlw = null;
|
|
||||||
private DcMotor lhw = null;
|
|
||||||
private DcMotor llw = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() {
|
|
||||||
|
|
||||||
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,Math.toRadians(90)));
|
|
||||||
|
|
||||||
// Button A counter to cycle speeds
|
|
||||||
int cntBtnA = 1;
|
|
||||||
|
|
||||||
// Initialize the hardware variables. Note that the strings used here must correspond
|
|
||||||
// to the names assigned during the robot configuration step on the DS or RC devices.
|
|
||||||
rhw = hardwareMap.get(DcMotor.class, RT_FRONT);
|
|
||||||
rlw = hardwareMap.get(DcMotor.class, RT_BACK);
|
|
||||||
lhw = hardwareMap.get(DcMotor.class, LT_FRONT);
|
|
||||||
llw = hardwareMap.get(DcMotor.class, LT_BACK);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Put all motors in an array for easier handling
|
|
||||||
|
|
||||||
NOTE: Placement of motor in array is important especially when dealing with functions
|
|
||||||
that set direction
|
|
||||||
*/
|
|
||||||
DcMotor[] motors = {rhw, rlw, lhw, llw};
|
|
||||||
|
|
||||||
/*
|
|
||||||
Initialize all wheels forward using motors a
|
|
||||||
*/
|
|
||||||
MovementLibrary.setDirectionForward(motors);
|
|
||||||
|
|
||||||
telemetry.addData("Status", "Initialized");
|
|
||||||
telemetry.update();
|
|
||||||
|
|
||||||
waitForStart();
|
|
||||||
runtime.reset();
|
|
||||||
|
|
||||||
// run until the end of the match (driver presses STOP)
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
drive.setDrivePowers(
|
|
||||||
new PoseVelocity2d(
|
|
||||||
new Vector2d(
|
|
||||||
gamepad1.right_stick_x,
|
|
||||||
gamepad1.right_stick_y
|
|
||||||
),
|
|
||||||
-gamepad1.right_stick_x
|
|
||||||
)
|
|
||||||
);
|
|
||||||
drive.updatePoseEstimate();
|
|
||||||
}
|
|
||||||
}}
|
|
@ -1,46 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
||||||
import org.openftc.easyopencv.OpenCvCamera;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraFactory;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraRotation;
|
|
||||||
|
|
||||||
@Disabled
|
|
||||||
@Autonomous(name="DevApp - OpenCV Demo", group="[14493] CometBots")
|
|
||||||
public class CometBotsOpenCVDemo extends LinearOpMode {
|
|
||||||
|
|
||||||
private OpenCvCamera controlHubCam; // Use OpenCvCamera class from FTC SDK
|
|
||||||
private static final int CAMERA_WIDTH = 1280; // width of wanted camera resolution
|
|
||||||
private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
|
|
||||||
|
|
||||||
// Calculate the distance using the formula
|
|
||||||
public static final double objectWidthInRealWorldUnits = 3.75; // Replace with the actual width of the object in real-world units
|
|
||||||
public static final double focalLength = 728; // Replace with the focal length of the camera in pixels
|
|
||||||
|
|
||||||
private void initOpenCV() {
|
|
||||||
|
|
||||||
// Create an instance of the camera
|
|
||||||
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
|
|
||||||
"cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
|
|
||||||
|
|
||||||
// Use OpenCvCameraFactory class from FTC SDK to create camera instance
|
|
||||||
controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
|
|
||||||
hardwareMap.get(WebcamName.class, "watch out"), cameraMonitorViewId);
|
|
||||||
|
|
||||||
// controlHubCam.setPipeline(new YellowBlobDetectionPipeline());
|
|
||||||
|
|
||||||
controlHubCam.openCameraDevice();
|
|
||||||
controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,100 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.hardware.ColorSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DistanceSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.TouchSensor;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
|
|
||||||
|
|
||||||
@Disabled
|
|
||||||
@Autonomous(name = "Development Class", group = "[14493] CometBots")
|
|
||||||
public class CometBotsProject extends LinearOpMode {
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
DcMotor rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
|
|
||||||
DcMotor rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
|
|
||||||
DcMotor lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
|
|
||||||
DcMotor llw = hardwareMap.get(DcMotor.class, "left leg wheel");
|
|
||||||
TouchSensor touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
|
|
||||||
DistanceSensor distanceSensor = hardwareMap.get(DistanceSensor.class, "distancesensor");
|
|
||||||
ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
|
|
||||||
|
|
||||||
/*
|
|
||||||
Put all motors in an array for easier handling
|
|
||||||
|
|
||||||
NOTE: Placement of motor in array is important
|
|
||||||
especially when dealing with functions that
|
|
||||||
set direction
|
|
||||||
*/
|
|
||||||
DcMotor[] motors = {rhw, rlw, lhw, llw};
|
|
||||||
|
|
||||||
/*
|
|
||||||
Initialize all wheels forward using motors array
|
|
||||||
*/
|
|
||||||
// MovementLibrary.setDirectionForward(motors);
|
|
||||||
MovementLibrary.setLeftSideBackward(motors);
|
|
||||||
MovementLibrary.setRightSideForward(motors);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture color readout from color sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Color Sensor [Red]", colorSensor.red());
|
|
||||||
telemetry.addData("Color Sensor [Green]", colorSensor.green());
|
|
||||||
telemetry.addData("Color Sensor [Blue]", colorSensor.blue());
|
|
||||||
telemetry.addData("Color Sensor [Alpha]", colorSensor.alpha());
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture distance readout from distance sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Distance Sensor [inches]", distanceSensor.getDistance(DistanceUnit.INCH));
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture state when touch sensor is pressed
|
|
||||||
*/
|
|
||||||
if (touchSensor.isPressed()) {
|
|
||||||
telemetry.speak("Touch sensor is pressed");
|
|
||||||
telemetry.addData("Touch sensor pressed?", touchSensor.isPressed());
|
|
||||||
}
|
|
||||||
|
|
||||||
telemetry.update();
|
|
||||||
|
|
||||||
/*
|
|
||||||
Wait for the driver to hit START in the driver hub
|
|
||||||
*/
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
/*
|
|
||||||
