Merge pull request FIRST-Tech-Challenge#324 from FIRST-Tech-Challenge…

…/20220723-130006-release-candidate

FtcRobotController v7.2

FtcRobotController/build.gradle

@@ -20,6 +20,7 @@ android {
         sourceCompatibility JavaVersion.VERSION_1_7
         targetCompatibility JavaVersion.VERSION_1_7
     }
+    namespace = 'com.qualcomm.ftcrobotcontroller'
 }
 
 apply from: '../build.dependencies.gradle'

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,9 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-          package="com.qualcomm.ftcrobotcontroller"
-          android:versionCode="44"
-          android:versionName="7.1">
+    android:versionCode="45"
+          android:versionName="7.2">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java

@@ -46,15 +46,17 @@
  * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
  * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
  *
+ * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
+ *
  * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
  * Each motion axis is controlled by one Joystick axis.
  *
- * 1) Axial:    Driving forward and backwards               Left-joystick Forward/Backwards
+ * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
  * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
  * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
  *
  * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
- * When you first test your robot, if it moves backwards when you push the left stick forward, then you must flip
+ * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
  * the direction of all 4 motors (see code below).
  *
  * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
@@ -82,9 +84,16 @@ public void runOpMode() {
         rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
         rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");
 
+        // ########################################################################################
+        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
+        // ########################################################################################
         // Most robots need the motors on one side to be reversed to drive forward.
-        // When you first test your robot, push the left joystick forward
-        // and flip the direction ( FORWARD <-> REVERSE ) of any wheel that runs backwards
+        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
+        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
+        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
+        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
+        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
+        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
         leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
         leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
         rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java

@@ -40,13 +40,13 @@
  * This file contains an example of an iterative (Non-Linear) "OpMode".
  * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
  * The names of OpModes appear on the menu of the FTC Driver Station.
- * When an selection is made from the menu, the corresponding OpMode
+ * When a selection is made from the menu, the corresponding OpMode
  * class is instantiated on the Robot Controller and executed.
  *
  * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
  * It includes all the skeletal structure that all iterative OpModes contain.
  *
- * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
+ * 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
  */
 
@@ -72,10 +72,11 @@ public void init() {
         leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
         rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
 
-        // 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
-        leftDrive.setDirection(DcMotor.Direction.FORWARD);
-        rightDrive.setDirection(DcMotor.Direction.REVERSE);
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // Tell the driver that initialization is complete.
         telemetry.addData("Status", "Initialized");

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java

@@ -40,13 +40,13 @@
 /**
  * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
  * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
- * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
+ * of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode
  * class is instantiated on the Robot Controller and executed.
  *
  * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
  * It includes all the skeletal structure that all linear OpModes contain.
  *
- * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
+ * 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
  */
 
@@ -70,10 +70,11 @@ public void runOpMode() {
         leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
         rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
 
-        // 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
-        leftDrive.setDirection(DcMotor.Direction.FORWARD);
-        rightDrive.setDirection(DcMotor.Direction.REVERSE);
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // Wait for the game to start (driver presses PLAY)
         waitForStart();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java

@@ -33,13 +33,11 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.CompassSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 /**
  * This file illustrates the concept of calibrating a MR Compass
- * It uses the common Pushbot hardware class to define the drive on the robot.
- * The code is structured as a LinearOpMode
- *
  *   This code assumes there is a compass configured with the name "compass"
  *
  *   This code will put the compass into calibration mode, wait three seconds and then attempt
@@ -57,7 +55,8 @@
 public class ConceptCompassCalibration extends LinearOpMode {
 
     /* Declare OpMode members. */
-    HardwarePushbot     robot   = new HardwarePushbot();   // Use a Pushbot's hardware
+    public DcMotor leftDrive   = null;
+    public DcMotor  rightDrive  = null;
     private ElapsedTime runtime = new ElapsedTime();
     CompassSensor       compass;
 
@@ -68,10 +67,15 @@ public class ConceptCompassCalibration extends LinearOpMode {
     @Override
     public void runOpMode() {
 
-        /* Initialize the drive system variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
+        // Initialize the drive system variables.
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // get a reference to our Compass Sensor object.
         compass = hardwareMap.get(CompassSensor.class, "compass");
@@ -93,8 +97,8 @@ public void runOpMode() {
         // Start the robot rotating clockwise
         telemetry.addData("Compass", "Calibration mode. Turning the robot...");
         telemetry.update();
-        robot.leftDrive.setPower(MOTOR_POWER);
-        robot.rightDrive.setPower(-MOTOR_POWER);
+        leftDrive.setPower(MOTOR_POWER);
+        rightDrive.setPower(-MOTOR_POWER);
 
         // run until time expires OR the driver presses STOP;
         runtime.reset();
@@ -103,8 +107,8 @@ public void runOpMode() {
         }
 
         // Stop all motors and turn off claibration
-        robot.leftDrive.setPower(0);
-        robot.rightDrive.setPower(0);
+        leftDrive.setPower(0);
+        rightDrive.setPower(0);
         compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
         telemetry.addData("Compass", "Returning to measurement mode");
         telemetry.update();