Removed the fork relationship from FTC SDK so that people can fork this repo without problem if they already had an FTC SDK fork.

TeamCode/src/main/java/teamcode/drivebases/RobotDrive.java

@@ -0,0 +1,122 @@
+/*
+ * Copyright (c) 2023 Titan Robotics Club (http://www.titanrobotics.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package teamcode.drivebases;
+
+import TrcCommonLib.trclib.TrcDriveBase;
+import TrcCommonLib.trclib.TrcPidDrive;
+import TrcCommonLib.trclib.TrcPurePursuitDrive;
+import TrcCommonLib.trclib.TrcUtil;
+import TrcFtcLib.ftclib.FtcDcMotor;
+import TrcFtcLib.ftclib.FtcImu;
+import teamcode.RobotParams;
+
+/**
+ * This class is intended to be extended by subclasses implementing different robot drive bases.
+ */
+public class RobotDrive
+{
+    public static final int INDEX_LEFT_FRONT = 0;
+    public static final int INDEX_RIGHT_FRONT = 1;
+    public static final int INDEX_LEFT_BACK = 2;
+    public static final int INDEX_RIGHT_BACK = 3;
+    protected final String[] driveMotorNames = {
+        RobotParams.HWNAME_LFDRIVE_MOTOR, RobotParams.HWNAME_RFDRIVE_MOTOR,
+        RobotParams.HWNAME_LBDRIVE_MOTOR, RobotParams.HWNAME_RBDRIVE_MOTOR};
+    protected final boolean[] driveMotorInverted = {
+        RobotParams.LFDRIVE_INVERTED, RobotParams.RFDRIVE_INVERTED,
+        RobotParams.LBDRIVE_INVERTED, RobotParams.RBDRIVE_INVERTED};
+    //
+    // Sensors.
+    //
+    public final FtcImu gyro;
+
+    //
+    // Subclass needs to initialize the following variables.
+    //
+    // Drive motors.
+    public FtcDcMotor[] driveMotors;
+    // Drive Base.
+    public TrcDriveBase driveBase;
+    // Drive Controllers.
+    public TrcPidDrive pidDrive;
+    public TrcPurePursuitDrive purePursuitDrive;
+
+    /**
+     * Constructor: Create an instance of the object.
+     */
+    public RobotDrive()
+    {
+        gyro = new FtcImu(RobotParams.HWNAME_IMU, RobotParams.hubLogoDirection, RobotParams.hubUsbDirection);
+    }   //RobotDrive
+
+    /**
+     * This method cancels any PIDDrive operation still in progress.
+     *
+     * @param owner specifies the owner that requested the cancel.
+     */
+    public void cancel(String owner)
+    {
+        if (pidDrive != null && pidDrive.isActive())
+        {
+            pidDrive.cancel(owner);
+        }
+
+        if (purePursuitDrive != null && purePursuitDrive.isActive())
+        {
+            purePursuitDrive.cancel(owner);
+        }
+
+        driveBase.stop(owner);
+    }   //cancel
+
+    /**
+     * This method cancels any PIDDrive operation still in progress.
+     */
+    public void cancel()
+    {
+        cancel(null);
+    }   //cancel
+
+    /**
+     * This method creates and configures all drive motors.
+     *
+     * @param motorNames specifies an array of names for each drive motor.
+     * @param inverted specifies an array of boolean indicating if the drive motor needs to be inverted.
+     * @return an array of created drive motors.
+     */
+    protected FtcDcMotor[] createDriveMotors(String[] motorNames, boolean[] inverted)
+    {
+        FtcDcMotor[] motors = new FtcDcMotor[motorNames.length];
+
+        for (int i = 0; i < motorNames.length; i++)
+        {
+            motors[i] = new FtcDcMotor(motorNames[i]);
+            motors[i].setBrakeModeEnabled(RobotParams.DRIVE_WHEEL_BRAKE_MODE_ON);
+            motors[i].setMotorInverted(inverted[i]);
+            motors[i].setVoltageCompensationEnabled(TrcUtil.BATTERY_NOMINAL_VOLTAGE);
+        }
+
+        return motors;
+    }   //createDriveMotors
+
+}   //class RobotDrive