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…/20220907-131644-release-candidate FtcRobotController v8.0
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.../org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java
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| /* Copyright (c) 2022 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. | ||
| */ | ||
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| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
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| 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.util.Range; | ||
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| /** | ||
| * This OpMode Sample illustrates how to use an external "hardware" class to modularize all the robot's sensors and actuators. | ||
| * This approach is very efficient because the same hardware class can be used by all of your teleop and autonomous OpModes | ||
| * without requiring many copy & paste operations. Once you have defined and tested the hardware class with one OpMode, | ||
| * it is instantly available to other OpModes. | ||
| * | ||
| * The real benefit of this approach is that as you tweak your robot hardware, you only need to make changes in ONE place (the Hardware Class). | ||
| * So, to be effective you should put as much or your hardware setup and access code as possible in the hardware class. | ||
| * Essentially anything you do with hardware in BOTH Teleop and Auto should likely go in the hardware class. | ||
| * | ||
| * The Hardware Class is created in a separate file, and then an "instance" of this class is created in each OpMode. | ||
| * In order for the class to do typical OpMode things (like send telemetry data) it must be passed a reference to the | ||
| * OpMode object when it's created, so it can access all core OpMode functions. This is illustrated below. | ||
| * | ||
| * In this concept sample, the hardware class file is called RobotHardware.java and it must accompany this sample OpMode. | ||
| * So, if you copy ConceptExternalHardwareClass.java into TeamCode (using Android Studio or OnBotJava) then RobotHardware.java | ||
| * must also be copied to the same location (maintaining its name). | ||
| * | ||
| * For comparison purposes, this sample and its accompanying hardware class duplicates the functionality of the | ||
| * RobotTelopPOV_Linear opmode. It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand) | ||
| * | ||
| * View the RobotHardware.java class file for more details | ||
| * | ||
| * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. | ||
| * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list | ||
| * | ||
| * In OnBot Java, add a new OpMode, drawing from this Sample; select TeleOp. | ||
| * Also add another new file named RobotHardware.java, drawing from the Sample with that name; select Not an OpMode. | ||
| */ | ||
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| @TeleOp(name="Concept: Robot Hardware Class", group="Robot") | ||
| @Disabled | ||
| public class ConceptExternalHardwareClass extends LinearOpMode { | ||
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| // Create a RobotHardware object to be used to access robot hardware. | ||
| // Prefix any hardware functions with "robot." to access this class. | ||
| RobotHardware robot = new RobotHardware(this); | ||
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| @Override | ||
| public void runOpMode() { | ||
| double drive = 0; | ||
| double turn = 0; | ||
| double arm = 0; | ||
| double handOffset = 0; | ||
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| // initialize all the hardware, using the hardware class. See how clean and simple this is? | ||
| robot.init(); | ||
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| // Send telemetry message to signify robot waiting; | ||
| // Wait for the game to start (driver presses PLAY) | ||
| waitForStart(); | ||
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| // run until the end of the match (driver presses STOP) | ||
| while (opModeIsActive()) { | ||
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| // Run wheels in POV mode (note: The joystick goes negative when pushed forward, so negate it) | ||
| // In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right. | ||
| // This way it's also easy to just drive straight, or just turn. | ||
| drive = -gamepad1.left_stick_y; | ||
| turn = gamepad1.right_stick_x; | ||
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| // Combine drive and turn for blended motion. Use RobotHardware class | ||
| robot.driveRobot(drive, turn); | ||
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| // Use gamepad left & right Bumpers to open and close the claw | ||
| // Use the SERVO constants defined in RobotHardware class. | ||
| // Each time around the loop, the servos will move by a small amount. | ||
| // Limit the total offset to half of the full travel range | ||
| if (gamepad1.right_bumper) | ||
| handOffset += robot.HAND_SPEED; | ||
| else if (gamepad1.left_bumper) | ||
| handOffset -= robot.HAND_SPEED; | ||
| handOffset = Range.clip(handOffset, -0.5, 0.5); | ||
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| // Move both servos to new position. Use RobotHardware class | ||
| robot.setHandPositions(handOffset); | ||
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| // Use gamepad buttons to move arm up (Y) and down (A) | ||
| // Use the MOTOR constants defined in RobotHardware class. | ||
| if (gamepad1.y) | ||
| arm = robot.ARM_UP_POWER; | ||
| else if (gamepad1.a) | ||
| arm = robot.ARM_DOWN_POWER; | ||
| else | ||
| arm = 0; | ||
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| robot.setArmPower(arm); | ||
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| // Send telemetry messages to explain controls and show robot status | ||
| telemetry.addData("Drive", "Left Stick"); | ||
| telemetry.addData("Turn", "Right Stick"); | ||
| telemetry.addData("Arm Up/Down", "Y & A Buttons"); | ||
| telemetry.addData("Hand Open/Closed", "Left and Right Bumpers"); | ||
| telemetry.addData("-", "-------"); | ||
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| telemetry.addData("Drive Power", "%.2f", drive); | ||
| telemetry.addData("Turn Power", "%.2f", turn); | ||
| telemetry.addData("Arm Power", "%.2f", arm); | ||
| telemetry.addData("Hand Position", "Offset = %.2f", handOffset); | ||
| telemetry.update(); | ||
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| // Pace this loop so hands move at a reasonable speed. | ||
| sleep(50); | ||
| } | ||
| } | ||
| } |
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