Initialize wheel direction with base speed
|
|
||||||
*/
|
|
||||||
MovementLibrary.setSpeed(motors, CB_BASE_SPEED);
|
|
||||||
|
|
||||||
|
|
||||||
/*
|
|
||||||
Distance traveled in inches
|
|
||||||
*/
|
|
||||||
double distanceInInches = distanceSensor.getDistance(DistanceUnit.INCH);
|
|
||||||
telemetry.addData("Distance traveled (inches)", "%.2f", distanceInInches);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Speed up when going over an object that is blue-ish / green
|
|
||||||
*/
|
|
||||||
if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
|
|
||||||
telemetry.speak("Green speed boost");
|
|
||||||
MovementLibrary.setSpeed(motors, CB_BASE_SPEED * 2.0);
|
|
||||||
} else {
|
|
||||||
MovementLibrary.setSpeed(motors, CB_BASE_SPEED);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,111 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.FtcDashboard;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.hardware.ColorSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DistanceSensor;
|
|
||||||
import com.qualcomm.robotcore.hardware.TouchSensor;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
|
||||||
import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
|
|
||||||
import org.openftc.easyopencv.OpenCvCamera;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraFactory;
|
|
||||||
import org.openftc.easyopencv.OpenCvCameraRotation;
|
|
||||||
|
|
||||||
@Autonomous(name = "CometBot Sensor Demo", group = "[14493] CometBots")
|
|
||||||
public class CometBotsSensorDemo extends LinearOpMode {
|
|
||||||
|
|
||||||
private OpenCvCamera controlHubCam; // Use OpenCvCamera class from FTC SDK
|
|
||||||
private static final int CAMERA_WIDTH = 1280; // width of wanted camera resolution
|
|
||||||
private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
|
|
||||||
|
|
||||||
// Calculate the distance using the formula
|
|
||||||
public static final double objectWidthInRealWorldUnits = 3.75; // Replace with the actual width of the object in real-world units
|
|
||||||
public static final double focalLength = 728; // Replace with the focal length of the camera in pixels
|
|
||||||
|
|
||||||
private DcMotor rhw = null;
|
|
||||||
private DcMotor rlw = null;
|
|
||||||
private DcMotor lhw = null;
|
|
||||||
private DcMotor llw = null;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() throws InterruptedException {
|
|
||||||
|
|
||||||
// Initialize the hardware variables. Note that the strings used here must correspond
|
|
||||||
// to the names assigned during the robot configuration step on the DS or RC devices.
|
|
||||||
rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
|
|
||||||
rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
|
|
||||||
lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
|
|
||||||
llw = hardwareMap.get(DcMotor.class, "left leg wheel");
|
|
||||||
|
|
||||||
/*
|
|
||||||
Put all motors in an array for easier handling
|
|
||||||
|
|
||||||
NOTE: Placement of motor in array is important especially when dealing with functions
|
|
||||||
that set direction
|
|
||||||
*/
|
|
||||||
DcMotor[] motors = {rhw, rlw, lhw, llw};
|
|
||||||
|
|
||||||
// Create an instance of the camera
|
|
||||||
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
|
|
||||||
"cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
|
|
||||||
|
|
||||||
// Use OpenCvCameraFactory class from FTC SDK to create camera instance
|
|
||||||
controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
|
|
||||||
hardwareMap.get(WebcamName.class, "watch out"), cameraMonitorViewId);
|
|
||||||
|
|
||||||
TouchSensor touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
|
|
||||||
DistanceSensor distanceSensor = hardwareMap.get(DistanceSensor.class, "distancesensor");
|
|
||||||
ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
|
|
||||||
|
|
||||||
controlHubCam.openCameraDevice();
|
|
||||||
controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
|
|
||||||
|
|
||||||
FtcDashboard.getInstance().startCameraStream(controlHubCam, 0);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Wait for the driver to hit START in the driver hub
|
|
||||||
*/
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture color readout from color sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Color Sensor [Red]", colorSensor.red());
|
|
||||||
telemetry.addData("Color Sensor [Green]", colorSensor.green());
|
|
||||||
telemetry.addData("Color Sensor [Blue]", colorSensor.blue());
|
|
||||||
telemetry.addData("Color Sensor [Alpha]", colorSensor.alpha());
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture distance readout from distance sensor
|
|
||||||
*/
|
|
||||||
telemetry.addData("Distance Sensor [inches]", distanceSensor.getDistance(DistanceUnit.INCH));
|
|
||||||
|
|
||||||
/*
|
|
||||||
Capture state when touch sensor is pressed
|
|
||||||
*/
|
|
||||||
telemetry.addData("Touch sensor pressed?", touchSensor.isPressed());
|
|
||||||
if (touchSensor.isPressed()) {
|
|
||||||
telemetry.speak("Touch sensor is pressed");
|
|
||||||
}
|
|
||||||
|
|
||||||
if (distanceSensor.getDistance(DistanceUnit.INCH) < 3) {
|
|
||||||
telemetry.speak("Warning, unknown object near robot");
|
|
||||||
MovementLibrary.setDirectionRight(motors);
|
|
||||||
MovementLibrary.setSpeed(motors,0.25);
|
|
||||||
sleep(1500);
|
|
||||||
MovementLibrary.setSpeed(motors,0);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
Update stats continually
|
|
||||||
*/
|
|
||||||
telemetry.update();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,141 +0,0 @@
|
|||||||
/* Copyright (c) 2019 FIRST. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without modification,
|
|
||||||
* are permitted (subject to the limitations in the disclaimer below) provided that
|
|
||||||
* the following conditions are met:
|
|
||||||
*
|
|
||||||
* Redistributions of source code must retain the above copyright notice, this list
|
|
||||||
* of conditions and the following disclaimer.
|
|
||||||
*
|
|
||||||
* Redistributions in binary form must reproduce the above copyright notice, this
|
|
||||||
* list of conditions and the following disclaimer in the documentation and/or
|
|
||||||
* other materials provided with the distribution.
