135 lines
5.8 KiB
Java
135 lines
5.8 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.util.Range;
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/**
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* This OpMode uses the common Pushbot hardware class to define the devices on the robot.
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* All device access is managed through the HardwarePushbot class.
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* The code is structured as a LinearOpMode
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*
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* This particular OpMode executes a POV Game style Teleop for a PushBot
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* In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
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* It raises and lowers the claw using the Gampad Y and A buttons respectively.
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* It also opens and closes the claws slowly using the left and right Bumper buttons.
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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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@TeleOp(name="Pushbot: Teleop POV", group="Pushbot")
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@Disabled
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public class PushbotTeleopPOV_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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double clawOffset = 0; // Servo mid position
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final double CLAW_SPEED = 0.02 ; // sets rate to move servo
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@Override
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public void runOpMode() {
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double left;
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double right;
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double drive;
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double turn;
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double max;
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/* Initialize the hardware 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("Say", "Hello Driver"); //
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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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// run until the end of the match (driver presses STOP)
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while (opModeIsActive()) {
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// Run wheels in POV mode (note: The joystick goes negative when pushed forwards, so negate it)
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// In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right.
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// This way it's also easy to just drive straight, or just turn.
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drive = -gamepad1.left_stick_y;
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turn = gamepad1.right_stick_x;
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// Combine drive and turn for blended motion.
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left = drive + turn;
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right = drive - turn;
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// Normalize the values so neither exceed +/- 1.0
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max = Math.max(Math.abs(left), Math.abs(right));
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if (max > 1.0)
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{
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left /= max;
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right /= max;
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}
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// Output the safe vales to the motor drives.
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robot.leftDrive.setPower(left);
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robot.rightDrive.setPower(right);
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// Use gamepad left & right Bumpers to open and close the claw
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if (gamepad1.right_bumper)
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clawOffset += CLAW_SPEED;
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else if (gamepad1.left_bumper)
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clawOffset -= CLAW_SPEED;
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// Move both servos to new position. Assume servos are mirror image of each other.
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clawOffset = Range.clip(clawOffset, -0.5, 0.5);
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robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
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robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);
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// Use gamepad buttons to move arm up (Y) and down (A)
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if (gamepad1.y)
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robot.leftArm.setPower(robot.ARM_UP_POWER);
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else if (gamepad1.a)
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robot.leftArm.setPower(robot.ARM_DOWN_POWER);
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else
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robot.leftArm.setPower(0.0);
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// Send telemetry message to signify robot running;
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telemetry.addData("claw", "Offset = %.2f", clawOffset);
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telemetry.addData("left", "%.2f", left);
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telemetry.addData("right", "%.2f", right);
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telemetry.update();
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// Pace this loop so jaw action is reasonable speed.
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sleep(50);
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}
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}
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}
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