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Revert "Added Seafair demo robots."
This commit is contained in:
Titan Robotics Club
committed by
GitHub
GitHub
parent
252deb57ab
commit
450e0dddb2
@ -1,148 +0,0 @@
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/*
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* Copyright (c) 2024 Titan Robotics Club (http://www.titanrobotics.com)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package teamcode.seafairdemo;
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import ftclib.driverio.FtcGamepad;
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import ftclib.robotcore.FtcOpMode;
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import trclib.driverio.TrcGameController;
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/**
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* This class contains the TeleOp Mode program.
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*/
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public abstract class CommonTeleOp extends FtcOpMode
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{
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private Robot robot;
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private FtcGamepad driverGamepad;
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private boolean manualOverride = false;
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/**
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* This method is called to initialize the robot. In FTC, this is called when the "Init" button on the Driver
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* Station is pressed.
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*
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* @param roverRuckusRobot specifies true for the Rover Ruckus drive base, false for differential drive base.
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*/
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public void teleOpInit(boolean roverRuckusRobot)
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{
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robot = new Robot(roverRuckusRobot);
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driverGamepad = new FtcGamepad("DriverGamepad", gamepad1, this::driverButtonEvent);
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driverGamepad.setYInverted(true);
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} //teleOpInit
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//
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// Overrides TrcRobot.RobotMode methods.
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//
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/**
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* This method is called periodically on the main robot thread. Typically, you put TeleOp control code here that
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* doesn't require frequent update For example, TeleOp joystick code or status display code can be put here since
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* human responses are considered slow.
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*
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* @param elapsedTime specifies the elapsed time since the mode started.
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* @param slowPeriodicLoop specifies true if it is running the slow periodic loop on the main robot thread,
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* false otherwise.
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*/
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@Override
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public void periodic(double elapsedTime, boolean slowPeriodicLoop)
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{
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if (slowPeriodicLoop)
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{
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int lineNum = 1;
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//
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// DriveBase subsystem.
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//
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double[] inputs = driverGamepad.getDriveInputs(
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FtcGamepad.DriveMode.ARCADE_MODE, true, Robot.DRIVE_POWER_SCALE, Robot.TURN_POWER_SCALE);
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if (robot.driveBase.supportsHolonomicDrive())
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{
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robot.driveBase.holonomicDrive(inputs[0], inputs[1], inputs[2]);
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}
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else
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{
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robot.driveBase.arcadeDrive(inputs[1], inputs[2]);
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}
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robot.dashboard.displayPrintf(
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lineNum++, "RobotDrive: Power=(%.2f,y=%.2f,rot=%.2f)", inputs[0], inputs[1], inputs[2]);
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//
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// Other subsystems.
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//
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if (robot.elevator != null)
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{
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double elevatorPower = driverGamepad.getRightTrigger(true) - driverGamepad.getLeftTrigger(true);
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if (manualOverride)
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{
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robot.setElevatorPower(elevatorPower);
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}
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else
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{
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robot.setElevatorPidPower(elevatorPower);
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}
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robot.dashboard.displayPrintf(
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lineNum++, "Elevator: power=%.1f, pos=%.1f/%.1f, limitSw=%s/%s",
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robot.elevator.getPower(), robot.elevator.getPosition(), robot.elevator.getPidTarget(),
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robot.elevator.isLowerLimitSwitchActive(), robot.elevator.isUpperLimitSwitchActive());
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}
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}
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} //periodic
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//
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// Implements TrcGameController.ButtonHandler interface.
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//
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/**
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* This method is called when driver gamepad button event is detected.
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*
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* @param gamepad specifies the game controller object that generated the event.
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* @param button specifies the button ID that generates the event.
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* @param pressed specifies true if the button is pressed, false otherwise.
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*/
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public void driverButtonEvent(TrcGameController gamepad, int button, boolean pressed)
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{
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robot.dashboard.displayPrintf(8, "%s: %04x->%s", gamepad, button, pressed? "Pressed": "Released");
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switch (button)
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{
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case FtcGamepad.GAMEPAD_A:
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case FtcGamepad.GAMEPAD_B:
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case FtcGamepad.GAMEPAD_X:
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case FtcGamepad.GAMEPAD_Y:
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case FtcGamepad.GAMEPAD_LBUMPER:
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break;
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case FtcGamepad.GAMEPAD_RBUMPER:
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// manualOverride = pressed;
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break;
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case FtcGamepad.GAMEPAD_DPAD_UP:
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case FtcGamepad.GAMEPAD_DPAD_DOWN:
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case FtcGamepad.GAMEPAD_DPAD_LEFT:
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case FtcGamepad.GAMEPAD_DPAD_RIGHT:
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case FtcGamepad.GAMEPAD_START:
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break;
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case FtcGamepad.GAMEPAD_BACK:
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robot.zeroCalibrate();
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break;
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}
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} //driverButtonEvent
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} //class CommonTeleOp
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@ -1,47 +0,0 @@
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/*
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* Copyright (c) 2024 Titan Robotics Club (http://www.titanrobotics.com)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package teamcode.seafairdemo;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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/**
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* This class contains the TeleOp Mode program for the Differential DriveBase.
