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Added ServoExtender sample.

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Titan Robotics Club
2025-05-05 00:19:30 -07:00
parent 68fbe37eda
commit 7c20f1d1f3
4 changed files with 241 additions and 1 deletions
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16
TeamCode/src/main/java/teamcode/FtcTeleOp.java
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@ -65,6 +65,7 @@ public class FtcTeleOp extends FtcOpMode
private double prevWristRotatePower = 0.0;
private boolean shooterOn = false;
private double prevShooterVelocity = 0.0;
private boolean extenderExtended = false;
//
// Implements FtcOpMode abstract method.
@ -589,6 +590,21 @@ public class FtcTeleOp extends FtcOpMode
}
}
}
else if (robot.servoExtender != null)
{
if (pressed)
{
extenderExtended = !extenderExtended;
if (extenderExtended)
{
robot.servoExtender.extend();
}
else
{
robot.servoExtender.retract();
}
}
}
break;
case B:

8
TeamCode/src/main/java/teamcode/Robot.java
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@ -37,6 +37,7 @@ import teamcode.subsystems.Intake;
import teamcode.subsystems.LEDIndicator;
import teamcode.subsystems.RobotBase;
import teamcode.subsystems.RumbleIndicator;
import teamcode.subsystems.ServoExtender;
import teamcode.subsystems.ServoWrist;
import teamcode.subsystems.Shooter;
import teamcode.subsystems.Turret;
@ -53,7 +54,6 @@ import trclib.subsystem.TrcIntake;
import trclib.subsystem.TrcServoClaw;
import trclib.subsystem.TrcShooter;
import trclib.subsystem.TrcSubsystem;
import trclib.timer.TrcTimer;
/**
* This class creates the robot object that consists of sensors, indicators, drive base and all the subsystems.
@ -88,6 +88,7 @@ public class Robot
public TrcServoClaw claw;
public TrcServo servoWrist;
public DiffyServoWrist diffyServoWrist;
public ServoExtender servoExtender;
// Autotasks.
/**
@ -180,6 +181,11 @@ public class Robot
{
diffyServoWrist = new DiffyServoWrist();
}
if (RobotParams.Preferences.useServoExtender)
{
servoExtender = new ServoExtender();
}
// Zero calibrate all subsystems only in Auto or if TeleOp is run standalone without prior Auto.
// There is no reason to zero calibrate again if Auto was run right before TeleOp.
if (runMode == TrcRobot.RunMode.AUTO_MODE || FtcAuto.autoChoices.alliance == null)

1
TeamCode/src/main/java/teamcode/RobotParams.java
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@ -83,6 +83,7 @@ public class RobotParams
public static final boolean useClaw = false;
public static final boolean useServoWrist = false;
public static final boolean useDiffyServoWrist = false;
public static final boolean useServoExtender = false;
// Tuning
public static final boolean tuneColorBlobVision = false;
public static final boolean tuneDriveBase = false;

