From 450acf62c6d165912b3c02ac168a963be789170c Mon Sep 17 00:00:00 2001 From: RiftBladeMC Date: Fri, 29 Oct 2021 17:45:54 -0500 Subject: [PATCH] Push --- .idea/misc.xml | 5 +- .../samples/SensorBNO055IMUCalibration.java | 2 +- .../org/firstinspires/ftc/teamcode/API.java | 3 +- .../firstinspires/ftc/teamcode/Gamepad.java | 2 +- .../firstinspires/ftc/teamcode/IMUOpMode.java | 62 +++++++++++++++++++ build.gradle | 2 +- gradle/wrapper/gradle-wrapper.properties | 2 +- 7 files changed, 71 insertions(+), 7 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IMUOpMode.java diff --git a/.idea/misc.xml b/.idea/misc.xml index 3125607..6f33781 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -1,8 +1,9 @@ - - + + + diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java index 064e8a4..a89e0af 100644 --- a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java @@ -99,7 +99,7 @@ import java.util.Locale; * @see BNO055 specification */ @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 { //---------------------------------------------------------------------------------------------- diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java index 1e53f2a..ff9e1fe 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java @@ -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() { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java index 263d225..274193b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java @@ -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"); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IMUOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IMUOpMode.java new file mode 100644 index 0000000..577569e --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IMUOpMode.java @@ -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()