161 lines
6.6 KiB
Java
161 lines
6.6 KiB
Java
/* Copyright (c) 2017 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.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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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 particular OpMode executes a Tank Drive control TeleOp a direct drive robot
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* The code is structured as an Iterative OpMode
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*
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* In this mode, the left and right joysticks control the left and right motors respectively.
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* Pushing a joystick forward will make the attached motor drive forward.
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* It raises and lowers the claw using the Gamepad Y and A buttons respectively.
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* It also opens and closes the claws slowly using the left and right Bumper buttons.
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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 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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*/
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@TeleOp(name="Robot: Teleop Tank", group="Robot")
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@Disabled
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public class RobotTeleopTank_Iterative extends OpMode{
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/* Declare OpMode members. */
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public DcMotor leftDrive = null;
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public DcMotor rightDrive = null;
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public DcMotor leftArm = null;
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public Servo leftClaw = null;
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public Servo rightClaw = null;
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double clawOffset = 0;
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public static final double MID_SERVO = 0.5 ;
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public static final double CLAW_SPEED = 0.02 ; // sets rate to move servo
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public static final double ARM_UP_POWER = 0.50 ; // Run arm motor up at 50% power
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public static final double ARM_DOWN_POWER = -0.25 ; // Run arm motor down at -25% power
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/*
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* Code to run ONCE when the driver hits INIT
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*/
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@Override
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public void init() {
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// Define and Initialize Motors
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leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
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rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
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leftArm = hardwareMap.get(DcMotor.class, "left_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 and right sticks 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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leftClaw = hardwareMap.get(Servo.class, "left_hand");
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rightClaw = hardwareMap.get(Servo.class, "right_hand");
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leftClaw.setPosition(MID_SERVO);
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rightClaw.setPosition(MID_SERVO);
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// Send telemetry message to signify robot waiting;
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telemetry.addData(">", "Robot Ready. Press Play."); //
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}
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/*
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* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
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*/
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@Override
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public void init_loop() {
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}
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/*
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* Code to run ONCE when the driver hits PLAY
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*/
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@Override
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public void start() {
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}
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/*
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* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
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*/
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@Override
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public void loop() {
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double left;
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double right;
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// Run wheels in tank mode (note: The joystick goes negative when pushed forward, so negate it)
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left = -gamepad1.left_stick_y;
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right = -gamepad1.right_stick_y;
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leftDrive.setPower(left);
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rightDrive.setPower(right);
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// Use gamepad left & right Bumpers to open and close the claw
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if (gamepad1.right_bumper)
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clawOffset += CLAW_SPEED;
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else if (gamepad1.left_bumper)
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clawOffset -= CLAW_SPEED;
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// Move both servos to new position. Assume servos are mirror image of each other.
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clawOffset = Range.clip(clawOffset, -0.5, 0.5);
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leftClaw.setPosition(MID_SERVO + clawOffset);
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rightClaw.setPosition(MID_SERVO - clawOffset);
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// Use gamepad buttons to move the arm up (Y) and down (A)
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if (gamepad1.y)
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leftArm.setPower(ARM_UP_POWER);
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else if (gamepad1.a)
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leftArm.setPower(ARM_DOWN_POWER);
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else
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leftArm.setPower(0.0);
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// Send telemetry message to signify robot running;
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telemetry.addData("claw", "Offset = %.2f", clawOffset);
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telemetry.addData("left", "%.2f", left);
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telemetry.addData("right", "%.2f", right);
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}
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/*
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* Code to run ONCE after the driver hits STOP
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*/
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@Override
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public void stop() {
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}
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}
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