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BasicOpMode_Linear.java
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224 lines (192 loc) · 9.79 KB
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
@TeleOp(name="Basic: Linear OpMode", group="Linear Opmode")
//@Disabled
public class BasicOpMode_Linear extends LinearOpMode {
// Declare OpMode members
private ElapsedTime runtime = new ElapsedTime();
// 152 rpm
private DcMotor frontLeftDrive = null;
// 152 rpm
private DcMotor frontRightDrive = null;
// 100 rpm
private DcMotor backLeftDrive = null;
// 100 rpm
private DcMotor backRightDrive = null;
private double motorWeight = 0.65789473684;
//lift variables
private DcMotor TLiftMotor = null;
private DcMotor BLiftMotor = null;
int TLiftPosition = 0;
int BLiftPosition = 0;
//Servo variables
private Servo servo;
private double servoPower = 0.0;
private Servo grabServo;
private double reverseControls = 1;
@Override
public void runOpMode() {
telemetry.addData("Status", "Initialized");
telemetry.update();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
frontLeftDrive = hardwareMap.get(DcMotor.class, "front_left_drive");
frontRightDrive = hardwareMap.get(DcMotor.class, "front_right_drive");
backLeftDrive = hardwareMap.get(DcMotor.class, "back_left_drive");
backRightDrive = hardwareMap.get(DcMotor.class, "back_right_drive");
TLiftMotor = hardwareMap.get(DcMotor.class, "lift_motor");
BLiftMotor = hardwareMap.get(DcMotor.class, "slide_motor");
servo = hardwareMap.servo.get("servo");
grabServo = hardwareMap.servo.get("grab_servo");
// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
frontLeftDrive.setDirection(DcMotor.Direction.FORWARD);
frontRightDrive.setDirection(DcMotor.Direction.REVERSE);
backLeftDrive.setDirection(DcMotor.Direction.FORWARD);
backRightDrive.setDirection(DcMotor.Direction.REVERSE);
TLiftMotor.setDirection(DcMotor.Direction.FORWARD);
BLiftMotor.setDirection(DcMotor.Direction.FORWARD);
TLiftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
BLiftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
// Set up initial servo positions
servo.setPosition(0.5);
grabServo.setPosition(0);
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// setup the inputs
double G1LeftStickY = reverseControls * gamepad1.left_stick_y;
double G1RightStickY = reverseControls * gamepad1.right_stick_y;
double G1LeftStickX = -reverseControls * gamepad1.left_stick_x;
double G1RightStickX = -reverseControls * gamepad1.right_stick_x;
boolean G1RightBumper = gamepad1.right_bumper;
boolean G1LeftBumper = gamepad1.left_bumper;
double G2LeftStickY = gamepad2.left_stick_y * 0.2;
double G2RightStickY = gamepad2.right_stick_y * 0.2;
// strafe Mode (allows sideways motion)
frontLeftDrive.setPower(G1LeftStickY + G1RightStickX + G1LeftStickX);
backLeftDrive.setPower(G1LeftStickY + G1RightStickX - G1LeftStickX);
backRightDrive.setPower(G1LeftStickY - G1RightStickX + G1LeftStickX);
frontRightDrive.setPower(G1LeftStickY - G1RightStickX - G1LeftStickX);
/*
// Braking mechanism
if(G2LeftStickY == 0){
frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontLeftDrive.setTargetPosition(frontLeftDrive.getCurrentPosition());
backLeftDrive.setTargetPosition(backLeftDrive.getCurrentPosition());
backRightDrive.setTargetPosition(backRightDrive.getCurrentPosition());
frontRightDrive.setTargetPosition(frontRightDrive.getCurrentPosition());
frontLeftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
backLeftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
backRightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
frontRightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
*/
// Optional Lift control
// liftMotor.setPower(G2LeftStickY);
// slideMotor.setPower(G2RightStickY);
// Grabber controls
if(gamepad2.a){
grabServo.setPosition(0);
servo.setPosition(0.5);
}
if(gamepad2.b){
grabServo.setPosition(0.5);
servo.setPosition(0);
}
// Reverse controls with the x button
if (gamepad1.x){
reverseControls = -reverseControls;
telemetry.addData("Controls Status", "Direction: " + reverseControls);
}
// SLOW mode and FAST mode. Works by halving the reverseControls variable
if (gamepad1.y){
if(reverseControls == 1 || reverseControls == -1){
reverseControls = reverseControls*0.5;
telemetry.addData("Controls Status", "SLOW MODE");
}
else if(reverseControls == 0.5 || reverseControls == -0.5){
reverseControls = reverseControls*2;
telemetry.addData("Controls Status", "FAST MODE");
}
telemetry.update();
}
/*
// Lift_Encoder.java
// TLift is the top lift, BLift is the bottom lift.
double TLiftPower;
double BLiftPower;
int TLiftLimit = 1080;
int BLiftLimit = 720;
int LiftSensitivity = 5; //360 will move from 0 to 90 degrees in joystick position 0 to 1.
// YOU MAY NEED TO CHANGE THE DIRECTION OF THIS STICK.
double TLiftStick = -gamepad2.left_stick_y;
double BLiftStick = -gamepad2.right_stick_y;
TLiftPower = Range.clip(TLiftStick, -1.0, 1.0) ;
BLiftPower = Range.clip(BLiftStick, -1.0, 1.0);
TLiftPosition += (int)TLiftPower*LiftSensitivity;
BLiftPosition += (int)BLiftPower*LiftSensitivity;
TLiftPosition = Range.clip(TLiftPosition, 0, TLiftLimit);
BLiftPosition = Range.clip(BLiftPosition, 0, BLiftLimit);
// MOVES UP FROM POSITION 0 TO 90 DEGREES UP.
TLiftMotor.setTargetPosition(TLiftPosition);
TLiftMotor.setPower(0.2);
BLiftMotor.setTargetPosition(BLiftPosition);
BLiftMotor.setPower(0.4);
// SET MODE TO RUN TO POSITION
TLiftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
BLiftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
//END Lift_Encoder.java
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.update();
*/
}
}
}