/* Copyright (c) 2017 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.OpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.util.Range; /** * This particular OpMode executes a Tank Drive control TeleOp a direct drive robot * The code is structured as an Iterative OpMode * * In this mode, the left and right joysticks control the left and right motors respectively. * Pushing a joystick forward will make the attached motor drive forward. * It raises and lowers the claw using the Gamepad Y and A buttons respectively. * It also opens and closes the claws slowly using the left and right Bumper buttons. * * 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="Robot: Teleop Tank", group="Robot") @Disabled public class RobotTeleopTank_Iterative extends OpMode{ /* Declare OpMode members. */ public DcMotor leftDrive = null; public DcMotor rightDrive = null; public DcMotor leftArm = null; public Servo leftClaw = null; public Servo rightClaw = null; double clawOffset = 0; public static final double MID_SERVO = 0.5 ; public static final double CLAW_SPEED = 0.02 ; // sets rate to move servo public static final double ARM_UP_POWER = 0.50 ; // Run arm motor up at 50% power public static final double ARM_DOWN_POWER = -0.25 ; // Run arm motor down at -25% power /* * Code to run ONCE when the driver hits INIT */ @Override public void init() { // Define and Initialize Motors leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); leftArm = hardwareMap.get(DcMotor.class, "left_arm"); // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // Pushing the left and right sticks forward MUST make robot go forward. So adjust these two lines based on your first test drive. // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips leftDrive.setDirection(DcMotor.Direction.REVERSE); rightDrive.setDirection(DcMotor.Direction.FORWARD); // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // Define and initialize ALL installed servos. leftClaw = hardwareMap.get(Servo.class, "left_hand"); rightClaw = hardwareMap.get(Servo.class, "right_hand"); leftClaw.setPosition(MID_SERVO); rightClaw.setPosition(MID_SERVO); // Send telemetry message to signify robot waiting; telemetry.addData(">", "Robot Ready. Press Play."); // } /* * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY */ @Override public void init_loop() { } /* * Code to run ONCE when the driver hits PLAY */ @Override public void start() { } /* * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP */ @Override public void loop() { double left; double right; // Run wheels in tank mode (note: The joystick goes negative when pushed forward, so negate it) left = -gamepad1.left_stick_y; right = -gamepad1.right_stick_y; leftDrive.setPower(left); rightDrive.setPower(right); // Use gamepad left & right Bumpers to open and close the claw if (gamepad1.right_bumper) clawOffset += CLAW_SPEED; else if (gamepad1.left_bumper) clawOffset -= CLAW_SPEED; // Move both servos to new position. Assume servos are mirror image of each other. clawOffset = Range.clip(clawOffset, -0.5, 0.5); leftClaw.setPosition(MID_SERVO + clawOffset); rightClaw.setPosition(MID_SERVO - clawOffset); // Use gamepad buttons to move the arm up (Y) and down (A) if (gamepad1.y) leftArm.setPower(ARM_UP_POWER); else if (gamepad1.a) leftArm.setPower(ARM_DOWN_POWER); else leftArm.setPower(0.0); // Send telemetry message to signify robot running; telemetry.addData("claw", "Offset = %.2f", clawOffset); telemetry.addData("left", "%.2f", left); telemetry.addData("right", "%.2f", right); } /* * Code to run ONCE after the driver hits STOP */ @Override public void stop() { } }