189 lines
9.3 KiB
Java
189 lines
9.3 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.DcMotor;
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import com.qualcomm.robotcore.hardware.Servo;
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import com.qualcomm.robotcore.util.ElapsedTime;
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/**
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* This file illustrates the concept of driving a path based on encoder counts.
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* The code is structured as a LinearOpMode
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*
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* The code REQUIRES that you DO have encoders on the wheels,
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* otherwise you would use: RobotAutoDriveByTime;
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*
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* This code ALSO requires that the drive Motors have been configured such that a positive
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* power command moves them forward, and causes the encoders to count UP.
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*
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* The desired path in this example is:
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* - Drive forward for 48 inches
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* - Spin right for 12 Inches
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* - Drive Backward for 24 inches
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* - Stop and close the claw.
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*
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* The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
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* that performs the actual movement.
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* This method assumes that each movement is relative to the last stopping place.
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* There are other ways to perform encoder based moves, but this method is probably the simplest.
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* This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
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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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@Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
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@Disabled
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public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
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/* Declare OpMode members. */
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private DcMotor leftDrive = null;
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private DcMotor rightDrive = null;
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private ElapsedTime runtime = new ElapsedTime();
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// Calculate the COUNTS_PER_INCH for your specific drive train.
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// Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
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// For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
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// For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
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// This is gearing DOWN for less speed and more torque.
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// For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
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static final double COUNTS_PER_MOTOR_REV = 1440 ; // eg: TETRIX Motor Encoder
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static final double DRIVE_GEAR_REDUCTION = 1.0 ; // No External Gearing.
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static final double WHEEL_DIAMETER_INCHES = 4.0 ; // For figuring circumference
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static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
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(WHEEL_DIAMETER_INCHES * 3.1415);
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static final double DRIVE_SPEED = 0.6;
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static final double TURN_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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leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
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rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
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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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// When run, this OpMode should start both motors driving 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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leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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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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// Send telemetry message to indicate successful Encoder reset
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telemetry.addData("Starting at", "%7d :%7d",
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leftDrive.getCurrentPosition(),
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rightDrive.getCurrentPosition());
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telemetry.update();
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// Wait for the game to start (driver presses PLAY)
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waitForStart();
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// Step through each leg of the path,
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// Note: Reverse movement is obtained by setting a negative distance (not speed)
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encoderDrive(DRIVE_SPEED, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout
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encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout
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encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout
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telemetry.addData("Path", "Complete");
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telemetry.update();
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sleep(1000); // pause to display final telemetry message.
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}
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/*
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* Method to perform a relative move, based on encoder counts.
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* Encoders are not reset as the move is based on the current position.
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* Move will stop if any of three conditions occur:
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* 1) Move gets to the desired position
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* 2) Move runs out of time
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* 3) Driver stops the opmode running.
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*/
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public void encoderDrive(double speed,
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double leftInches, double rightInches,
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double timeoutS) {
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int newLeftTarget;
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int newRightTarget;
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// Ensure that the opmode is still active
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if (opModeIsActive()) {
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// Determine new target position, and pass to motor controller
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newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
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newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
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leftDrive.setTargetPosition(newLeftTarget);
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rightDrive.setTargetPosition(newRightTarget);
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// Turn On RUN_TO_POSITION
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leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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// reset the timeout time and start motion.
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runtime.reset();
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leftDrive.setPower(Math.abs(speed));
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rightDrive.setPower(Math.abs(speed));
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// keep looping while we are still active, and there is time left, and both motors are running.
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// Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
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// its target position, the motion will stop. This is "safer" in the event that the robot will
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// always end the motion as soon as possible.
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// However, if you require that BOTH motors have finished their moves before the robot continues
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// onto the next step, use (isBusy() || isBusy()) in the loop test.
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while (opModeIsActive() &&
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(runtime.seconds() < timeoutS) &&
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(leftDrive.isBusy() && rightDrive.isBusy())) {
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// Display it for the driver.
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telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget);
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telemetry.addData("Currently at", " at %7d :%7d",
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leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
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telemetry.update();
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}
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// Stop all motion;
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leftDrive.setPower(0);
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rightDrive.setPower(0);
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// Turn off RUN_TO_POSITION
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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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sleep(250); // optional pause after each move.
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}
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}
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}
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