116 lines
5.6 KiB
Java
116 lines
5.6 KiB
Java
/* 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.LinearOpMode;
|
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
|
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
import com.qualcomm.robotcore.util.ElapsedTime;
|
|
import com.qualcomm.robotcore.util.Range;
|
|
|
|
|
|
/**
|
|
* This file contains an minimal 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
|
|
* class is instantiated on the Robot Controller and executed.
|
|
*
|
|
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
|
|
* It includes all the skeletal structure that all linear OpModes contain.
|
|
*
|
|
* 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: Linear OpMode", group="Linear Opmode")
|
|
@Disabled
|
|
public class BasicOpMode_Linear extends LinearOpMode {
|
|
|
|
// Declare OpMode members.
|
|
private ElapsedTime runtime = new ElapsedTime();
|
|
private DcMotor leftDrive = null;
|
|
private DcMotor rightDrive = null;
|
|
|
|
@Override
|
|
public void runOpMode() {
|
|
telemetry.addData("Status", "Initialized");
|
|
telemetry.update();
|
|
|
|
// Initialize the hardware variables. Note that the strings used here as parameters
|
|
// to 'get' must correspond to the names assigned during the robot configuration
|
|
// step (using the FTC Robot Controller app on the phone).
|
|
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.
|
|
// Pushing the left stick 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);
|
|
|
|
// Wait for the game to start (driver presses PLAY)
|
|
waitForStart();
|
|
runtime.reset();
|
|
|
|
// run until the end of the match (driver presses STOP)
|
|
while (opModeIsActive()) {
|
|
|
|
// Setup a variable for each drive wheel to save power level for telemetry
|
|
double leftPower;
|
|
double rightPower;
|
|
|
|
// Choose to drive using either Tank Mode, or POV Mode
|
|
// Comment out the method that's not used. The default below is POV.
|
|
|
|
// POV Mode uses left stick to go forward, and right stick to turn.
|
|
// - This uses basic math to combine motions and is easier to drive straight.
|
|
double drive = -gamepad1.left_stick_y;
|
|
double turn = gamepad1.right_stick_x;
|
|
leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
|
|
rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
|
|
|
|
// Tank Mode uses one stick to control each wheel.
|
|
// - This requires no math, but it is hard to drive forward slowly and keep straight.
|
|
// leftPower = -gamepad1.left_stick_y ;
|
|
// rightPower = -gamepad1.right_stick_y ;
|
|
|
|
// Send calculated power to wheels
|
|
leftDrive.setPower(leftPower);
|
|
rightDrive.setPower(rightPower);
|
|
|
|
// Show the elapsed game time and wheel power.
|
|
telemetry.addData("Status", "Run Time: " + runtime.toString());
|
|
telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
|
|
telemetry.update();
|
|
}
|
|
}
|
|
}
|