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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.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.util.ElapsedTime; /** * This file illustrates the concept of driving a path based on encoder counts. * The code is structured as a LinearOpMode * * The code REQUIRES that you DO have encoders on the wheels, * otherwise you would use: RobotAutoDriveByTime; * * This code ALSO requires that the drive Motors have been configured such that a positive * power command moves them forward, and causes the encoders to count UP. * * The desired path in this example is: * - Drive forward for 48 inches * - Spin right for 12 Inches * - Drive Backward for 24 inches * - Stop and close the claw. * * The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS) * that performs the actual movement. * This method assumes that each movement is relative to the last stopping place. * There are other ways to perform encoder based moves, but this method is probably the simplest. * This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile * * 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 */ @Autonomous(name="Robot: Auto Drive By Encoder", group="Robot") @Disabled public class RobotAutoDriveByEncoder_Linear extends LinearOpMode { /* Declare OpMode members. */ private DcMotor leftDrive = null; private DcMotor rightDrive = null; private ElapsedTime runtime = new ElapsedTime(); // Calculate the COUNTS_PER_INCH for your specific drive train. // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed. // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear. // This is gearing DOWN for less speed and more torque. // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation. static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder static final double DRIVE_GEAR_REDUCTION = 1.0 ; // No External Gearing. static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (WHEEL_DIAMETER_INCHES * 3.1415); static final double DRIVE_SPEED = 0.6; static final double TURN_SPEED = 0.5; @Override public void runOpMode() { // Initialize the drive system variables. leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // When run, this OpMode should start both motors driving 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); leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // Send telemetry message to indicate successful Encoder reset telemetry.addData("Starting at", "%7d :%7d", leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition()); telemetry.update(); // Wait for the game to start (driver presses PLAY) waitForStart(); // Step through each leg of the path, // Note: Reverse movement is obtained by setting a negative distance (not speed) encoderDrive(DRIVE_SPEED, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout telemetry.addData("Path", "Complete"); telemetry.update(); sleep(1000); // pause to display final telemetry message. } /* * Method to perform a relative move, based on encoder counts. * Encoders are not reset as the move is based on the current position. * Move will stop if any of three conditions occur: * 1) Move gets to the desired position * 2) Move runs out of time * 3) Driver stops the opmode running. */ public void encoderDrive(double speed, double leftInches, double rightInches, double timeoutS) { int newLeftTarget; int newRightTarget; // Ensure that the opmode is still active if (opModeIsActive()) { // Determine new target position, and pass to motor controller newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH); newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH); leftDrive.setTargetPosition(newLeftTarget); rightDrive.setTargetPosition(newRightTarget); // Turn On RUN_TO_POSITION leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); // reset the timeout time and start motion. runtime.reset(); leftDrive.setPower(Math.abs(speed)); rightDrive.setPower(Math.abs(speed)); // keep looping while we are still active, and there is time left, and both motors are running. // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits // its target position, the motion will stop. This is "safer" in the event that the robot will // always end the motion as soon as possible. // However, if you require that BOTH motors have finished their moves before the robot continues // onto the next step, use (isBusy() || isBusy()) in the loop test. while (opModeIsActive() && (runtime.seconds() < timeoutS) && (leftDrive.isBusy() && rightDrive.isBusy())) { // Display it for the driver. telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget); telemetry.addData("Currently at", " at %7d :%7d", leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition()); telemetry.update(); } // Stop all motion; leftDrive.setPower(0); rightDrive.setPower(0); // Turn off RUN_TO_POSITION leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); sleep(250); // optional pause after each move. } } }