119 lines
5.5 KiB
Java
119 lines
5.5 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.Autonomous;
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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.hardware.LightSensor;
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/**
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* This file illustrates the concept of driving up to a line and then stopping.
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* It uses the common Pushbot hardware class to define the drive on the robot.
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* The code is structured as a LinearOpMode
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*
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* The code shows using two different light sensors:
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* The Primary sensor shown in this code is a legacy NXT Light sensor (called "sensor_light")
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* Alternative "commented out" code uses a MR Optical Distance Sensor (called "sensor_ods")
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* instead of the LEGO sensor. Chose to use one sensor or the other.
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*
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* Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
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* This should be set half way between the light and dark values.
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* These values can be read on the screen once the OpMode has been INIT, but before it is STARTED.
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* Move the senso on asnd off the white line and not the min and max readings.
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* Edit this code to make WHITE_THRESHOLD half way between the min and max.
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*
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* Use Android Studios 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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@Autonomous(name="Pushbot: Auto Drive To Line", group="Pushbot")
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@Disabled
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public class PushbotAutoDriveToLine_Linear extends LinearOpMode {
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/* Declare OpMode members. */
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HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
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LightSensor lightSensor; // Primary LEGO Light sensor,
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// OpticalDistanceSensor lightSensor; // Alternative MR ODS sensor
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static final double WHITE_THRESHOLD = 0.2; // spans between 0.1 - 0.5 from dark to light
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static final double APPROACH_SPEED = 0.5;
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@Override
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public void runOpMode() {
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/* Initialize the drive system variables.
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* The init() method of the hardware class does all the work here
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*/
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robot.init(hardwareMap);
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// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
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// robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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// robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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// get a reference to our Light Sensor object.
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lightSensor = hardwareMap.lightSensor.get("sensor_light"); // Primary LEGO Light Sensor
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// lightSensor = hardwareMap.opticalDistanceSensor.get("sensor_ods"); // Alternative MR ODS sensor.
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// turn on LED of light sensor.
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lightSensor.enableLed(true);
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// Send telemetry message to signify robot waiting;
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telemetry.addData("Status", "Ready to run"); //
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telemetry.update();
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// Wait for the game to start (driver presses PLAY)
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// Abort this loop is started or stopped.
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while (!(isStarted() || isStopRequested())) {
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// Display the light level while we are waiting to start
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telemetry.addData("Light Level", lightSensor.getLightDetected());
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telemetry.update();
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idle();
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}
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// Start the robot moving forward, and then begin looking for a white line.
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robot.leftDrive.setPower(APPROACH_SPEED);
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robot.rightDrive.setPower(APPROACH_SPEED);
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// run until the white line is seen OR the driver presses STOP;
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while (opModeIsActive() && (lightSensor.getLightDetected() < WHITE_THRESHOLD)) {
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// Display the light level while we are looking for the line
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telemetry.addData("Light Level", lightSensor.getLightDetected());
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telemetry.update();
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}
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// Stop all motors
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robot.leftDrive.setPower(0);
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robot.rightDrive.setPower(0);
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}
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}
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