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This commit is contained in:
RiftBladeMC 2021-10-29 17:45:54 -05:00
parent ae5e442336
commit 450acf62c6
7 changed files with 71 additions and 7 deletions
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5
.idea/misc.xml
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@ -1,8 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="EntryPointsManager">
<list size="1">
<item index="0" class="java.lang.String" itemvalue="com.qualcomm.robotcore.eventloop.opmode.TeleOp" />
<list size="2">
<item index="0" class="java.lang.String" itemvalue="com.qualcomm.robotcore.eventloop.opmode.Autonomous" />
<item index="1" class="java.lang.String" itemvalue="com.qualcomm.robotcore.eventloop.opmode.TeleOp" />
</list>
</component>
<component name="ExternalStorageConfigurationManager" enabled="true" />

2
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java vendored
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@ -99,7 +99,7 @@ import java.util.Locale;
* @see <a href="https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf">BNO055 specification</a>
*/
@TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
@Disabled // Uncomment this to add to the opmode list
// @Disabled // Uncomment this to add to the opmode list
public class SensorBNO055IMUCalibration extends LinearOpMode
{
//----------------------------------------------------------------------------------------------

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java
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@ -122,7 +122,7 @@ public class API {
}
public static class HubIMU {
private final BNO055IMU imu;
public final BNO055IMU imu;
private final String name;
private double zeroPos;
@ -139,6 +139,7 @@ public class API {
parameters.pitchMode = BNO055IMU.PitchMode.WINDOWS;
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
parameters.calibrationDataFile = "AdafruitIMUCalibration.json";
imu.initialize(parameters);
}
private double[] getAngles() {

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java
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@ -14,7 +14,7 @@ public class Gamepad extends OpMode {
API.print("Status", "Initializing, please wait");
API.pause(1);
MovementAPI.init(API.Motor.M0, API.Motor.M1, API.Motor.M3, API.Motor.M2);
MovementAPI.init(API.Motor.M0, API.Motor.M1, API.Motor.M2, API.Motor.M3);
API.clear();
API.print("Press play to start");

62
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IMUOpMode.java Normal file
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@ -0,0 +1,62 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@Autonomous(name="IMU Code Reborn")
public class IMUOpMode extends OpMode {
DcMotor frontLeft, frontRight, backLeft, backRight;
BNO055IMU imu;
long loop = Long.MAX_VALUE;
int ms = 100;
@Override
public void init() {
API.init(this);
frontLeft = hardwareMap.get(DcMotor.class, "m0");
frontRight = hardwareMap.get(DcMotor.class, "m1");
backLeft = hardwareMap.get(DcMotor.class, "m2");
backRight = hardwareMap.get(DcMotor.class, "m3");
imu = API.imu.imu;
//imu = hardwareMap.get(BNO055IMU.class, "imu");
}
@Override
public void start() {
imu.startAccelerationIntegration(new Position(DistanceUnit.METER, 1, 2, 0, 0), new Velocity(DistanceUnit.METER, 0, 0, 0, 0), ms);
loop = System.currentTimeMillis()+ms;
}
@Override
public void loop() {
while (System.currentTimeMillis()<loop);
Position currentPosition = imu.getPosition().toUnit(DistanceUnit.METER);
Velocity currentVelocity = imu.getVelocity().toUnit(DistanceUnit.METER);
Acceleration currentAcceleration = imu.getAcceleration().toUnit(DistanceUnit.METER);
API.print(
currentPosition.y + " " + currentPosition.x + "\n" +
currentVelocity.yVeloc + " " + currentVelocity.xVeloc + "\n" +
currentAcceleration.yAccel + " " + currentAcceleration.xAccel
);
/*double x2 = x+currentPosition.y;
double y2 = y-currentPosition.x;
API.print("X, Y", x2 +", " + y2);
double flbr = y2+x2;
double frbl = y2-x2;
double max = 2.5*Math.max(Math.abs(flbr),Math.abs(frbl));
flbr/=max;
frbl/=max;
frontLeft.setPower(flbr);
frontRight.setPower(frbl);
backLeft.setPower(-frbl);
backRight.setPower(-flbr);*/
loop+=ms;
}
}

2
build.gradle
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@ -15,7 +15,7 @@ buildscript {
jcenter()
}
dependencies {
classpath 'com.android.tools.build:gradle:4.0.1'
classpath 'com.android.tools.build:gradle:7.0.3'
}
}

2
gradle/wrapper/gradle-wrapper.properties vendored
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@ -3,4 +3,4 @@ distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-7.0.2-all.zip