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Updated ftclib.

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Updated trclib.
Refactored RobotParams to make it more structured.
Restructured CmdPidDrive to add a start method so that the caller can repeatedly call it to set a new path.
Created new RobotBase class that will create the appropriate robot DriveBase according to robotType.
Generalized and moved RobotDrive, MecanumDrive and SwerveDrive to ftclib.
This commit is contained in:
Titan Robotics Club
2024-08-20 12:20:12 -07:00
parent e0328f5a29
commit 5bfd77ccc2
12 changed files with 597 additions and 1041 deletions
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60
TeamCode/src/main/java/teamcode/Robot.java
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@ -22,14 +22,15 @@
package teamcode;
import androidx.annotation.NonNull;
import ftclib.drivebase.FtcRobotDrive;
import ftclib.driverio.FtcDashboard;
import ftclib.driverio.FtcMatchInfo;
import ftclib.robotcore.FtcOpMode;
import ftclib.sensor.FtcRobotBattery;
import teamcode.drivebases.MecanumDrive;
import teamcode.drivebases.RobotDrive;
import teamcode.drivebases.SwerveDrive;
import teamcode.subsystems.BlinkinLEDs;
import teamcode.subsystems.RobotBase;
import teamcode.vision.Vision;
import trclib.motor.TrcMotor;
import trclib.motor.TrcServo;
@ -46,28 +47,22 @@ public class Robot
{
private static final String moduleName = Robot.class.getSimpleName();
private static final double STATUS_UPDATE_INTERVAL = 0.1; // 100 msec
//
// Global objects.
//
public final FtcOpMode opMode;
public final TrcDbgTrace globalTracer;
public final FtcDashboard dashboard;
public static FtcMatchInfo matchInfo = null;
private static TrcPose2D endOfAutoRobotPose = null;
private static double nextStatusUpdateTime = 0.0;
//
// Robot Drive.
public FtcRobotDrive.RobotInfo robotInfo;
public FtcRobotDrive robotDrive;
// Vision subsystems.
//
public Vision vision;
//
// Sensors and indicators.
//
public BlinkinLEDs blinkin;
public FtcRobotBattery battery;
//
// Subsystems.
//
public RobotDrive robotDrive;
/**
* Constructor: Create an instance of the object.
@ -77,37 +72,33 @@ public class Robot
*/
public Robot(TrcRobot.RunMode runMode)
{
//
// Initialize global objects.
//
opMode = FtcOpMode.getInstance();
globalTracer = TrcDbgTrace.getGlobalTracer();
dashboard = FtcDashboard.getInstance();
nextStatusUpdateTime = TrcTimer.getCurrentTime();
speak("Init starting");
//
// Initialize vision subsystems.
//
if (RobotParams.Preferences.tuneColorBlobVision ||
RobotParams.Preferences.useAprilTagVision ||
RobotParams.Preferences.useColorBlobVision ||
RobotParams.Preferences.useTensorFlowVision)
// Create and initialize Robot Base.
RobotBase robotBase = new RobotBase();
robotInfo = robotBase.getRobotInfo();
robotDrive = robotBase.getRobotDrive();
// Create and initialize vision subsystems.
if (RobotParams.Preferences.useVision &&
(RobotParams.Preferences.tuneColorBlobVision ||
RobotParams.Preferences.useAprilTagVision ||
RobotParams.Preferences.useColorBlobVision ||
RobotParams.Preferences.useTensorFlowVision))
{
vision = new Vision(this);
}
//
// If robotType is NoRobot, the robot controller is disconnected from the robot for testing vision.
// If robotType is VisionOnly, the robot controller is disconnected from the robot for testing vision.
// In this case, we should not instantiate any robot hardware.
//
if (RobotParams.Preferences.robotType != RobotParams.RobotType.NoRobot)
if (RobotParams.Preferences.robotType != RobotParams.RobotType.VisionOnly)
{
//
// Create and initialize sensors and indicators.
//
if (RobotParams.Preferences.useBlinkin)
if (robotInfo.blinkinName != null)
{
blinkin = new BlinkinLEDs(RobotParams.HWNAME_BLINKIN);
blinkin = new BlinkinLEDs(robotInfo.blinkinName);
}
if (RobotParams.Preferences.useBatteryMonitor)
@ -115,12 +106,6 @@ public class Robot
battery = new FtcRobotBattery();
}
//
// Create and initialize RobotDrive.
//
robotDrive =
RobotParams.Preferences.robotType == RobotParams.RobotType.SwerveRobot?
new SwerveDrive(): new MecanumDrive();
//
// Create and initialize other subsystems.
//
if (RobotParams.Preferences.useSubsystems)
@ -136,10 +121,11 @@ public class Robot
*
* @return instance name.
*/
@NonNull
@Override
public String toString()
{
return RobotParams.ROBOT_NAME;
return robotInfo != null? robotInfo.robotName: RobotParams.System.DEF_ROBOT_NAME;
} //toString
/**