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things and stuff (stuff and things)

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This commit is contained in:
missing 2022-11-17 17:23:01 -06:00
parent 7c9b0999ce
commit 23155d1046
5 changed files with 194 additions and 5 deletions
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36
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonLeft.java Normal file
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@ -0,0 +1,36 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@Autonomous(name = "idk something left")
public class AutonLeft extends LinearOpMode {
Hardware hardware;
MovementAPI movement;
@Override
public void runOpMode() {
hardware = new Hardware(this);
movement = new MovementAPI(hardware);
hardware.wrist.setPosition(0.5);
sleep(500);
hardware.claw.setPosition(1);
waitForStart();
movement.move(0, 1, 0, 0.4);
sleep(1000);
movement.stop();
sleep(1000);
hardware.claw.setPosition(0);
sleep(1000);
movement.move(0, -1, 0, 0.4);
sleep(1000);
movement.stop();
sleep(1000);
movement.move(-1, 0, 0, 0.4);
sleep(2500);
movement.stop();
}
}

36
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonRight.java Normal file
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@ -0,0 +1,36 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@Autonomous(name = "idk something right")
public class AutonRight extends LinearOpMode {
Hardware hardware;
MovementAPI movement;
@Override
public void runOpMode() {
hardware = new Hardware(this);
movement = new MovementAPI(hardware);
hardware.wrist.setPosition(0.5);
sleep(500);
hardware.claw.setPosition(1);
waitForStart();
movement.move(0, 1, 0, 0.4);
sleep(1000);
movement.stop();
sleep(1000);
hardware.claw.setPosition(0);
sleep(1000);
movement.move(0, -1, 0, 0.4);
sleep(1000);
movement.stop();
sleep(1000);
movement.move(1, 0, 0, 0.4);
sleep(2500);
movement.stop();
}
}

46
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java Normal file
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@ -0,0 +1,46 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@TeleOp(name = "BBBBBBBBB")
public class Gamepad extends OpMode {
Hardware hardware;
MovementAPI movement;
double speed = 0.6;
@Override
public void init() {
hardware = new Hardware(this);
movement = new MovementAPI(hardware);
hardware.claw.setPosition(1);
hardware.wrist.setPosition(0.5);
}
@Override
public void loop() {
if (gamepad1.left_bumper) {
speed -= 0.005;
}
if (gamepad1.right_bumper) {
speed += 0.005;
}
speed = Math.max(0, Math.min(speed, 1));
hardware.spool.setPower(gamepad2.left_stick_y);
hardware.claw.setPosition(1 - gamepad2.left_trigger);
hardware.wrist.setPosition((-gamepad2.right_stick_y + 1) / 2);
movement.move(
gamepad1.left_stick_x,
-gamepad1.left_stick_y,
gamepad1.right_stick_x,
speed
);
telemetry.addLine(speed + "");
}
}

59
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java Normal file
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@ -0,0 +1,59 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
public class Hardware {
public final DcMotor fl;
public final DcMotor fr;
public final DcMotor bl;
public final DcMotor br;
public final DcMotor spool;
public final Servo claw;
public final Servo wrist;
public final BNO055IMU imu;
public Hardware(OpMode opMode) {
this(opMode.hardwareMap);
}
public Hardware(HardwareMap hardwareMap) {
this.fl = hardwareMap.get(DcMotor.class, "fl");
this.fr = hardwareMap.get(DcMotor.class, "fr");
this.bl = hardwareMap.get(DcMotor.class, "bl");
this.br = hardwareMap.get(DcMotor.class, "br");
this.fl.setDirection(DcMotorSimple.Direction.REVERSE);
this.bl.setDirection(DcMotorSimple.Direction.REVERSE);
this.fr.setDirection(DcMotorSimple.Direction.FORWARD);
this.br.setDirection(DcMotorSimple.Direction.FORWARD);
this.fl.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.fr.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.bl.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.br.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.spool = hardwareMap.get(DcMotor.class, "spool");
this.claw = hardwareMap.get(Servo.class, "claw");
this.wrist = hardwareMap.get(Servo.class, "wrist");
this.imu = hardwareMap.get(BNO055IMU.class, "imu");
this.wrist.scaleRange(0.25, 1);
}
public void initIMU() {
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.calibrationDataFile = "BNO055IMUCalibration.json";
this.imu.initialize(parameters);
this.imu.startAccelerationIntegration(new Position(), new Velocity(), 1);
}
}

22
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementAPI.java
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@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
import com.qualcomm.robotcore.hardware.HardwareMap;
public class MovementAPI {
private final DcMotor fl;
@ -14,16 +15,20 @@ public class MovementAPI {
public DcMotor getBL() { return this.bl; }
public DcMotor getBR() { return this.br; }
public MovementAPI(Hardware hardware) {
this(
hardware.fl,
hardware.fr,
hardware.bl,
hardware.br
);
}
public MovementAPI(DcMotor fl, DcMotor fr, DcMotor bl, DcMotor br) {
this.fl = fl;
this.fr = fr;
this.bl = bl;
this.br = br;
fl.setDirection(Direction.REVERSE);
bl.setDirection(Direction.REVERSE);
fr.setDirection(Direction.FORWARD);
br.setDirection(Direction.FORWARD);
}
public void move(double powerX, double powerY, double turn, double speed) {
@ -43,4 +48,11 @@ public class MovementAPI {
bl.setPower(blPower);
br.setPower(brPower);
}
public void stop() {
fl.setPower(0);
fr.setPower(0);
bl.setPower(0);
br.setPower(0);
}
}