217
TeamCode/src/main/java/teamcode/subsystems/ServoExtender.java Normal file
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@ -0,0 +1,217 @@
/*
* Copyright (c) 2025 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.subsystems;
import ftclib.driverio.FtcDashboard;
import ftclib.motor.FtcServoActuator;
import trclib.motor.TrcServo;
import trclib.robotcore.TrcEvent;
import trclib.subsystem.TrcSubsystem;
/**
* This class creates the Servo Extender subsystem. This implementation is a linear extender driven by two servos
* to either extend or retract the extender.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class ServoExtender extends TrcSubsystem
{
public static class Params
{
public static final String SUBSYSTEM_NAME = "ServoExtender";
public static final boolean NEED_ZERO_CAL = false;
public static final String PRIMARY_SERVO_NAME = Params.SUBSYSTEM_NAME + ".primary";
public static final boolean PRIMARY_SERVO_INVERTED = false;
public static final String FOLLOWER_SERVO_NAME = Params.SUBSYSTEM_NAME + ".follower";
public static final boolean FOLLOWER_SERVO_INVERTED = false;
public static final double POS_RETRACT = 0.1;
public static final double POS_EXTEND = 0.8;
} //class Params
private final FtcDashboard dashboard;
public final TrcServo servoExtender;
/**
* Constructor: Creates an instance of the object.
*/
public ServoExtender()
{
super(Params.SUBSYSTEM_NAME, Params.NEED_ZERO_CAL);
dashboard = FtcDashboard.getInstance();
FtcServoActuator.Params extenderParams = new FtcServoActuator.Params()
.setPrimaryServo(Params.PRIMARY_SERVO_NAME, Params.PRIMARY_SERVO_INVERTED)
.setFollowerServo(Params.FOLLOWER_SERVO_NAME, Params.FOLLOWER_SERVO_INVERTED);
servoExtender = new FtcServoActuator(extenderParams).getServo();
} //ServoExtender
/**
* This method checks if the extender is extended.
*
* @return true if extended, false otherwise.
*/
public boolean isExtended()
{
return servoExtender.getPosition() == Params.POS_EXTEND;
} //isExtended
/**
* This method sets the extender to extended position.
*
* @param owner specifies the owner ID to check if the caller has ownership of the subsystem.
* @param delay specifies the delay in seconds before setting the position of the servo, can be zero if no delay.
* @param completionEvent specifies an event object to signal when the timeout event has expired.
* @param timeout specifies a maximum time value the operation should be completed in seconds.
*/
public void extend(String owner, double delay, TrcEvent completionEvent, double timeout)
{
servoExtender.setPosition(owner, delay, Params.POS_EXTEND, completionEvent, timeout);
} //extend
/**
* This method sets the extender to extended position.
*
* @param delay specifies the delay in seconds before setting the position of the servo, can be zero if no delay.
* @param completionEvent specifies an event object to signal when the timeout event has expired.
* @param timeout specifies a maximum time value the operation should be completed in seconds.
*/
public void extend(double delay, TrcEvent completionEvent, double timeout)
{
servoExtender.setPosition(null, delay, Params.POS_EXTEND, completionEvent, timeout);
} //extend
/**
* This method sets the extender to extended position.
*
* @param completionEvent specifies an event object to signal when the timeout event has expired.
* @param timeout specifies a maximum time value the operation should be completed in seconds.
*/
public void extend(TrcEvent completionEvent, double timeout)
{
servoExtender.setPosition(null, 0.0, Params.POS_EXTEND, completionEvent, timeout);
} //extend
/**
* This method sets the extender to extended position.
*/
public void extend()
{
servoExtender.setPosition(null, 0.0, Params.POS_EXTEND, null, 0.0);
} //extend
/**
* This method sets the extender to retracted position.
*
* @param owner specifies the owner ID to check if the caller has ownership of the subsystem.
* @param delay specifies the delay in seconds before setting the position of the servo, can be zero if no delay.
* @param completionEvent specifies an event object to signal when the timeout event has expired.
* @param timeout specifies a maximum time value the operation should be completed in seconds.
*/
public void retract(String owner, double delay, TrcEvent completionEvent, double timeout)
{
servoExtender.setPosition(owner, delay, Params.POS_RETRACT, completionEvent, timeout);
} //retract
/**
* This method sets the extender to retracted position.
*
* @param delay specifies the delay in seconds before setting the position of the servo, can be zero if no delay.
* @param completionEvent specifies an event object to signal when the timeout event has expired.
* @param timeout specifies a maximum time value the operation should be completed in seconds.
*/
public void retract(double delay, TrcEvent completionEvent, double timeout)
{
servoExtender.setPosition(null, delay, Params.POS_RETRACT, completionEvent, timeout);
} //retract
/**
* This method sets the extender to retracted position.
*
* @param completionEvent specifies an event object to signal when the timeout event has expired.
* @param timeout specifies a maximum time value the operation should be completed in seconds.
*/
public void retract(TrcEvent completionEvent, double timeout)
{
servoExtender.setPosition(null, 0.0, Params.POS_RETRACT, completionEvent, timeout);
} //retract
/**
* This method sets the extender to retracted position.
*/
public void retract()
{
servoExtender.setPosition(null, 0.0, Params.POS_RETRACT, null, 0.0);
} //retract
//
// Implements TrcSubsystem abstract methods.
//
/**
* This method cancels any pending operations.
*/
@Override
public void cancel()
{
servoExtender.cancel();
} //cancel
/**
* This method starts zero calibrate of the subsystem.
*
* @param owner specifies the owner ID to to claim subsystem ownership, can be null if ownership not required.
* @param event specifies an event to signal when zero calibration is done, can be null if not provided.
*/
@Override
public void zeroCalibrate(String owner, TrcEvent event)
{
// No zero calibration needed.
} //zeroCalibrate
/**
* This method resets the subsystem state. Typically, this is used to retract the subsystem for turtle mode.
*/
@Override
public void resetState()
{
servoExtender.setPosition(Params.POS_RETRACT);
} //resetState
/**
* This method update the dashboard with the subsystem status.
*
* @param lineNum specifies the starting line number to print the subsystem status.
* @return updated line number for the next subsystem to print.
*/
@Override
public int updateStatus(int lineNum)
{
dashboard.displayPrintf(
lineNum++, "%s: pos=%.3f, extended=%s", Params.SUBSYSTEM_NAME, servoExtender.getPosition(), isExtended());
return lineNum;
} //updateStatus
} //class ServoExtender