/* Copyright (c) 2017 FIRST. All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted (subject to the limitations in the disclaimer below) provided that * the following conditions are met: * * Redistributions of source code must retain the above copyright notice, this list * of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright notice, this * list of conditions and the following disclaimer in the documentation and/or * other materials provided with the distribution. * * Neither the name of FIRST nor the names of its contributors may be used to endorse or * promote products derived from this software without specific prior written permission. * * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ package org.firstinspires.ftc.robotcontroller.external.samples; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.util.ElapsedTime; /** * This file illustrates the concept of driving a path based on encoder counts. * It uses the common Pushbot hardware class to define the drive on the robot. * The code is structured as a LinearOpMode * * The code REQUIRES that you DO have encoders on the wheels, * otherwise you would use: PushbotAutoDriveByTime; * * This code ALSO requires that the drive Motors have been configured such that a positive * power command moves them forwards, and causes the encoders to count UP. * * The desired path in this example is: * - Drive forward for 48 inches * - Spin right for 12 Inches * - Drive Backwards for 24 inches * - Stop and close the claw. * * The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS) * that performs the actual movement. * This methods assumes that each movement is relative to the last stopping place. * There are other ways to perform encoder based moves, but this method is probably the simplest. * This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile * * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name. * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list */ @Autonomous(name="Pushbot: Auto Drive By Encoder", group="Pushbot") @Disabled public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode { /* Declare OpMode members. */ HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware private ElapsedTime runtime = new ElapsedTime(); static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder static final double DRIVE_GEAR_REDUCTION = 2.0 ; // This is < 1.0 if geared UP static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (WHEEL_DIAMETER_INCHES * 3.1415); static final double DRIVE_SPEED = 0.6; static final double TURN_SPEED = 0.5; @Override public void runOpMode() { /* * Initialize the drive system variables. * The init() method of the hardware class does all the work here */ robot.init(hardwareMap); // Send telemetry message to signify robot waiting; telemetry.addData("Status", "Resetting Encoders"); // telemetry.update(); robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // Send telemetry message to indicate successful Encoder reset telemetry.addData("Path0", "Starting at %7d :%7d", robot.leftDrive.getCurrentPosition(), robot.rightDrive.getCurrentPosition()); telemetry.update(); // Wait for the game to start (driver presses PLAY) waitForStart(); // Step through each leg of the path, // Note: Reverse movement is obtained by setting a negative distance (not speed) encoderDrive(DRIVE_SPEED, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout robot.leftClaw.setPosition(1.0); // S4: Stop and close the claw. robot.rightClaw.setPosition(0.0); sleep(1000); // pause for servos to move telemetry.addData("Path", "Complete"); telemetry.update(); } /* * Method to perform a relative move, based on encoder counts. * Encoders are not reset as the move is based on the current position. * Move will stop if any of three conditions occur: * 1) Move gets to the desired position * 2) Move runs out of time * 3) Driver stops the opmode running. */ public void encoderDrive(double speed, double leftInches, double rightInches, double timeoutS) { int newLeftTarget; int newRightTarget; // Ensure that the opmode is still active if (opModeIsActive()) { // Determine new target position, and pass to motor controller newLeftTarget = robot.leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH); newRightTarget = robot.rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH); robot.leftDrive.setTargetPosition(newLeftTarget); robot.rightDrive.setTargetPosition(newRightTarget); // Turn On RUN_TO_POSITION robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); // reset the timeout time and start motion. runtime.reset(); robot.leftDrive.setPower(Math.abs(speed)); robot.rightDrive.setPower(Math.abs(speed)); // keep looping while we are still active, and there is time left, and both motors are running. // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits // its target position, the motion will stop. This is "safer" in the event that the robot will // always end the motion as soon as possible. // However, if you require that BOTH motors have finished their moves before the robot continues // onto the next step, use (isBusy() || isBusy()) in the loop test. while (opModeIsActive() && (runtime.seconds() < timeoutS) && (robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) { // Display it for the driver. telemetry.addData("Path1", "Running to %7d :%7d", newLeftTarget, newRightTarget); telemetry.addData("Path2", "Running at %7d :%7d", robot.leftDrive.getCurrentPosition(), robot.rightDrive.getCurrentPosition()); telemetry.update(); } // Stop all motion; robot.leftDrive.setPower(0); robot.rightDrive.setPower(0); // Turn off RUN_TO_POSITION robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // sleep(250); // optional pause after each move } } }