From 439a5bf491b72fa9aff67dd424155fd9b0476a00 Mon Sep 17 00:00:00 2001 From: Cal Kestis Date: Thu, 23 Dec 2021 12:41:34 -0800 Subject: [PATCH] FtcRobotController v7.1 --- .../src/main/AndroidManifest.xml | 4 +- .../samples/BasicOmniOpMode_Linear.java | 158 ++++++++++++++++++ .../main/res/menu/ftc_robot_controller.xml | 19 ++- README.md | 24 ++- build.dependencies.gradle | 16 +- 5 files changed, 200 insertions(+), 21 deletions(-) create mode 100644 FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java diff --git a/FtcRobotController/src/main/AndroidManifest.xml b/FtcRobotController/src/main/AndroidManifest.xml index 127ef3f..5da443e 100644 --- a/FtcRobotController/src/main/AndroidManifest.xml +++ b/FtcRobotController/src/main/AndroidManifest.xml @@ -2,8 +2,8 @@ + android:versionCode="44" + android:versionName="7.1"> diff --git a/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java new file mode 100644 index 0000000..205a882 --- /dev/null +++ b/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java @@ -0,0 +1,158 @@ +/* Copyright (c) 2021 FIRST. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted (subject to the limitations in the disclaimer below) provided that + * the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * Neither the name of FIRST nor the names of its contributors may be used to endorse or + * promote products derived from this software without specific prior written permission. + * + * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS + * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +package org.firstinspires.ftc.robotcontroller.external.samples; + +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; + +/** + * This file contains an example of a Linear "OpMode". + * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match. + * The names of OpModes appear on the menu of the FTC Driver Station. + * When a selection is made from the menu, the corresponding OpMode is executed. + * + * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot. + * This code will work with either a Mecanum-Drive or an X-Drive train. + * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html + * Note that a Mecanum drive must display an X roller-pattern when viewed from above. + * + * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously. + * Each motion axis is controlled by one Joystick axis. + * + * 1) Axial: Driving forward and backwards Left-joystick Forward/Backwards + * 2) Lateral: Strafing right and left Left-joystick Right and Left + * 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left + * + * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward. + * When you first test your robot, if it moves backwards when you push the left stick forward, then you must flip + * the direction of all 4 motors (see code below). + * + * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. + * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list + */ + +@TeleOp(name="Basic: Omni Linear OpMode", group="Linear Opmode") +@Disabled +public class BasicOmniOpMode_Linear extends LinearOpMode { + + // Declare OpMode members for each of the 4 motors. + private ElapsedTime runtime = new ElapsedTime(); + private DcMotor leftFrontDrive = null; + private DcMotor leftBackDrive = null; + private DcMotor rightFrontDrive = null; + private DcMotor rightBackDrive = null; + + @Override + public void runOpMode() { + + // Initialize the hardware variables. Note that the strings used here must correspond + // to the names assigned during the robot configuration step on the DS or RC devices. + leftFrontDrive = hardwareMap.get(DcMotor.class, "left_front_drive"); + leftBackDrive = hardwareMap.get(DcMotor.class, "left_back_drive"); + rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive"); + rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive"); + + // Most robots need the motors on one side to be reversed to drive forward. + // When you first test your robot, push the left joystick forward + // and flip the direction ( FORWARD <-> REVERSE ) of any wheel that runs backwards + leftFrontDrive.setDirection(DcMotor.Direction.REVERSE); + leftBackDrive.setDirection(DcMotor.Direction.REVERSE); + rightFrontDrive.setDirection(DcMotor.Direction.FORWARD); + rightBackDrive.setDirection(DcMotor.Direction.FORWARD); + + // Wait for the game to start (driver presses PLAY) + telemetry.addData("Status", "Initialized"); + telemetry.update(); + + waitForStart(); + runtime.reset(); + + // run until the end of the match (driver presses STOP) + while (opModeIsActive()) { + double max; + + // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate. + double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value + double lateral = gamepad1.left_stick_x; + double yaw = gamepad1.right_stick_x; + + // Combine the joystick requests for each axis-motion to determine each wheel's power. + // Set up a variable for each drive wheel to save the power level for telemetry. + double leftFrontPower = axial + lateral + yaw; + double rightFrontPower = axial - lateral - yaw; + double leftBackPower = axial - lateral + yaw; + double rightBackPower = axial + lateral - yaw; + + // Normalize the values so no wheel power exceeds 100% + // This ensures that the robot maintains the desired motion. + max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower)); + max = Math.max(max, Math.abs(leftBackPower)); + max = Math.max(max, Math.abs(rightBackPower)); + + if (max > 1.0) { + leftFrontPower /= max; + rightFrontPower /= max; + leftBackPower /= max; + rightBackPower /= max; + } + + // This is test code: + // + // Uncomment the following code to test your motor directions. + // Each button should make the corresponding motor run FORWARD. + // 1) First get all the motors to take to correct positions on the robot + // by adjusting your Robot Configuration if necessary. + // 2) Then make sure they run in the correct direction by modifying the + // the setDirection() calls above. + // Once the correct motors move in the correct direction re-comment this code. + + /* + leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad + leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad + rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad + rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad + */ + + // Send calculated power to wheels + leftFrontDrive.setPower(leftFrontPower); + rightFrontDrive.setPower(rightFrontPower); + leftBackDrive.setPower(leftBackPower); + rightBackDrive.setPower(rightBackPower); + + // Show the elapsed game time and wheel power. + telemetry.addData("Status", "Run Time: " + runtime.toString()); + telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower); + telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower); + telemetry.update(); + } + }} diff --git a/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml b/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml index d14a89f..657c1aa 100644 --- a/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml +++ b/FtcRobotController/src/main/res/menu/ftc_robot_controller.xml @@ -31,36 +31,37 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --> - + + android:id="@+id/action_inspection_mode" + android:orderInCategory="600" + app:showAsAction="never" + android:title="@string/inspection_mode_menu_item"/>