116 lines
4.8 KiB
Java
116 lines
4.8 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.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.Servo;
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/**
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* This OpMode scans a single servo back and forward until Stop is pressed.
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* The code is structured as a LinearOpMode
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* INCREMENT sets how much to increase/decrease the servo position each cycle
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* CYCLE_MS sets the update period.
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*
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* This code assumes a Servo configured with the name "left_hand" as is found on a Robot.
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*
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* NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other
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* connected servos are able to move freely before running this test.
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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 = "Concept: Scan Servo", group = "Concept")
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@Disabled
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public class ConceptScanServo extends LinearOpMode {
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static final double INCREMENT = 0.01; // amount to slew servo each CYCLE_MS cycle
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static final int CYCLE_MS = 50; // period of each cycle
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static final double MAX_POS = 1.0; // Maximum rotational position
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static final double MIN_POS = 0.0; // Minimum rotational position
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// Define class members
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Servo servo;
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double position = (MAX_POS - MIN_POS) / 2; // Start at halfway position
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boolean rampUp = true;
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@Override
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public void runOpMode() {
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// Connect to servo (Assume Robot Left Hand)
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// Change the text in quotes to match any servo name on your robot.
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servo = hardwareMap.get(Servo.class, "left_hand");
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// Wait for the start button
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telemetry.addData(">", "Press Start to scan Servo." );
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telemetry.update();
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waitForStart();
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// Scan servo till stop pressed.
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while(opModeIsActive()){
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// slew the servo, according to the rampUp (direction) variable.
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if (rampUp) {
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// Keep stepping up until we hit the max value.
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position += INCREMENT ;
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if (position >= MAX_POS ) {
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position = MAX_POS;
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rampUp = !rampUp; // Switch ramp direction
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}
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}
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else {
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// Keep stepping down until we hit the min value.
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position -= INCREMENT ;
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if (position <= MIN_POS ) {
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position = MIN_POS;
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rampUp = !rampUp; // Switch ramp direction
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}
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}
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// Display the current value
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telemetry.addData("Servo Position", "%5.2f", position);
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telemetry.addData(">", "Press Stop to end test." );
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telemetry.update();
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// Set the servo to the new position and pause;
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servo.setPosition(position);
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sleep(CYCLE_MS);
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idle();
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}
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// Signal done;
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telemetry.addData(">", "Done");
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telemetry.update();
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}
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}
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