|
|
||||||
*
|
|
||||||
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
|
|
||||||
* promote products derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
|
|
||||||
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
|
||||||
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
||||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
|
|
||||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
||||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
||||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
||||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
||||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
||||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
|
|
||||||
|
|
||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
||||||
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
|
|
||||||
import org.firstinspires.ftc.vision.VisionPortal;
|
|
||||||
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
|
|
||||||
|
|
||||||
import java.util.List;
|
|
||||||
|
|
||||||
/*
|
|
||||||
* This OpMode illustrates the basics of TensorFlow Object Detection, using
|
|
||||||
* the easiest way.
|
|
||||||
*
|
|
||||||
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
|
|
||||||
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
|
|
||||||
*/
|
|
||||||
@TeleOp(name = "CometBots TensorFlow Demo (HDMI)", group = "[14493] CometBots")
|
|
||||||
public class CometBotsTensorFlowDemo extends LinearOpMode {
|
|
||||||
|
|
||||||
private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera
|
|
||||||
|
|
||||||
/**
|
|
||||||
* The variable to store our instance of the TensorFlow Object Detection processor.
|
|
||||||
*/
|
|
||||||
private TfodProcessor tfod;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* The variable to store our instance of the vision portal.
|
|
||||||
*/
|
|
||||||
private VisionPortal visionPortal;
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void runOpMode() {
|
|
||||||
|
|
||||||
initTfod();
|
|
||||||
|
|
||||||
// Wait for the DS start button to be touched.
|
|
||||||
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
|
|
||||||
telemetry.addData(">", "Touch Play to start OpMode");
|
|
||||||
telemetry.update();
|
|
||||||
waitForStart();
|
|
||||||
|
|
||||||
if (opModeIsActive()) {
|
|
||||||
while (opModeIsActive()) {
|
|
||||||
|
|
||||||
telemetryTfod();
|
|
||||||
|
|
||||||
// Push telemetry to the Driver Station.
|
|
||||||
telemetry.update();
|
|
||||||
|
|
||||||
// Save CPU resources; can resume streaming when needed.
|
|
||||||
if (gamepad1.dpad_down) {
|
|
||||||
visionPortal.stopStreaming();
|
|
||||||
} else if (gamepad1.dpad_up) {
|
|
||||||
visionPortal.resumeStreaming();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Share the CPU.
|
|
||||||
sleep(20);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Save more CPU resources when camera is no longer needed.
|
|
||||||
visionPortal.close();
|
|
||||||
|
|
||||||
} // end runOpMode()
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Initialize the TensorFlow Object Detection processor.
|
|
||||||
*/
|
|
||||||
private void initTfod() {
|
|
||||||
|
|
||||||
// Create the TensorFlow processor the easy way.
|
|
||||||
tfod = TfodProcessor.easyCreateWithDefaults();
|
|
||||||
|
|
||||||
// Create the vision portal the easy way.
|
|
||||||
if (USE_WEBCAM) {
|
|
||||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
|
||||||
hardwareMap.get(WebcamName.class, "watch out"), tfod);
|
|
||||||
} else {
|
|
||||||
visionPortal = VisionPortal.easyCreateWithDefaults(
|
|
||||||
BuiltinCameraDirection.BACK, tfod);
|
|
||||||
}
|
|
||||||
|
|
||||||
} // end method initTfod()
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
|
|
||||||
*/
|
|
||||||
private void telemetryTfod() {
|
|
||||||
|
|
||||||
List<Recognition> currentRecognitions = tfod.getRecognitions();
|
|
||||||
telemetry.addData("# Objects Detected", currentRecognitions.size());
|
|
||||||
|
|
||||||
// Step through the list of recognitions and display info for each one.
|
|
||||||
for (Recognition recognition : currentRecognitions) {
|
|
||||||
double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
|
|
||||||
double y = (recognition.getTop() + recognition.getBottom()) / 2 ;
|
|
||||||
|
|
||||||
telemetry.addData(""," ");
|
|
||||||
telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
|
|
||||||
telemetry.addData("- Position", "%.0f / %.0f", x, y);
|
|
||||||
telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
|
|
||||||
} // end for() loop
|
|
||||||
|
|
||||||
} // end method telemetryTfod()
|
|
||||||
|
|
||||||
} // end class
|
|
@ -1,22 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.acmerobotics.roadrunner.Vector2d;
|
|
||||||
|
|
||||||
public final class Drawing {
|
|
||||||
private Drawing() {}
|
|
||||||
|
|
||||||
|
|
||||||
public static void drawRobot(Canvas c, Pose2d t) {
|
|
||||||
final double ROBOT_RADIUS = 9;
|
|
||||||
|
|
||||||
c.setStrokeWidth(1);
|
|
||||||
c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
|
|
||||||
|
|
||||||
Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
|
|
||||||
Vector2d p1 = t.position.plus(halfv);
|
|
||||||
Vector2d p2 = p1.plus(halfv);
|
|
||||||
c.strokeLine(p1.x, p1.y, p2.x, p2.y);
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,8 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import com.acmerobotics.roadrunner.Time;
|
|
||||||
import com.acmerobotics.roadrunner.Twist2dDual;
|
|
||||||
|
|
||||||
public interface Localizer {
|
|
||||||
Twist2dDual<Time> update();
|
|
||||||
}
|
|
@ -1,502 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode;
|
|
||||||
|
|
||||||
import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
|
|
||||||
|
|
||||||
import androidx.annotation.NonNull;
|
|
||||||
|
|
||||||
import com.acmerobotics.dashboard.canvas.Canvas;
|
|
||||||
import com.acmerobotics.dashboard.config.Config;
|
|
||||||
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
|
|
||||||
import com.acmerobotics.roadrunner.*;
|
|
||||||
import com.acmerobotics.roadrunner.AngularVelConstraint;
|
|
||||||
import com.acmerobotics.roadrunner.DualNum;
