184 lines
10 KiB
Java
184 lines
10 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 static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
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import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.IMU;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
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import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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/**
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* {@link SensorIMUNonOrthogonal} shows how to use the new universal {@link IMU} interface. This
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* interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
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* on the robot with the name "imu".
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* <p>
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* The sample will display the current Yaw, Pitch and Roll of the robot.<br>
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* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
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* <p>
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* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
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* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
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* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
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* <p>
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* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
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* <p>
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* This specific sample DOES NOT assume that the Hub is mounted on one of the three orthogonal
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* planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments.
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* <p>
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* Note: if your Hub is mounted Orthogonally (on a orthogonal surface, angled at some multiple of
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* 90 Degrees) then you should use the simpler SensorImuOrthogonal sample in this folder.
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* <p>
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* But... If your Hub is mounted Non-Orthogonally, you must specify one or more rotational angles
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* that transform a "Default" Hub orientation into your desired orientation. That is what is
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* illustrated here.
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* <p>
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
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* <p>
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* Finally, edit this OpMode to use at least one angle around an axis to orient your Hub.
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*/
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@TeleOp(name = "Sensor: IMU Non-Orthogonal", group = "Sensor")
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@Disabled // Comment this out to add to the OpMode list
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public class SensorIMUNonOrthogonal extends LinearOpMode
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{
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// The IMU sensor object
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IMU imu;
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//----------------------------------------------------------------------------------------------
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// Main logic
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//----------------------------------------------------------------------------------------------
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@Override public void runOpMode() throws InterruptedException {
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// Retrieve and initialize the IMU.
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// This sample expects the IMU to be in a REV Hub and named "imu".
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imu = hardwareMap.get(IMU.class, "imu");
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/* Define how the hub is mounted to the robot to get the correct Yaw, Pitch and Roll values.
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*
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* You can apply up to three axis rotations to orient your Hub according to how it's mounted on the robot.
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*
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* The starting point for these rotations is the "Default" Hub orientation, which is:
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* 1) Hub laying flat on a horizontal surface, with the Printed Logo facing UP
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* 2) Rotated such that the USB ports are facing forward on the robot.
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*
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* The order that the rotations are performed matters, so this sample shows doing them in the order X, Y, then Z.
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* For specifying non-orthogonal hub mounting orientations, we must temporarily use axes
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* defined relative to the Hub itself, instead of the usual Robot Coordinate System axes
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* used for the results the IMU gives us. In the starting orientation, the Hub axes are
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* aligned with the Robot Coordinate System:
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*
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* X Axis: Starting at Center of Hub, pointing out towards I2C connectors
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* Y Axis: Starting at Center of Hub, pointing out towards USB connectors
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* Z Axis: Starting at Center of Hub, pointing Up through LOGO
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*
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* Positive rotation is defined by right-hand rule with thumb pointing in +ve direction on axis.
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*
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* Some examples.
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*
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* ----------------------------------------------------------------------------------------------------------------------------------
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* Example A) Assume that the hub is mounted on a sloped plate at the back of the robot, with the USB ports coming out the top of the hub.
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* The plate is tilted UP 60 degrees from horizontal.
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*
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* To get the "Default" hub into this configuration you would just need a single rotation.
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* 1) Rotate the Hub +60 degrees around the X axis to tilt up the front edge.
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* 2) No rotation around the Y or Z axes.
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*
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* So the X,Y,Z rotations would be 60,0,0
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*
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* ----------------------------------------------------------------------------------------------------------------------------------
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* Example B) Assume that the hub is laying flat on the chassis, but it has been twisted 30 degrees towards the right front wheel to make
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* the USB cable accessible.
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*
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* To get the "Default" hub into this configuration you would just need a single rotation, but around a different axis.
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* 1) No rotation around the X or Y axes.
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* 1) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
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*
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* So the X,Y,Z rotations would be 0,0,-30
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*
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* ----------------------------------------------------------------------------------------------------------------------------------
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* Example C) Assume that the hub is mounted on a vertical plate on the right side of the robot, with the Logo facing out, and the
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* Hub rotated so that the USB ports are facing down 30 degrees towards the back wheels of the robot.
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*
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* To get the "Default" hub into this configuration will require several rotations.
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* 1) Rotate the hub +90 degrees around the X axis to get it standing upright with the logo pointing backwards on the robot
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* 2) Next, rotate the hub +90 around the Y axis to get it facing to the right.
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* 3) Finally rotate the hub +120 degrees around the Z axis to take the USB ports from vertical to sloping down 30 degrees and
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* facing towards the back of the robot.
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*
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* So the X,Y,Z rotations would be 90,90,120
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*/
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// The next three lines define the desired axis rotations.
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// To Do: EDIT these values to match YOUR mounting configuration.
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double xRotation = 0; // enter the desired X rotation angle here.
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double yRotation = 0; // enter the desired Y rotation angle here.
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double zRotation = 0; // enter the desired Z rotation angle here.
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Orientation hubRotation = xyzOrientation(xRotation, yRotation, zRotation);
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// Now initialize the IMU with this mounting orientation
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RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(hubRotation);
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imu.initialize(new IMU.Parameters(orientationOnRobot));
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// Loop and update the dashboard
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while (!isStopRequested()) {
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telemetry.addData("Hub orientation", "X=%.1f, Y=%.1f, Z=%.1f \n", xRotation, yRotation, zRotation);
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// Check to see if heading reset is requested
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if (gamepad1.y) {
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telemetry.addData("Yaw", "Resetting\n");
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imu.resetYaw();
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} else {
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telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
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}
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// Retrieve Rotational Angles and Velocities
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YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
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AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
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telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
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telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
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telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
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telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
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telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
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telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
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telemetry.update();
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}
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}
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}
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