126 lines
5.1 KiB
Java
126 lines
5.1 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.Autonomous;
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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.util.ElapsedTime;
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/**
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* This file illustrates the concept of driving a path based on time.
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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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* The code assumes that you do NOT have encoders on the wheels,
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* otherwise you would use: PushbotAutoDriveByEncoder;
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*
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* The desired path in this example is:
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* - Drive forward for 3 seconds
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* - Spin right for 1.3 seconds
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* - Drive Backwards for 1 Second
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* - Stop and close the claw.
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*
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* The code is written in a simple form with no optimizations.
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* However, there are several ways that this type of sequence could be streamlined,
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*
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* Use Android Studios 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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@Autonomous(name="Pushbot: Auto Drive By Time", group="Pushbot")
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@Disabled
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public class PushbotAutoDriveByTime_Linear 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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static final double FORWARD_SPEED = 0.6;
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static final double TURN_SPEED = 0.5;
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@Override
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public void runOpMode() {
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/*
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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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// Send telemetry message to signify robot waiting;
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telemetry.addData("Status", "Ready to run"); //
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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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// Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
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// Step 1: Drive forward for 3 seconds
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robot.leftDrive.setPower(FORWARD_SPEED);
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robot.rightDrive.setPower(FORWARD_SPEED);
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runtime.reset();
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while (opModeIsActive() && (runtime.seconds() < 3.0)) {
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telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
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telemetry.update();
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}
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// Step 2: Spin right for 1.3 seconds
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robot.leftDrive.setPower(TURN_SPEED);
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robot.rightDrive.setPower(-TURN_SPEED);
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runtime.reset();
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while (opModeIsActive() && (runtime.seconds() < 1.3)) {
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telemetry.addData("Path", "Leg 2: %2.5f S Elapsed", runtime.seconds());
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telemetry.update();
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}
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// Step 3: Drive Backwards for 1 Second
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robot.leftDrive.setPower(-FORWARD_SPEED);
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robot.rightDrive.setPower(-FORWARD_SPEED);
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runtime.reset();
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while (opModeIsActive() && (runtime.seconds() < 1.0)) {
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telemetry.addData("Path", "Leg 3: %2.5f S Elapsed", runtime.seconds());
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telemetry.update();
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}
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// Step 4: Stop and close the claw.
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robot.leftDrive.setPower(0);
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robot.rightDrive.setPower(0);
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robot.leftClaw.setPosition(1.0);
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robot.rightClaw.setPosition(0.0);
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telemetry.addData("Path", "Complete");
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telemetry.update();
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sleep(1000);
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}
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}
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