|
|
||||||
import com.acmerobotics.roadrunner.HolonomicController;
|
|
||||||
import com.acmerobotics.roadrunner.MecanumKinematics;
|
|
||||||
import com.acmerobotics.roadrunner.MinVelConstraint;
|
|
||||||
import com.acmerobotics.roadrunner.MotorFeedforward;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
import com.acmerobotics.roadrunner.Pose2dDual;
|
|
||||||
import com.acmerobotics.roadrunner.ProfileAccelConstraint;
|
|
||||||
import com.acmerobotics.roadrunner.Time;
|
|
||||||
import com.acmerobotics.roadrunner.TimeTrajectory;
|
|
||||||
import com.acmerobotics.roadrunner.TimeTurn;
|
|
||||||
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
|
|
||||||
import com.acmerobotics.roadrunner.TurnConstraints;
|
|
||||||
import com.acmerobotics.roadrunner.Twist2dDual;
|
|
||||||
import com.acmerobotics.roadrunner.VelConstraint;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.Encoder;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.FlightRecorder;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.LazyImu;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.LynxFirmware;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
|
|
||||||
import com.acmerobotics.roadrunner.ftc.RawEncoder;
|
|
||||||
import com.qualcomm.hardware.lynx.LynxModule;
|
|
||||||
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
|
||||||
import com.qualcomm.robotcore.hardware.HardwareMap;
|
|
||||||
import com.qualcomm.robotcore.hardware.IMU;
|
|
||||||
import com.qualcomm.robotcore.hardware.VoltageSensor;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
|
||||||
import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
|
|
||||||
import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
|
|
||||||
import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
|
|
||||||
import org.firstinspires.ftc.teamcode.messages.MecanumLocalizerInputsMessage;
|
|
||||||
import org.firstinspires.ftc.teamcode.messages.PoseMessage;
|
|
||||||
|
|
||||||
import java.lang.Math;
|
|
||||||
import java.util.Arrays;
|
|
||||||
import java.util.LinkedList;
|
|
||||||
import java.util.List;
|
|
||||||
|
|
||||||
@Config
|
|
||||||
public final class MecanumDrive {
|
|
||||||
public static class Params {
|
|
||||||
// IMU orientation
|
|
||||||
// TODO: fill in these values based on
|
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
|
|
||||||
public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
|
|
||||||
RevHubOrientationOnRobot.LogoFacingDirection.FORWARD;
|
|
||||||
public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
|
|
||||||
RevHubOrientationOnRobot.UsbFacingDirection.UP;
|
|
||||||
|
|
||||||
// drive model parameters
|
|
||||||
public double inPerTick = 119/5924.5;
|
|
||||||
public double lateralInPerTick = 124/6930.5;
|
|
||||||
public double trackWidthTicks = 1131;
|
|
||||||
|
|
||||||
// feedforward parameters (in tick units)
|
|
||||||
public double kS = 0.7476;
|
|
||||||
public double kV = 0.0043736;
|
|
||||||
public double kA = 00055;
|
|
||||||
|
|
||||||
// path profile parameters (in inches)
|
|
||||||
public double maxWheelVel = 50;
|
|
||||||
public double minProfileAccel = -30;
|
|
||||||
public double maxProfileAccel = 50;
|
|
||||||
|
|
||||||
// turn profile parameters (in radians)
|
|
||||||
public double maxAngVel = Math.PI; // shared with path
|
|
||||||
public double maxAngAccel = Math.PI;
|
|
||||||
|
|
||||||
// path controller gains
|
|
||||||
public double axialGain = 4.125;
|
|
||||||
public double lateralGain = 4.125;
|
|
||||||
public double headingGain = 4.25; // shared with turn
|
|
||||||
|
|
||||||
public double axialVelGain = 0.0;
|
|
||||||
public double lateralVelGain = 0.0;
|
|
||||||
public double headingVelGain = 0.0; // shared with turn
|
|
||||||
}
|
|
||||||
|
|
||||||
public static Params PARAMS = new Params();
|
|
||||||
|
|
||||||
public final MecanumKinematics kinematics = new MecanumKinematics(
|
|
||||||
PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
|
|
||||||
|
|
||||||
public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
|
|
||||||
PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
|
|
||||||
public final VelConstraint defaultVelConstraint =
|
|
||||||
new MinVelConstraint(Arrays.asList(
|
|
||||||
kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
|
|
||||||
new AngularVelConstraint(PARAMS.maxAngVel)
|
|
||||||
));
|
|
||||||
public final AccelConstraint defaultAccelConstraint =
|
|
||||||
new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
|
|
||||||
|
|
||||||
public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
|
|
||||||
|
|
||||||
public final VoltageSensor voltageSensor;
|
|
||||||
|
|
||||||
public final LazyImu lazyImu;
|
|
||||||
|
|
||||||
public final Localizer localizer;
|
|
||||||
public Pose2d pose;
|
|
||||||
|
|
||||||
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
|
|
||||||
|
|
||||||
private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
|
|
||||||
private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
|
|
||||||
private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
|
|
||||||
private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
|
|
||||||
|
|
||||||
public class DriveLocalizer implements Localizer {
|
|
||||||
public final Encoder leftFront, leftBack, rightBack, rightFront;
|
|
||||||
public final IMU imu;
|
|
||||||
|
|
||||||
private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
|
|
||||||
private Rotation2d lastHeading;
|
|
||||||
private boolean initialized;
|
|
||||||
|
|
||||||
public DriveLocalizer() {
|
|
||||||
leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
|
|
||||||
leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
|
|
||||||
rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
|
|
||||||
rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
|
|
||||||
|
|
||||||
imu = lazyImu.get();
|
|
||||||
|
|
||||||
// TODO: reverse encoders if needed
|
|
||||||
// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public Twist2dDual<Time> update() {
|
|
||||||
PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
|
|
||||||
PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
