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Updated ftclib, trclib.
Reorganized params.
This commit is contained in:
Titan Robotics Club
2024-10-31 04:18:59 -07:00
parent 84f73042b6
commit ecfed76c1e
11 changed files with 636 additions and 587 deletions
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97
TeamCode/src/main/java/teamcode/Robot.java
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@ -31,7 +31,7 @@ import ftclib.robotcore.FtcOpMode;
import ftclib.sensor.FtcRobotBattery;
import teamcode.subsystems.LEDIndicator;
import teamcode.subsystems.RobotBase;
import teamcode.vision.Vision;
import teamcode.subsystems.Vision;
import trclib.motor.TrcMotor;
import trclib.motor.TrcServo;
import trclib.pathdrive.TrcPose2D;
@ -62,6 +62,7 @@ public class Robot
public LEDIndicator ledIndicator;
public FtcRobotBattery battery;
// Subsystems.
// Autotasks.
/**
* Constructor: Create an instance of the object.
@ -92,7 +93,7 @@ public class Robot
}
// 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.VisionOnly)
if (RobotParams.Preferences.robotType != RobotBase.RobotType.VisionOnly)
{
// Create and initialize sensors and indicators.
if (robotInfo.indicatorName != null)
@ -109,6 +110,10 @@ public class Robot
//
if (RobotParams.Preferences.useSubsystems)
{
// Create subsystems.
// Zero calibrate all subsystems only at init time.
zeroCalibrate();
// Create autotasks.
}
}
@ -283,11 +288,7 @@ public class Robot
{
globalTracer.traceInfo(moduleName, "Cancel all operations.");
if (robotDrive != null)
{
// Cancel all auto-assist driving.
robotDrive.cancel();
}
if (robotDrive != null) robotDrive.cancel();
} //cancelAll
/**
@ -316,6 +317,88 @@ public class Robot
{
} //setRobotStartPosition
/**
* This method adjusts the given pose in the red alliance to be the specified alliance.
*
* @param x specifies x position in the red alliance in the specified unit.
* @param y specifies y position in the red alliance in the specified unit.
* @param heading specifies heading in the red alliance in degrees.
* @param alliance specifies the alliance to be converted to.
* @param isTileUnit specifies true if x and y are in tile unit, false if in inches.
* @return pose adjusted to be in the specified alliance in inches.
*/
public TrcPose2D adjustPoseByAlliance(
double x, double y, double heading, FtcAuto.Alliance alliance, boolean isTileUnit)
{
TrcPose2D newPose = new TrcPose2D(x, y, heading);
if (alliance == FtcAuto.Alliance.BLUE_ALLIANCE)
{
// Translate blue alliance pose to red alliance pose.
if (RobotParams.Game.fieldIsMirrored)
{
// Mirrored field.
double angleDelta = (newPose.angle - 90.0)*2.0;
newPose.angle -= angleDelta;
newPose.y = -newPose.y;
}
else
{
// Symmetrical field.
newPose.x = -newPose.x;
newPose.y = -newPose.y;
newPose.angle = (newPose.angle + 180.0) % 360.0;
}
}
if (isTileUnit)
{
newPose.x *= RobotParams.Field.FULL_TILE_INCHES;
newPose.y *= RobotParams.Field.FULL_TILE_INCHES;
}
return newPose;
} //adjustPoseByAlliance
/**
* This method adjusts the given pose in the red alliance to be the specified alliance.
*
* @param x specifies x position in the red alliance in tile unit.
* @param y specifies y position in the red alliance in tile unit.
* @param heading specifies heading in the red alliance in degrees.
* @param alliance specifies the alliance to be converted to.
* @return pose adjusted to be in the specified alliance in inches.
*/
public TrcPose2D adjustPoseByAlliance(double x, double y, double heading, FtcAuto.Alliance alliance)
{
return adjustPoseByAlliance(x, y, heading, alliance, true);
} //adjustPoseByAlliance
/**
* This method adjusts the given pose in the red alliance to be the specified alliance.
*
* @param pose specifies pose in the red alliance in the specified unit.
* @param alliance specifies the alliance to be converted to.
* @param isTileUnit specifies true if pose is in tile units, false in inches.
* @return pose adjusted to be in the specified alliance in inches.
*/
public TrcPose2D adjustPoseByAlliance(TrcPose2D pose, FtcAuto.Alliance alliance, boolean isTileUnit)
{
return adjustPoseByAlliance(pose.x, pose.y, pose.angle, alliance, isTileUnit);
} //adjustPoseByAlliance
/**
* This method adjusts the given pose in the red alliance to be the specified alliance.
*
* @param pose specifies pose in the blue alliance in tile unit.
* @param alliance specifies the alliance to be converted to.
* @return pose adjusted to be in the specified alliance in inches.
*/
public TrcPose2D adjustPoseByAlliance(TrcPose2D pose, FtcAuto.Alliance alliance)
{
return adjustPoseByAlliance(pose, alliance, true);
} //adjustPoseByAlliance
/**
* This method sends the text string to the Driver Station to be spoken using text to speech.
*