168 lines
7.5 KiB
Java
168 lines
7.5 KiB
Java
/* Copyright (c) 2022 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.robotcontroller.external.samples;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.Servo;
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import com.qualcomm.robotcore.util.Range;
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/**
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* This file works in conjunction with the External Hardware Class sample called: ConceptExternalHardwareClass.java
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* Please read the explanations in that Sample about how to use this class definition.
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*
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* This file defines a Java Class that performs all the setup and configuration for a sample robot's hardware (motors and sensors).
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* It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand)
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*
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* This one file/class can be used by ALL of your OpModes without having to cut & paste the code each time.
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*
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* Where possible, the actual hardware objects are "abstracted" (or hidden) so the OpMode code just makes calls into the class,
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* rather than accessing the internal hardware directly. This is why the objects are declared "private".
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with *exactly the same name*.
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*
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* Or.. In OnBot Java, add a new file named RobotHardware.java, drawing from this Sample; select Not an OpMode.
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* Also add a new OpMode, drawing from the Sample ConceptExternalHardwareClass.java; select TeleOp.
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*
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*/
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public class RobotHardware {
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/* Declare OpMode members. */
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private LinearOpMode myOpMode = null; // gain access to methods in the calling OpMode.
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// Define Motor and Servo objects (Make them private so they can't be accessed externally)
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private DcMotor leftDrive = null;
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private DcMotor rightDrive = null;
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private DcMotor armMotor = null;
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private Servo leftHand = null;
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private Servo rightHand = null;
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// Define Drive constants. Make them public so they CAN be used by the calling OpMode
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public static final double MID_SERVO = 0.5 ;
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public static final double HAND_SPEED = 0.02 ; // sets rate to move servo
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public static final double ARM_UP_POWER = 0.45 ;
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public static final double ARM_DOWN_POWER = -0.45 ;
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// Define a constructor that allows the OpMode to pass a reference to itself.
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public RobotHardware (LinearOpMode opmode) {
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myOpMode = opmode;
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}
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/**
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* Initialize all the robot's hardware.
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* This method must be called ONCE when the OpMode is initialized.
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*
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* All of the hardware devices are accessed via the hardware map, and initialized.
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*/
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public void init() {
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// Define and Initialize Motors (note: need to use reference to actual OpMode).
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leftDrive = myOpMode.hardwareMap.get(DcMotor.class, "left_drive");
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rightDrive = myOpMode.hardwareMap.get(DcMotor.class, "right_drive");
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armMotor = myOpMode.hardwareMap.get(DcMotor.class, "arm");
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// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
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// Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
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// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
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leftDrive.setDirection(DcMotor.Direction.REVERSE);
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rightDrive.setDirection(DcMotor.Direction.FORWARD);
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// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
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// leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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// rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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// Define and initialize ALL installed servos.
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leftHand = myOpMode.hardwareMap.get(Servo.class, "left_hand");
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rightHand = myOpMode.hardwareMap.get(Servo.class, "right_hand");
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leftHand.setPosition(MID_SERVO);
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rightHand.setPosition(MID_SERVO);
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myOpMode.telemetry.addData(">", "Hardware Initialized");
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myOpMode.telemetry.update();
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}
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/**
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* Calculates the left/right motor powers required to achieve the requested
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* robot motions: Drive (Axial motion) and Turn (Yaw motion).
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* Then sends these power levels to the motors.
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*
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* @param Drive Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
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* @param Turn Right/Left turning power (-1.0 to 1.0) +ve is CW
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*/
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public void driveRobot(double Drive, double Turn) {
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// Combine drive and turn for blended motion.
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double left = Drive + Turn;
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double right = Drive - Turn;
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// Scale the values so neither exceed +/- 1.0
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double max = Math.max(Math.abs(left), Math.abs(right));
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if (max > 1.0)
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{
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left /= max;
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right /= max;
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}
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// Use existing function to drive both wheels.
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setDrivePower(left, right);
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}
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/**
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* Pass the requested wheel motor powers to the appropriate hardware drive motors.
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*
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* @param leftWheel Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
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* @param rightWheel Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
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*/
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public void setDrivePower(double leftWheel, double rightWheel) {
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// Output the values to the motor drives.
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leftDrive.setPower(leftWheel);
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rightDrive.setPower(rightWheel);
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}
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/**
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* Pass the requested arm power to the appropriate hardware drive motor
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*
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* @param power driving power (-1.0 to 1.0)
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*/
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public void setArmPower(double power) {
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armMotor.setPower(power);
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}
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/**
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* Send the two hand-servos to opposing (mirrored) positions, based on the passed offset.
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*
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* @param offset
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*/
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public void setHandPositions(double offset) {
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offset = Range.clip(offset, -0.5, 0.5);
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leftHand.setPosition(MID_SERVO + offset);
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rightHand.setPosition(MID_SERVO - offset);
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}
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}
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