|
|
||||||
PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
|
|
||||||
PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
|
|
||||||
|
|
||||||
YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
|
|
||||||
|
|
||||||
FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
|
|
||||||
leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
|
|
||||||
|
|
||||||
Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
|
|
||||||
|
|
||||||
if (!initialized) {
|
|
||||||
initialized = true;
|
|
||||||
|
|
||||||
lastLeftFrontPos = leftFrontPosVel.position;
|
|
||||||
lastLeftBackPos = leftBackPosVel.position;
|
|
||||||
lastRightBackPos = rightBackPosVel.position;
|
|
||||||
lastRightFrontPos = rightFrontPosVel.position;
|
|
||||||
|
|
||||||
lastHeading = heading;
|
|
||||||
|
|
||||||
return new Twist2dDual<>(
|
|
||||||
Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
|
|
||||||
DualNum.constant(0.0, 2)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
double headingDelta = heading.minus(lastHeading);
|
|
||||||
Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
|
|
||||||
new DualNum<Time>(new double[]{
|
|
||||||
(leftFrontPosVel.position - lastLeftFrontPos),
|
|
||||||
leftFrontPosVel.velocity,
|
|
||||||
}).times(PARAMS.inPerTick),
|
|
||||||
new DualNum<Time>(new double[]{
|
|
||||||
(leftBackPosVel.position - lastLeftBackPos),
|
|
||||||
leftBackPosVel.velocity,
|
|
||||||
}).times(PARAMS.inPerTick),
|
|
||||||
new DualNum<Time>(new double[]{
|
|
||||||
(rightBackPosVel.position - lastRightBackPos),
|
|
||||||
rightBackPosVel.velocity,
|
|
||||||
}).times(PARAMS.inPerTick),
|
|
||||||
new DualNum<Time>(new double[]{
|
|
||||||
(rightFrontPosVel.position - lastRightFrontPos),
|
|
||||||
rightFrontPosVel.velocity,
|
|
||||||
}).times(PARAMS.inPerTick)
|
|
||||||
));
|
|
||||||
|
|
||||||
lastLeftFrontPos = leftFrontPosVel.position;
|
|
||||||
lastLeftBackPos = leftBackPosVel.position;
|
|
||||||
lastRightBackPos = rightBackPosVel.position;
|
|
||||||
lastRightFrontPos = rightFrontPosVel.position;
|
|
||||||
|
|
||||||
lastHeading = heading;
|
|
||||||
|
|
||||||
return new Twist2dDual<>(
|
|
||||||
twist.line,
|
|
||||||
DualNum.cons(headingDelta, twist.angle.drop(1))
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
|
|
||||||
this.pose = pose;
|
|
||||||
|
|
||||||
LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
|
|
||||||
|
|
||||||
for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
|
|
||||||
module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
|
|
||||||
}
|
|
||||||
|
|
||||||
// TODO: make sure your config has motors with these names (or change them)
|
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
|
||||||
leftFront = hardwareMap.get(DcMotorEx.class, LT_FRONT);
|
|
||||||
leftBack = hardwareMap.get(DcMotorEx.class, LT_BACK);
|
|
||||||
rightBack = hardwareMap.get(DcMotorEx.class, RT_BACK);
|
|
||||||
rightFront = hardwareMap.get(DcMotorEx.class, RT_FRONT);
|
|
||||||
|
|
||||||
leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
||||||
|
|
||||||
/*
|
|
||||||
Put all motors in an array for easier handling
|
|
||||||
|
|
||||||
NOTE: Placement of motor in array is important especially when dealing with functions
|
|
||||||
that set direction
|
|
||||||
*/
|
|
||||||
DcMotor[] motors = {rightFront, rightBack, leftFront, leftBack};
|
|
||||||
|
|
||||||
/*
|
|
||||||
Initialize all wheels forward using motors a
|
|
||||||
*/
|
|
||||||
MovementLibrary.setDirectionForward(motors);
|
|
||||||
|
|
||||||
// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
|
|
||||||
// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
|
|
||||||
lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
|
|
||||||
PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
|
|
||||||
|
|
||||||
voltageSensor = hardwareMap.voltageSensor.iterator().next();
|
|
||||||
|
|
||||||
localizer = new DriveLocalizer();
|
|
||||||
|
|
||||||
FlightRecorder.write("MECANUM_PARAMS", PARAMS);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void setDrivePowers(PoseVelocity2d powers) {
|
|
||||||
MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
|
|
||||||
PoseVelocity2dDual.constant(powers, 1));
|
|
||||||
|
|
||||||
double maxPowerMag = 1;
|
|
||||||
for (DualNum<Time> power : wheelVels.all()) {
|
|
||||||
maxPowerMag = Math.max(maxPowerMag, power.value());
|
|
||||||
}
|
|
||||||
|
|
||||||
leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
|
|
||||||
leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
|
|
||||||
rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
|
|
||||||
rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
|
|
||||||
}
|
|
||||||
|
|
||||||
public final class FollowTrajectoryAction implements Action {
|
|
||||||
public final TimeTrajectory timeTrajectory;
|
|
||||||
private double beginTs = -1;
|
|
||||||
|
|
||||||
private final double[] xPoints, yPoints;
|
|
||||||
|
|
||||||
public FollowTrajectoryAction(TimeTrajectory t) {
|
|
||||||
timeTrajectory = t;
|
|
||||||
|
|
||||||
List<Double> disps = com.acmerobotics.roadrunner.Math.range(
|
|
||||||
0, t.path.length(),
|
|
||||||
Math.max(2, (int) Math.ceil(t.path.length() / 2)));
|
|
||||||
xPoints = new double[disps.size()];
|
|
||||||
yPoints = new double[disps.size()];
|
|
||||||
for (int i = 0; i < disps.size(); i++) {
|
|
||||||
Pose2d p = t.path.get(disps.get(i), 1).value();
|
|
||||||
xPoints[i] = p.position.x;
|
|
||||||
yPoints[i] = p.position.y;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket p) {
|
|
||||||
double t;
|
|
||||||
if (beginTs < 0) {
|
|
||||||
beginTs = Actions.now();
|
|
||||||
t = 0;
|
|
||||||
} else {
|
|
||||||
t = Actions.now() - beginTs;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (t >= timeTrajectory.duration) {
|
|
||||||
leftFront.setPower(0);
|
|
||||||
leftBack.setPower(0);
|
|
||||||
rightBack.setPower(0);
|
|
||||||
rightFront.setPower(0);
|
|
||||||
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
|
|
||||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
|
||||||
|
|
||||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
|
||||||
|
|
||||||