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*/
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@TeleOp(name="FtcDifferentialTeleOp", group="SeafairDemo")
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public class FtcDifferentialTeleOp extends CommonTeleOp
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{
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//
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// Implements FtcOpMode abstract method.
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//
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/**
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* This method is called to initialize the robot. In FTC, this is called when the "Init" button on the Driver
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* Station is pressed.
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*/
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@Override
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public void robotInit()
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{
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super.teleOpInit(false);
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} //robotInit
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} //class FtcDifferentialTeleOp
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@ -1,47 +0,0 @@
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/*
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* Copyright (c) 2024 Titan Robotics Club (http://www.titanrobotics.com)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package teamcode.seafairdemo;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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/**
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* This class contains the TeleOp Mode program for the Mecanum DriveBase.
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*/
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@TeleOp(name="FtcMecanumTeleOp", group="SeafairDemo")
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public class FtcMecanumTeleOp extends CommonTeleOp
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{
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//
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// Implements FtcOpMode abstract method.
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//
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/**
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* This method is called to initialize the robot. In FTC, this is called when the "Init" button on the Driver
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* Station is pressed.
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*/
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@Override
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public void robotInit()
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{
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super.teleOpInit(true);
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} //robotInit
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} //class FtcMecanumTeleOp
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@ -1,148 +0,0 @@
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/*
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* Copyright (c) 2024 Titan Robotics Club (http://www.titanrobotics.com)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
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* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
|
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package teamcode.seafairdemo;
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import ftclib.driverio.FtcDashboard;
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import ftclib.motor.FtcDcMotor;
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import ftclib.subsystem.FtcMotorActuator;
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import trclib.dataprocessor.TrcUtil;
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import trclib.drivebase.TrcDriveBase;
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import trclib.drivebase.TrcMecanumDriveBase;
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import trclib.drivebase.TrcSimpleDriveBase;
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import trclib.motor.TrcMotor;
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/**
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* This class creates the robot object that consists of sensors, indicators, drive base and all the subsystems.
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*/
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public class Robot
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{
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// DriveBase Subsystem
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private static final int INDEX_LEFT_FRONT = 0;
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private static final int INDEX_RIGHT_FRONT = 1;
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private static final int INDEX_LEFT_BACK = 2;
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private static final int INDEX_RIGHT_BACK = 3;
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private static final String[] driveMotorNames = {"lfDriveWheel", "rfDriveWheel", "lbDriveWheel", "rbDriveWheel"};
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private static final boolean[] driveMotorInverted = {true, false, true, false};
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public static final double DRIVE_POWER_SCALE = 0.5;
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public static final double TURN_POWER_SCALE = 0.5;
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// Elevator Subsystem
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private static final String ELEVATOR_NAME = "elevator";
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private static final boolean ELEVATOR_MOTOR_INVERTED = false;
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private static final boolean ELEVATOR_HAS_LOWER_LIMIT_SWITCH = true;
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private static final boolean ELEVATOR_LOWER_LIMIT_SWITCH_INVERTED = true;
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private static final boolean ELEVATOR_HAS_UPPER_LIMIT_SWITCH = true;
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private static final boolean ELEVATOR_UPPER_LIMIT_SWITCH_INVERTED = true;
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private static final double ELEVATOR_INCHES_PER_COUNT = 5.625/8498.0;
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private static final double ELEVATOR_OFFSET = 16.25;
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private static final double ELEVATOR_TOLERANCE = 0.2;
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private static final double ELEVATOR_CAL_POWER = -0.3;
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private static final double ELEVATOR_MIN_HEIGHT = ELEVATOR_OFFSET - 0.1;
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private static final double ELEVATOR_MAX_HEIGHT = 23.0;
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public final FtcDashboard dashboard;
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public final TrcDriveBase driveBase;
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public final TrcMotor elevator;
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/**
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* Constructor: Create an instance of the object.
