122 lines
5.2 KiB
Java
122 lines
5.2 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.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.CompassSensor;
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import com.qualcomm.robotcore.util.ElapsedTime;
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/**
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* This file illustrates the concept of calibrating a MR Compass
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* It uses the common Pushbot hardware class to define the drive on the robot.
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* The code is structured as a LinearOpMode
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*
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* This code assumes there is a compass configured with the name "compass"
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*
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* This code will put the compass into calibration mode, wait three seconds and then attempt
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* to rotate two full turns clockwise. This will allow the compass to do a magnetic calibration.
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*
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* Once compete, the program will put the compass back into measurement mode and check to see if the
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* calibration was successful.
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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="Concept: Compass Calibration", group="Concept")
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@Disabled
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public class ConceptCompassCalibration extends LinearOpMode {
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/* Declare OpMode members. */
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HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
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private ElapsedTime runtime = new ElapsedTime();
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CompassSensor compass;
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final static double MOTOR_POWER = 0.2; // scale from 0 to 1
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static final long HOLD_TIME_MS = 3000;
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static final double CAL_TIME_SEC = 20;
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@Override
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public void runOpMode() {
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/* Initialize the drive system variables.
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* The init() method of the hardware class does all the work here
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*/
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robot.init(hardwareMap);
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// get a reference to our Compass Sensor object.
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compass = hardwareMap.get(CompassSensor.class, "compass");
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// Send telemetry message to signify robot waiting;
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telemetry.addData("Status", "Ready to cal"); //
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telemetry.update();
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// Wait for the game to start (driver presses PLAY)
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waitForStart();
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// Set the compass to calibration mode
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compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE);
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telemetry.addData("Compass", "Compass in calibration mode");
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telemetry.update();
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sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes
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// Start the robot rotating clockwise
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telemetry.addData("Compass", "Calibration mode. Turning the robot...");
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telemetry.update();
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robot.leftDrive.setPower(MOTOR_POWER);
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robot.rightDrive.setPower(-MOTOR_POWER);
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// run until time expires OR the driver presses STOP;
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runtime.reset();
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while (opModeIsActive() && (runtime.time() < CAL_TIME_SEC)) {
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idle();
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}
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// Stop all motors and turn off claibration
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robot.leftDrive.setPower(0);
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robot.rightDrive.setPower(0);
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compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
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telemetry.addData("Compass", "Returning to measurement mode");
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telemetry.update();
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sleep(HOLD_TIME_MS); // Just do a sleep while we switch modes
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// Report whether the Calibration was successful or not.
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if (compass.calibrationFailed())
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telemetry.addData("Compass", "Calibrate Failed. Try Again!");
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else
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telemetry.addData("Compass", "Calibrate Passed.");
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telemetry.update();
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}
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}
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