PoseVelocity2dDual<Time> command = new HolonomicController(
|
|
||||||
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
|
||||||
PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
|
|
||||||
)
|
|
||||||
.compute(txWorldTarget, pose, robotVelRobot);
|
|
||||||
driveCommandWriter.write(new DriveCommandMessage(command));
|
|
||||||
|
|
||||||
MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
|
|
||||||
double voltage = voltageSensor.getVoltage();
|
|
||||||
|
|
||||||
final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
|
|
||||||
PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
|
|
||||||
double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
|
|
||||||
double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
|
|
||||||
double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
|
|
||||||
double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
|
|
||||||
mecanumCommandWriter.write(new MecanumCommandMessage(
|
|
||||||
voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
|
|
||||||
));
|
|
||||||
|
|
||||||
leftFront.setPower(leftFrontPower);
|
|
||||||
leftBack.setPower(leftBackPower);
|
|
||||||
rightBack.setPower(rightBackPower);
|
|
||||||
rightFront.setPower(rightFrontPower);
|
|
||||||
|
|
||||||
p.put("x", pose.position.x);
|
|
||||||
p.put("y", pose.position.y);
|
|
||||||
p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
|
|
||||||
|
|
||||||
Pose2d error = txWorldTarget.value().minusExp(pose);
|
|
||||||
p.put("xError", error.position.x);
|
|
||||||
p.put("yError", error.position.y);
|
|
||||||
p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
|
|
||||||
|
|
||||||
// only draw when active; only one drive action should be active at a time
|
|
||||||
Canvas c = p.fieldOverlay();
|
|
||||||
drawPoseHistory(c);
|
|
||||||
|
|
||||||
c.setStroke("#4CAF50");
|
|
||||||
Drawing.drawRobot(c, txWorldTarget.value());
|
|
||||||
|
|
||||||
c.setStroke("#3F51B5");
|
|
||||||
Drawing.drawRobot(c, pose);
|
|
||||||
|
|
||||||
c.setStroke("#4CAF50FF");
|
|
||||||
c.setStrokeWidth(1);
|
|
||||||
c.strokePolyline(xPoints, yPoints);
|
|
||||||
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void preview(Canvas c) {
|
|
||||||
c.setStroke("#4CAF507A");
|
|
||||||
c.setStrokeWidth(1);
|
|
||||||
c.strokePolyline(xPoints, yPoints);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public final class TurnAction implements Action {
|
|
||||||
private final TimeTurn turn;
|
|
||||||
|
|
||||||
private double beginTs = -1;
|
|
||||||
|
|
||||||
public TurnAction(TimeTurn turn) {
|
|
||||||
this.turn = turn;
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public boolean run(@NonNull TelemetryPacket p) {
|
|
||||||
double t;
|
|
||||||
if (beginTs < 0) {
|
|
||||||
beginTs = Actions.now();
|
|
||||||
t = 0;
|
|
||||||
} else {
|
|
||||||
t = Actions.now() - beginTs;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (t >= turn.duration) {
|
|
||||||
leftFront.setPower(0);
|
|
||||||
leftBack.setPower(0);
|
|
||||||
rightBack.setPower(0);
|
|
||||||
rightFront.setPower(0);
|
|
||||||
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
Pose2dDual<Time> txWorldTarget = turn.get(t);
|
|
||||||
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
|
||||||
|
|
||||||
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
|
||||||
|
|
||||||
PoseVelocity2dDual<Time> command = new HolonomicController(
|
|
||||||
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
|
||||||
PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
|
|
||||||
)
|
|
||||||
.compute(txWorldTarget, pose, robotVelRobot);
|
|
||||||
driveCommandWriter.write(new DriveCommandMessage(command));
|
|
||||||
|
|
||||||
MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
|
|
||||||
double voltage = voltageSensor.getVoltage();
|
|
||||||
final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
|
|
||||||
PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
|
|
||||||
double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
|
|
||||||
double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
|
|
||||||
double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
|
|
||||||
double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
|
|
||||||
mecanumCommandWriter.write(new MecanumCommandMessage(
|
|
||||||
voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
|
|
||||||
));
|
|
||||||
|
|
||||||
leftFront.setPower(feedforward.compute(wheelVels.leftFront) / voltage);
|
|
||||||
leftBack.setPower(feedforward.compute(wheelVels.leftBack) / voltage);
|
|
||||||
rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
|
|
||||||
rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
|
|
||||||
|
|
||||||
Canvas c = p.fieldOverlay();
|
|
||||||
drawPoseHistory(c);
|
|
||||||
|
|
||||||
c.setStroke("#4CAF50");
|
|
||||||
Drawing.drawRobot(c, txWorldTarget.value());
|
|
||||||
|
|
||||||
c.setStroke("#3F51B5");
|
|
||||||
Drawing.drawRobot(c, pose);
|
|
||||||
|
|
||||||
c.setStroke("#7C4DFFFF");
|
|
||||||
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
|
||||||
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void preview(Canvas c) {
|
|
||||||
c.setStroke("#7C4DFF7A");
|
|
||||||
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public PoseVelocity2d updatePoseEstimate() {
|
|
||||||
Twist2dDual<Time> twist = localizer.update();
|
|
||||||
pose = pose.plus(twist.value());
|
|
||||||
|
|
||||||
poseHistory.add(pose);
|
|
||||||
while (poseHistory.size() > 100) {
|
|
||||||
poseHistory.removeFirst();
|
|
||||||
}
|
|
||||||
|
|
||||||
estimatedPoseWriter.write(new PoseMessage(pose));
|
|
||||||
|
|
||||||
return twist.velocity().value();
|
|
||||||
}
|
|
||||||
|
|
||||||
private void drawPoseHistory(Canvas c) {
|
|
||||||
double[] xPoints = new double[poseHistory.size()];
|
|
||||||
double[] yPoints = new double[poseHistory.size()];
|
|
||||||
|
|
||||||
int i = 0;
|
|
||||||
for (Pose2d t : poseHistory) {
|
|
||||||
xPoints[i] = t.position.x;
|
|
||||||
yPoints[i] = t.position.y;
|
|
||||||
|
|
||||||
i++;
|
|
||||||
}
|
|
||||||
|
|
||||||
c.setStrokeWidth(1);
|
|
||||||
c.setStroke("#3F51B5");
|
|
||||||
c.strokePolyline(xPoints, yPoints);