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*
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* @param roverRuckusRobot specifies true for the Rover Ruckus drive base, false for differential drive base.
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*/
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public Robot(boolean roverRuckusRobot)
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{
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dashboard = FtcDashboard.getInstance();
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FtcDcMotor[] driveMotors = new FtcDcMotor[driveMotorNames.length];
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for (int i = 0; i < driveMotorNames.length; i++)
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{
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driveMotors[i] = new FtcDcMotor(driveMotorNames[i]);
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driveMotors[i].setMotorInverted(driveMotorInverted[i]);
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driveMotors[i].setBrakeModeEnabled(true);
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driveMotors[i].setVoltageCompensationEnabled(TrcUtil.BATTERY_NOMINAL_VOLTAGE);
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}
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if (roverRuckusRobot)
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{
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// Rover Ruckus robot has a mecanum drive base and an elevator with lower and upper limit switches.
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driveBase = new TrcMecanumDriveBase(
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driveMotors[INDEX_LEFT_FRONT], driveMotors[INDEX_LEFT_BACK],
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driveMotors[INDEX_RIGHT_FRONT], driveMotors[INDEX_RIGHT_BACK]);
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driveBase.setDriveOrientation(TrcDriveBase.DriveOrientation.ROBOT, false);
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FtcMotorActuator.Params elevatorParams = new FtcMotorActuator.Params()
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.setMotorInverted(ELEVATOR_MOTOR_INVERTED)
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.setLowerLimitSwitch(ELEVATOR_HAS_LOWER_LIMIT_SWITCH, ELEVATOR_LOWER_LIMIT_SWITCH_INVERTED)
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.setUpperLimitSwitch(ELEVATOR_HAS_UPPER_LIMIT_SWITCH, ELEVATOR_UPPER_LIMIT_SWITCH_INVERTED)
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.setVoltageCompensationEnabled(true)
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.setPositionScaleAndOffset(ELEVATOR_INCHES_PER_COUNT, ELEVATOR_OFFSET);
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elevator = new FtcMotorActuator(ELEVATOR_NAME, elevatorParams).getActuator();
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elevator.setBrakeModeEnabled(true);
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elevator.setPositionPidTolerance(ELEVATOR_TOLERANCE);
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}
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else
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{
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// Differential drive base is a West Coast drive base with 6 wheels and four drive motors.
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driveBase = new TrcSimpleDriveBase(
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driveMotors[INDEX_LEFT_FRONT], driveMotors[INDEX_LEFT_BACK],
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driveMotors[INDEX_RIGHT_FRONT], driveMotors[INDEX_RIGHT_BACK]);
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elevator = null;
|
|
||||||
}
|
|
||||||
} //Robot
|
|
||||||
|
|
||||||
/**
|
|
||||||
* This method zero calibrates all subsystems.
|
|
||||||
*/
|
|
||||||
public void zeroCalibrate()
|
|
||||||
{
|
|
||||||
if (elevator != null)
|
|
||||||
{
|
|
||||||
elevator.zeroCalibrate(ELEVATOR_CAL_POWER);
|
|
||||||
}
|
|
||||||
} //zeroCalibrate
|
|
||||||
|
|
||||||
/**
|
|
||||||
* This method sets the elevator raw power when manual override is ON.
|
|
||||||
*
|
|
||||||
* @param power specifies elevator power applied.
|
|
||||||
*/
|
|
||||||
public void setElevatorPower(double power)
|
|
||||||
{
|
|
||||||
if (elevator != null)
|
|
||||||
{
|
|
||||||
elevator.setPower(power);
|
|
||||||
}
|
|
||||||
} //setElevatorPower
|
|
||||||
|
|
||||||
/**
|
|
||||||
* This method sets the elevator pid power using PID control and will slow down when approaching limits.
|
|
||||||
*
|
|
||||||
* @param power specifies elevator power applied.
|
|
||||||
*/
|
|
||||||
public void setElevatorPidPower(double power)
|
|
||||||
{
|
|
||||||
if (elevator != null)
|
|
||||||
{
|
|
||||||
elevator.setPidPower(power, ELEVATOR_MIN_HEIGHT, ELEVATOR_MAX_HEIGHT, true);
|
|
||||||
}
|
|
||||||
} //setElevatorPidPower
|
|
||||||
|
|
||||||
} //class Robot
|
|
||||||
Reference in New Issue
Block a user