145 lines
7.1 KiB
Java
145 lines
7.1 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.ColorSensor;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.LightSensor;
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import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
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import com.qualcomm.robotcore.hardware.NormalizedRGBA;
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import com.qualcomm.robotcore.hardware.SwitchableLight;
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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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* The code is structured as a LinearOpMode
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*
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* The Sensor used here can be a REV Color Sensor V2 or V3. Make sure the white LED is turned on.
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* The sensor can be plugged into any I2C port, and must be named "sensor_color" in the active configuration.
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*
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* Depending on the height of your color sensor, you may want to set the sensor "gain".
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* The higher the gain, the greater the reflected light reading will be.
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* Use the SensorColor sample in this folder to determine the minimum gain value that provides an
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* "Alpha" reading of 1.0 when you are on top of the white line. In this sample, we use a gain of 15
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* which works well with a Rev V2 color sensor
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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 halfway between the bare-tile, and white-line "Alpha" values.
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* The reflected light value can be read on the screen once the OpMode has been INIT, but before it is STARTED.
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* Move the sensor on and off the white line and note the min and max readings.
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* Edit this code to make WHITE_THRESHOLD halfway between the min and max.
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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 To Line", group="Robot")
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@Disabled
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public class RobotAutoDriveToLine_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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/** The colorSensor field will contain a reference to our color sensor hardware object */
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NormalizedColorSensor colorSensor;
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static final double WHITE_THRESHOLD = 0.5; // spans between 0.0 - 1.0 from dark to light
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static final double APPROACH_SPEED = 0.25;
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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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// 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 sensor object. It's recommended to use NormalizedColorSensor over
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// ColorSensor, because NormalizedColorSensor consistently gives values between 0 and 1, while
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// the values you get from ColorSensor are dependent on the specific sensor you're using.
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colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color");
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// If necessary, turn ON the white LED (if there is no LED switch on the sensor)
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if (colorSensor instanceof SwitchableLight) {
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((SwitchableLight)colorSensor).enableLight(true);
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}
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// Some sensors allow you to set your light sensor gain for optimal sensitivity...
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// See the SensorColor sample in this folder for how to determine the optimal gain.
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// A gain of 15 causes a Rev Color Sensor V2 to produce an Alpha value of 1.0 at about 1.5" above the floor.
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colorSensor.setGain(15);
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// Wait for driver to press PLAY)
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// Abort this loop is started or stopped.
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while (opModeInInit()) {
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// Send telemetry message to signify robot waiting;
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telemetry.addData("Status", "Ready to drive to white line."); //
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// Display the light level while we are waiting to start
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getBrightness();
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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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leftDrive.setPower(APPROACH_SPEED);
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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() && (getBrightness() < WHITE_THRESHOLD)) {
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sleep(5);
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}
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// Stop all motors
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leftDrive.setPower(0);
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rightDrive.setPower(0);
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}
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// to obtain reflected light, read the normalized values from the color sensor. Return the Alpha channel.
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double getBrightness() {
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NormalizedRGBA colors = colorSensor.getNormalizedColors();
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telemetry.addData("Light Level (0 to 1)", "%4.2f", colors.alpha);
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telemetry.update();
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return colors.alpha;
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}
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}
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