|
|
||||||
}
|
|
||||||
|
|
||||||
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
|
||||||
return new TrajectoryActionBuilder(
|
|
||||||
TurnAction::new,
|
|
||||||
FollowTrajectoryAction::new,
|
|
||||||
new TrajectoryBuilderParams(
|
|
||||||
1e-6,
|
|
||||||
new ProfileParams(
|
|
||||||
0.25, 0.1, 1e-2
|
|
||||||
)
|
|
||||||
),
|
|
||||||
beginPose, 0.0,
|
|
||||||
defaultTurnConstraints,
|
|
||||||
defaultVelConstraint, defaultAccelConstraint
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
@ -0,0 +1,45 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode;
|
||||||
|
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||||
|
|
||||||
|
public class MovementLibrary {
|
||||||
|
|
||||||
|
|
||||||
|
public static void setDirectionForward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
rlw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
rlw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setDirectionLeft (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
rlw.setDirection(DcMotor.Direction.REVERSE);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.FORWARD);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setDirectionRight (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
rlw.setDirection(DcMotor.Direction.FORWARD);
|
||||||
|
lhw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
llw.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void setSpeed (double speedValue, DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
|
||||||
|
rhw.setPower(speedValue);
|
||||||
|
rlw.setPower(speedValue);
|
||||||
|
lhw.setPower(speedValue);
|
||||||
|
llw.setPower(speedValue);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
@ -0,0 +1,87 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode;
|
||||||
|
|
||||||
|
import static java.lang.Math.round;
|
||||||
|
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||||
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
||||||
|
import com.qualcomm.robotcore.hardware.AnalogSensor;
|
||||||
|
import com.qualcomm.robotcore.hardware.ColorSensor;
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||||
|
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
||||||
|
import com.qualcomm.robotcore.hardware.DistanceSensor;
|
||||||
|
import com.qualcomm.robotcore.hardware.TouchSensor;
|
||||||
|
import org.firstinspires.ftc.teamcode.MovementLibrary;
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
|
||||||
|
|
||||||
|
@Autonomous(name="Name")
|
||||||
|
public class Name extends LinearOpMode {
|
||||||
|
private DcMotor rightHandWheel;
|
||||||
|
private DcMotor rightLegWheel;
|
||||||
|
private DcMotor leftHandWheel;
|
||||||
|
private DcMotor leftLegWheel;
|
||||||
|
private TouchSensor touchSensor;
|
||||||
|
private DistanceSensor distanceSensor;
|
||||||
|
private ColorSensor colorSensor;
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void runOpMode() throws InterruptedException {
|
||||||
|
|
||||||
|
rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel");
|
||||||
|
rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel");
|
||||||
|
leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel");
|
||||||
|
leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel");
|
||||||
|
touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
|
||||||
|
distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor");
|
||||||
|
colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
|
||||||
|
|
||||||
|
MovementLibrary.setDirectionForward(rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
|
||||||
|
// Wait for the game to start (driver presses PLAY)
|
||||||
|
waitForStart();
|
||||||
|
|
||||||
|
while(opModeIsActive()){
|
||||||
|
|
||||||
|
/* telemetry.speak( "Oh see, you see" +
|
||||||
|
"By the dusk's late light" +
|
||||||
|
"What so proudly we rained" +
|
||||||
|
"At the twilight's last gleaming?" +
|
||||||
|
"Whose broad stripes and dark stars" +
|
||||||
|
"Through the perilous fight" +
|
||||||
|
"Under the ramparts we watched" +
|
||||||
|
"Were so gallantly, no, streaming?" +
|
||||||
|
"And the rockets' red glare" +
|
||||||
|
"The bombs contracting in air" +
|
||||||
|
"Gave proof through the night" +
|
||||||
|
"That our flag was not there" +
|
||||||
|
"O say, that star-spangled banner doesn't wave" +
|
||||||
|
"Over the land of the enslaved and the home of the cowardly");*/
|
||||||
|
|
||||||
|
MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
|
||||||
|
if(touchSensor.isPressed()) {
|
||||||
|
telemetry.speak("Ouchie that hurt me and my feelings");
|
||||||
|
telemetry.addData("was i triggered", touchSensor.isPressed());
|
||||||
|
}
|
||||||
|
|
||||||
|
double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
|
||||||
|
|
||||||
|
telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
|
||||||
|
telemetry.addData("Red: ", colorSensor.red());
|
||||||
|
telemetry.addData("Green: ", colorSensor.green());
|
||||||
|
telemetry.addData("Blue: ", colorSensor.blue());
|
||||||
|
|
||||||
|
if(colorSensor.green() > 1100 && colorSensor.blue() > 1000) {
|
||||||
|
MovementLibrary.setSpeed(0.4,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
} else {
|
||||||
|
MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
|
||||||
|
};
|
||||||
|
|
||||||
|
telemetry.update();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
@ -1,12 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.cometbots;
|
|
||||||
|
|
||||||
public class Constants {
|
|
||||||
|
|
||||||
public static double CB_BASE_SPEED = 0.2;
|
|
||||||
|
|
||||||
public static String RT_FRONT = "right hand wheel";
|
|
||||||
public static String LT_FRONT = "left hand wheel";
|
|
||||||
public static String RT_BACK = "right leg wheel";
|
|
||||||
public static String LT_BACK = "left leg wheel";
|
|
||||||
|
|
||||||
}
|
|
@ -1,58 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.cometbots;
|
|
||||||
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
||||||
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
|
||||||
|
|
||||||
public class MovementLibrary {
|
|
||||||
|
|
||||||
public static void setDirectionForward(DcMotor[] motors) {
