mirror of
https://github.com/trc492/FtcTemplate.git
synced 2025-07-01 13:01:24 -07:00
0869026b76
Moved all auto tasks from autotasks to tasks. Added new Dashboard class. Added solvePnP support to vision. Added updateStatus to vision. Added updateStatus too FtcAuto, FtcTeleOp. Removed updateStatus from Robot.java. Added asymetric motion profile support to PurePursuit. Added updateStatus to RobotBase. Added solvePnp support for vision. Updated trclib, ftclib. Added acme FtcDashboard support. Added support to tune using acme FtcDashboard. Added maxDeceleration support in SpeedTest.
113 lines
4.3 KiB
Java
113 lines
4.3 KiB
Java
/*
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* Copyright (c) 2025 Titan Robotics Club (http://www.titanrobotics.com)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package teamcode;
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import com.acmerobotics.dashboard.config.Config;
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import trclib.controller.TrcPidController;
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import trclib.subsystem.TrcSubsystem;
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import trclib.timer.TrcTimer;
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import trclib.vision.TrcOpenCvColorBlobPipeline;
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/**
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* This class creates the robot object that consists of sensors, indicators, drive base and all the subsystems.
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*/
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@Config
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public class Dashboard
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{
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private static Double nextDashboardUpdateTime = null;
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/**
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* This method is called periodically to update various hardware/subsystem status of the robot to the dashboard
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* and trace log. In order to lower the potential impact these updates, this method will only update the dashboard
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* at DASHBOARD_UPDATE_INTERVAL.
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*
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* @param robot specifies the robot object.
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* @param lineNum specifies the first Dashboard line for printing status.
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* @return next available dashboard line.
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*/
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public static int updateDashboard(Robot robot, int lineNum)
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{
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double currTime = TrcTimer.getCurrentTime();
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if (nextDashboardUpdateTime == null || currTime >= nextDashboardUpdateTime)
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{
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nextDashboardUpdateTime = currTime + RobotParams.Robot.DASHBOARD_UPDATE_INTERVAL;
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if (RobotParams.Preferences.showDriveBase)
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{
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lineNum = robot.robotBase.updateStatus(lineNum);
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}
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if (RobotParams.Preferences.showVision && robot.vision != null)
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{
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lineNum = robot.vision.updateStatus(lineNum);
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}
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if (RobotParams.Preferences.showSubsystems)
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{
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lineNum = TrcSubsystem.updateStatusAll(lineNum);
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}
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}
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return lineNum;
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} //updateDashboard
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@Config
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public static class Vision
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{
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public static double[] colorThresholds = null;
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public static TrcOpenCvColorBlobPipeline.FilterContourParams filterContourParams = null;
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public static long exposure = 0;
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} //class Vision
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@Config
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public static class Drive
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{
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public static TrcPidController.PidCoefficients pidCoeffs =
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new TrcPidController.PidCoefficients(0.0, 0.0, 0.0, 0.0, 0.0);
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public static double maxVelocity = 0.0;
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public static double maxAcceleration = 0.0;
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public static double maxDeclearion = 0.0;
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public static double xTarget = 0.0;
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public static double yTarget = 0.0;
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public static double turnTarget = 0.0;
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public static double drivePower = 1.0;
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public static double driveTime = 0.0;
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} //class Drive
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@Config
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public static class Subsystem
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{
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public static TrcPidController.PidCoefficients pidCoeffs =
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new TrcPidController.PidCoefficients(0.0, 0.0, 0.0, 0.0, 0.0);
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public static TrcPidController.FFCoefficients ffCoeffs =
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new TrcPidController.FFCoefficients(0.0, 0.0, 0.0);
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public static double pidTolerance = 1.0;
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public static boolean softwarePid = true;
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public static boolean enableSquid = true;
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public static double powerLimit = 1.0;
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public static double maxGarvityCompPower = 0.0;
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} //class Subsystem
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} //class Dashboard
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