karx/FreeOfCharge2022-23
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motor control is moved to MotorControl.java

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untested code
probably doesn't work
pushing to main anyways
This commit is contained in:
nn2wg 2021-10-26 18:32:00 -05:00
parent 9f98e079ff
commit eaa9343791
6 changed files with 138 additions and 25 deletions
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1
.idea/misc.xml
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@ -1,5 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>

1
README.md
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@ -0,0 +1 @@
This is the code for 2021-2022 FreeOfCharge team.

37
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoModeTest.java Normal file
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@ -0,0 +1,37 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous
public class AutoModeTest extends LinearOpMode {
private DcMotor frontRight, frontLeft, rearRight, rearLeft;
private double drive, strafe, turn;
private double driveMult = 0.25;
@Override
public void runOpMode(){
initParts();
}
public void initParts(){
frontRight = hardwareMap.get(DcMotor.class, "frontRight");
frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
rearRight = hardwareMap.get(DcMotor.class, "rearRight");
rearLeft = hardwareMap.get(DcMotor.class, "rearLeft");
// turns on encoders
frontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// telemetry messages
telemetry.addData("Status", "Initialized");
telemetry.update();
}
}

71
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MotorControl.java Normal file
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package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
import com.qualcomm.robotcore.hardware.DcMotor;
public class MotorControl {
private DcMotor frontRight, frontLeft, rearRight, rearLeft;
private double frontRightPower, frontLeftPower, rearRightPower, rearLeftPower;
public MotorControl(){
init();
}
private void calcDrive(double yDrive, double xDrive){
frontRightPower = yDrive - xDrive;
frontLeftPower = yDrive + xDrive;
rearRightPower = yDrive + xDrive;
rearLeftPower = yDrive - xDrive;
}
private void addTurn(double turn){
if (turn > 0) {
frontRightPower *= (1 - turn);
rearRightPower *= (1 - turn);
}
if (turn < 0) {
frontLeftPower *= (1 + turn);
rearLeftPower *= (1 + turn);
}
}
public void drive(double yDrive, double xDrive, double speed, double turn){
calcDrive(yDrive, xDrive);
if (turn != 0) {
addTurn(turn);
}
frontRightPower*=speed;
frontLeftPower*=speed;
rearRightPower*=speed;
rearLeftPower*=speed;
frontRight.setPower(-1*frontRightPower);
frontLeft.setPower(frontLeftPower);
rearRight.setPower(-1*rearRightPower);
rearLeft.setPower(rearLeftPower);
}
private void init(){
frontRight = hardwareMap.get(DcMotor.class, "frontRight");
frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
rearRight = hardwareMap.get(DcMotor.class, "rearRight");
rearLeft = hardwareMap.get(DcMotor.class, "rearLeft");
// stops and resets encoders
frontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
frontLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rearRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rearLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
// turns on encoders
frontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MyFIRSTJavaOpMode.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
@ -9,7 +10,7 @@ import com.qualcomm.robotcore.hardware.Gyroscope;
import com.qualcomm.robotcore.hardware.Servo;
@TeleOp
@Disabled
public class MyFIRSTJavaOpMode extends LinearOpMode {
private Gyroscope imu;
private DcMotor frontRight;

50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/controllerOpMode.java
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@ -8,41 +8,43 @@ import com.qualcomm.robotcore.hardware.DcMotor;
public class controllerOpMode extends OpMode {
private DcMotor frontRight, frontLeft, rearRight, rearLeft;
private double drive,strafe, turn;
private double driveMult = 0.25;
public void init(){
frontRight = hardwareMap.get(DcMotor.class, "frontRight");
frontLeft = hardwareMap.get(DcMotor.class, "frontLeft");
rearRight = hardwareMap.get(DcMotor.class, "rearRight");
rearLeft = hardwareMap.get(DcMotor.class, "rearLeft");
telemetry.addData("Status", "Initialized");
telemetry.update();
}
private double speed;
MotorControl driveMotors;
public void loop() {
strafe = gamepad1.left_stick_x;
detectSpeedChange();
drive = gamepad1.left_stick_y;
strafe = gamepad1.left_stick_x;
turn = gamepad1.right_stick_x;
telemetry.addData("Speed", "Current Speed = " + Math.round(speed*100));
telemetry.update();
driveMotors.drive(drive, strafe, turn, speed);
}
public void init(){
driveMotors = new MotorControl();
speed = 0.25;
}
public void detectSpeedChange(){
if (gamepad1.dpad_up){
if (driveMult<=1) {
driveMult += 0.0005;
if (speed <= 1) {
speed += 0.0005;
}
}
if (gamepad1.dpad_down){
if (driveMult>=0) {
driveMult -= 0.0005;
if (speed >= 0) {
speed -= 0.0005;
}
}
telemetry.addData("Speed", "Current Speed = " + Math.round(driveMult*100));
telemetry.update();
frontRight.setPower(driveMult*(drive - strafe - turn));
rearRight.setPower(driveMult*(drive + strafe - turn));
frontLeft.setPower(-1*driveMult*(drive + strafe + turn));
rearLeft.setPower(-1*driveMult*(drive - strafe + turn));
}
}