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Code reviewed everything and cleaned up.

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Titan Robotics Club
2025-05-02 14:38:42 -07:00
parent 8afae1205f
commit e29a7918a0
4 changed files with 40 additions and 48 deletions
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76
TeamCode/src/main/java/teamcode/FtcTeleOp.java
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@ -67,14 +67,9 @@ public class FtcTeleOp extends FtcOpMode
@Override
public void robotInit()
{
//
// Create and initialize robot object.
//
robot = new Robot(TrcRobot.getRunMode());
//
// Open trace log.
//
if (RobotParams.Preferences.useTraceLog)
{
String filePrefix = Robot.matchInfo != null?
@ -82,9 +77,7 @@ public class FtcTeleOp extends FtcOpMode
"Unknown_TeleOp";
TrcDbgTrace.openTraceLog(RobotParams.Robot.LOG_FOLDER_PATH, filePrefix);
}
//
// Create and initialize Gamepads.
//
driverGamepad = new FtcGamepad("DriverGamepad", gamepad1);
driverGamepad.setButtonEventHandler(this::driverButtonEvent);
driverGamepad.setLeftStickInverted(false, true);
@ -258,7 +251,7 @@ public class FtcTeleOp extends FtcOpMode
*
* @param orientation specifies the drive orientation (FIELD, ROBOT, INVERTED).
*/
public void setDriveOrientation(TrcDriveBase.DriveOrientation orientation)
private void setDriveOrientation(TrcDriveBase.DriveOrientation orientation)
{
if (robot.robotDrive != null)
{
@ -322,23 +315,17 @@ public class FtcTeleOp extends FtcOpMode
break;
case B:
break;
case X:
if (pressed)
{
robot.globalTracer.traceInfo(moduleName, ">>>>> Turtle mode.");
robot.turtle();
}
break;
case Y:
if (pressed)
{
if (driverAltFunc)
{
robot.globalTracer.traceInfo(moduleName, ">>>>> Cancel all.");
robot.cancelAll();
}
else
{
robot.globalTracer.traceInfo(moduleName, ">>>>> Turtle mode.");
robot.turtle();
}
}
break;
case LeftBumper:
@ -347,15 +334,7 @@ public class FtcTeleOp extends FtcOpMode
break;
case RightBumper:
if (driverAltFunc)
{
if (!RobotParams.Preferences.updateDashboard)
{
// Toggle status update ON/OFF.
statusUpdateOn = !statusUpdateOn;
}
}
else
if (!driverAltFunc)
{
// Press and hold for slow drive.
if (pressed)
@ -371,6 +350,14 @@ public class FtcTeleOp extends FtcOpMode
turnPowerScale = RobotParams.Robot.TURN_NORMAL_SCALE;
}
}
else if (pressed)
{
if (!RobotParams.Preferences.updateDashboard)
{
// Toggle status update ON/OFF.
statusUpdateOn = !statusUpdateOn;
}
}
break;
case DpadUp:
@ -382,29 +369,40 @@ public class FtcTeleOp extends FtcOpMode
case Back:
if (pressed)
{
robot.globalTracer.traceInfo(moduleName, ">>>>> ZeroCalibrating.");
robot.cancelAll();
robot.zeroCalibrate(moduleName, null);
if (robot.robotDrive != null && robot.robotDrive instanceof FtcSwerveDrive)
if (!driverAltFunc)
{
// Drive base is a Swerve Drive, align all steering wheels forward.
robot.globalTracer.traceInfo(moduleName, ">>>>> Set SteerAngle to zero.");
((FtcSwerveDrive) robot.robotDrive).setSteerAngle(0.0, false, false);
// Cancel all operations and zero calibrate all subsystems (arm, elevator and turret).
robot.globalTracer.traceInfo(moduleName, ">>>>> ZeroCalibrating.");
robot.cancelAll();
robot.zeroCalibrate(moduleName, null);
}
else
{
// If drive base is SwerveDrive, set all wheels pointing forward.
if (robot.robotDrive != null && robot.robotDrive instanceof FtcSwerveDrive)
{
// Drive base is a Swerve Drive, align all steering wheels forward.
robot.globalTracer.traceInfo(moduleName, ">>>>> Set SteerAngle to zero.");
((FtcSwerveDrive) robot.robotDrive).setSteerAngle(0.0, false, false);
}
}
}
break;
case Start:
// Do AprilTag Vision re-localization.
if (robot.vision != null && robot.robotDrive != null)
{
boolean hasAprilTagVision = robot.vision.isAprilTagVisionEnabled();
// If Webcam AprilTag vision is not enabled, check if we have Limelight since Limelight has
// AprilTag pipeline as well.
if (!hasAprilTagVision && robot.vision.limelightVision != null)
{
hasAprilTagVision = true;
if (pressed)
{
// Webcam AprilTag vision is not enable, enable Limelight AprilTag pipeline instead.
// Note: we assume pipeline 0 is the AprilTag pipeline.
savedLimelightPipeline = robot.vision.limelightVision.getPipeline();
robot.vision.setLimelightVisionEnabled(0, true);
}
@ -475,7 +473,7 @@ public class FtcTeleOp extends FtcOpMode
case Back:
if (pressed)
{
// Zero calibrate all subsystems (arm, elevator and turret).
// Cancel all operations and zero calibrate all subsystems (arm, elevator and turret).
robot.globalTracer.traceInfo(moduleName, ">>>>> ZeroCalibrating.");
robot.cancelAll();
robot.zeroCalibrate(moduleName, null);

5
TeamCode/src/main/java/teamcode/FtcTest.java
View File

@ -265,11 +265,6 @@ public class FtcTest extends FtcTeleOp
testCommand.cancel();
}
if (robot.robotDrive != null)
{
robot.robotDrive.cancel();
}
super.stopMode(prevMode, nextMode);
} //stopMode

5
TeamCode/src/main/java/teamcode/Robot.java
View File

@ -41,7 +41,6 @@ import trclib.robotcore.TrcEvent;
import trclib.robotcore.TrcRobot;
import trclib.sensor.TrcDigitalInput;
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.
@ -55,7 +54,6 @@ public class Robot
public final FtcDashboard dashboard;
public static FtcMatchInfo matchInfo = null;
private static TrcPose2D endOfAutoRobotPose = null;
private static double nextStatusUpdateTime = 0.0;
// Robot Drive.
public RobotBase robotBase;
public FtcRobotDrive.RobotInfo robotInfo;
@ -82,7 +80,6 @@ public class Robot
opMode = FtcOpMode.getInstance();
globalTracer = TrcDbgTrace.getGlobalTracer();
dashboard = FtcDashboard.getInstance();
nextStatusUpdateTime = TrcTimer.getCurrentTime();
speak("Init starting");
// Create and initialize Robot Base.
robotBase = new RobotBase();
@ -192,6 +189,8 @@ public class Robot
*/
public void stopMode(TrcRobot.RunMode runMode)
{
// Cancel all operations.
cancelAll();
//
// Print all performance counters if there are any.
//

2
TeamCode/src/main/java/teamcode/RobotParams.java
View File

@ -49,7 +49,7 @@ public class RobotParams
public static final boolean useLoopPerformanceMonitor = true;
public static final boolean useBatteryMonitor = false;
// Driver feedback
// Status Update: Status Update may affect robot loop time, don't do it when in competition.
// Status Update: Dashboard Update may affect robot loop time, don't do it when in competition.
public static final boolean updateDashboard = !inCompetition;
public static final boolean showDriveBase = false;
public static final boolean showPidDrive = false;