130 lines
6.3 KiB
Java
130 lines
6.3 KiB
Java
/* Copyright (c) 2017 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.robotcontroller.external.samples;
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import com.qualcomm.hardware.kauailabs.NavxMicroNavigationSensor;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.Gyroscope;
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import com.qualcomm.robotcore.hardware.IntegratingGyroscope;
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import com.qualcomm.robotcore.util.ElapsedTime;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
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import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
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import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
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import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
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/*
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* This is an example LinearOpMode that shows how to use Kauai Labs navX Micro Robotics Navigation
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* Sensor. It assumes that the sensor is configured with a name of "navx".
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
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*/
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@TeleOp(name = "Sensor: KL navX Micro", group = "Sensor")
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@Disabled
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public class SensorKLNavxMicro extends LinearOpMode {
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/** In this sample, for illustration purposes we use two interfaces on the one gyro object.
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* That's likely atypical: you'll probably use one or the other in any given situation,
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* depending on what you're trying to do. {@link IntegratingGyroscope} (and it's base interface,
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* {@link Gyroscope}) are common interfaces supported by possibly several different gyro
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* implementations. {@link NavxMicroNavigationSensor}, by contrast, provides functionality that
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* is unique to the navX Micro sensor.
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*/
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IntegratingGyroscope gyro;
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NavxMicroNavigationSensor navxMicro;
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// A timer helps provide feedback while calibration is taking place
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ElapsedTime timer = new ElapsedTime();
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@Override public void runOpMode() throws InterruptedException {
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// Get a reference to a Modern Robotics GyroSensor object. We use several interfaces
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// on this object to illustrate which interfaces support which functionality.
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navxMicro = hardwareMap.get(NavxMicroNavigationSensor.class, "navx");
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gyro = (IntegratingGyroscope)navxMicro;
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// If you're only interested int the IntegratingGyroscope interface, the following will suffice.
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// gyro = hardwareMap.get(IntegratingGyroscope.class, "navx");
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// The gyro automatically starts calibrating. This takes a few seconds.
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telemetry.log().add("Gyro Calibrating. Do Not Move!");
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// Wait until the gyro calibration is complete
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timer.reset();
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while (navxMicro.isCalibrating()) {
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telemetry.addData("calibrating", "%s", Math.round(timer.seconds())%2==0 ? "|.." : "..|");
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telemetry.update();
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Thread.sleep(50);
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}
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telemetry.log().clear(); telemetry.log().add("Gyro Calibrated. Press Start.");
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telemetry.clear(); telemetry.update();
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// Wait for the start button to be pressed
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waitForStart();
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telemetry.log().clear();
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while (opModeIsActive()) {
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// Read dimensionalized data from the gyro. This gyro can report angular velocities
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// about all three axes. Additionally, it internally integrates the Z axis to
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// be able to report an absolute angular Z orientation.
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AngularVelocity rates = gyro.getAngularVelocity(AngleUnit.DEGREES);
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Orientation angles = gyro.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
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telemetry.addLine()
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.addData("dx", formatRate(rates.xRotationRate))
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.addData("dy", formatRate(rates.yRotationRate))
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.addData("dz", "%s deg/s", formatRate(rates.zRotationRate));
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telemetry.addLine()
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.addData("heading", formatAngle(angles.angleUnit, angles.firstAngle))
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.addData("roll", formatAngle(angles.angleUnit, angles.secondAngle))
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.addData("pitch", "%s deg", formatAngle(angles.angleUnit, angles.thirdAngle));
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telemetry.update();
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idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
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}
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}
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String formatRate(float rate) {
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return String.format("%.3f", rate);
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}
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String formatAngle(AngleUnit angleUnit, double angle) {
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return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
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}
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String formatDegrees(double degrees){
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return String.format("%.1f", AngleUnit.DEGREES.normalize(degrees));
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}
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}
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