|
|
||||||
setLeftSideForward(motors);
|
|
||||||
setRightSideForward(motors);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setLeftSideForward(DcMotor[] motors) {
|
|
||||||
motors[2].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setRightSideForward(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setLeftSideBackward(DcMotor[] motors) {
|
|
||||||
motors[2].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setRightSideBackward(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
public static void setDirectionBackward(DcMotor[] motors) {
|
|
||||||
setLeftSideBackward(motors);
|
|
||||||
setRightSideBackward(motors);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setSpeed(DcMotor[] motors, double speedValue) {
|
|
||||||
for (DcMotor motor : motors) {
|
|
||||||
motor.setPower(speedValue);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setDirectionLeft(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[2].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static void setDirectionRight(DcMotor[] motors) {
|
|
||||||
motors[0].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[1].setDirection(DcMotor.Direction.FORWARD);
|
|
||||||
motors[2].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
motors[3].setDirection(DcMotor.Direction.REVERSE);
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,24 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.messages;
|
|
||||||
|
|
||||||
import com.acmerobotics.roadrunner.PoseVelocity2dDual;
|
|
||||||
import com.acmerobotics.roadrunner.Time;
|
|
||||||
|
|
||||||
public final class DriveCommandMessage {
|
|
||||||
public long timestamp;
|
|
||||||
public double forwardVelocity;
|
|
||||||
public double forwardAcceleration;
|
|
||||||
public double lateralVelocity;
|
|
||||||
public double lateralAcceleration;
|
|
||||||
public double angularVelocity;
|
|
||||||
public double angularAcceleration;
|
|
||||||
|
|
||||||
public DriveCommandMessage(PoseVelocity2dDual<Time> poseVelocity) {
|
|
||||||
this.timestamp = System.nanoTime();
|
|
||||||
this.forwardVelocity = poseVelocity.linearVel.x.get(0);
|
|
||||||
this.forwardAcceleration = poseVelocity.linearVel.x.get(1);
|
|
||||||
this.lateralVelocity = poseVelocity.linearVel.y.get(0);
|
|
||||||
this.lateralAcceleration = poseVelocity.linearVel.y.get(1);
|
|
||||||
this.angularVelocity = poseVelocity.angVel.get(0);
|
|
||||||
this.angularAcceleration = poseVelocity.angVel.get(1);
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,19 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.messages;
|
|
||||||
|
|
||||||
public final class MecanumCommandMessage {
|
|
||||||
public long timestamp;
|
|
||||||
public double voltage;
|
|
||||||
public double leftFrontPower;
|
|
||||||
public double leftBackPower;
|
|
||||||
public double rightBackPower;
|
|
||||||
public double rightFrontPower;
|
|
||||||
|
|
||||||
public MecanumCommandMessage(double voltage, double leftFrontPower, double leftBackPower, double rightBackPower, double rightFrontPower) {
|
|
||||||
this.timestamp = System.nanoTime();
|
|
||||||
this.voltage = voltage;
|
|
||||||
this.leftFrontPower = leftFrontPower;
|
|
||||||
this.leftBackPower = leftBackPower;
|
|
||||||
this.rightBackPower = rightBackPower;
|
|
||||||
this.rightFrontPower = rightFrontPower;
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,30 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.messages;
|
|
||||||
|
|
||||||
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
|
|
||||||
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
|
||||||
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
|
||||||
|
|
||||||
public final class MecanumLocalizerInputsMessage {
|
|
||||||
public long timestamp;
|
|
||||||
public PositionVelocityPair leftFront;
|
|
||||||
public PositionVelocityPair leftBack;
|
|
||||||
public PositionVelocityPair rightBack;
|
|
||||||
public PositionVelocityPair rightFront;
|
|
||||||
public double yaw;
|
|
||||||
public double pitch;
|
|
||||||
public double roll;
|
|
||||||
|
|
||||||
public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
|
|
||||||
this.timestamp = System.nanoTime();
|
|
||||||
this.leftFront = leftFront;
|
|
||||||
this.leftBack = leftBack;
|
|
||||||
this.rightBack = rightBack;
|
|
||||||
this.rightFront = rightFront;
|
|
||||||
{
|
|
||||||
this.yaw = angles.getYaw(AngleUnit.RADIANS);
|
|
||||||
this.pitch = angles.getPitch(AngleUnit.RADIANS);
|
|
||||||
this.roll = angles.getRoll(AngleUnit.RADIANS);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,17 +0,0 @@
|
|||||||
package org.firstinspires.ftc.teamcode.messages;
|
|
||||||
|
|
||||||
import com.acmerobotics.roadrunner.Pose2d;
|
|
||||||
|
|
||||||
public final class PoseMessage {
|
|
||||||
public long timestamp;
|
|
||||||
public double x;
|
|
||||||
public double y;
|
|
||||||
public double heading;
|
|
||||||
|
|
||||||
public PoseMessage(Pose2d pose) {
|
|
||||||
this.timestamp = System.nanoTime();
|
|
||||||
this.x = pose.position.x;
|
|
||||||
this.y = pose.position.y;
|
|
||||||
this.heading = pose.heading.toDouble();
|
|
||||||
}
|
|
||||||
}
|
|
@ -1,4 +0,0 @@
|
|||||||
https://www.youtube.com/watch?v=aeMWWvteF2U
|
|
||||||
|
|
||||||
https://www.youtube.com/watch?v=1xdo8QP6_mI
|
|
||||||
|
|
@ -1,7 +1,6 @@
|
|||||||
repositories {
|
repositories {
|
||||||
mavenCentral()
|
mavenCentral()
|
||||||
google() // Needed for androidx
|
google() // Needed for androidx
|
||||||
maven { url = 'https://maven.brott.dev/' }
|
|
||||||
}
|
}
|
||||||
|
|
||||||
dependencies {
|
dependencies {
|
||||||
@ -18,6 +17,5 @@ dependencies {
|
|||||||
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
|
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
|
||||||
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
|
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
|
||||||
implementation 'androidx.appcompat:appcompat:1.2.0'
|
implementation 'androidx.appcompat:appcompat:1.2.0'
|
||||||
implementation 'com.acmerobotics.dashboard:dashboard:0.4.15' // FTC Dashboard
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
Reference in New Issue
Block a user