auto

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auto/RobotAutoDriveByEncoder_Linear.java

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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.auto;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+/*
+ * This OpMode illustrates the concept of driving a path based on encoder counts.
+ * The code is structured as a LinearOpMode
+ *
+ * The code REQUIRES that you DO have encoders on the wheels,
+ *   otherwise you would use: RobotAutoDriveByTime;
+ *
+ *  This code ALSO requires that the drive Motors have been configured such that a positive
+ *  power command moves them forward, and causes the encoders to count UP.
+ *
+ *   The desired path in this example is:
+ *   - Drive forward for 48 inches
+ *   - Spin right for 12 Inches
+ *   - Drive Backward for 24 inches
+ *   - Stop and close the claw.
+ *
+ *  The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
+ *  that performs the actual movement.
+ *  This method assumes that each movement is relative to the last stopping place.
+ *  There are other ways to perform encoder based moves, but this method is probably the simplest.
+ *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
+ *
+ * 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
+ */
+
+@Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
+@Disabled
+public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
+
+    /* Declare OpMode members. */
+    private DcMotor         leftDrive   = null;
+    private DcMotor         rightDrive  = null;
+
+    private ElapsedTime     runtime = new ElapsedTime();
+
+    // Calculate the COUNTS_PER_INCH for your specific drive train.
+    // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
+    // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
+    // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
+    // This is gearing DOWN for less speed and more torque.
+    // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
+    static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder
+    static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
+    static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
+    static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
+                                                      (WHEEL_DIAMETER_INCHES * 3.1415);
+    static final double     DRIVE_SPEED             = 0.6;
+    static final double     TURN_SPEED              = 0.5;
+
+    @Override
+    public void runOpMode() {
+
+        // 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.
+        // When run, this OpMode should start both motors driving 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);
+
+        leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // Send telemetry message to indicate successful Encoder reset
+        telemetry.addData("Starting at",  "%7d :%7d",
+                          leftDrive.getCurrentPosition(),
+                          rightDrive.getCurrentPosition());
+        telemetry.update();
+
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
+
+        // Step through each leg of the path,
+        // Note: Reverse movement is obtained by setting a negative distance (not speed)
+        encoderDrive(DRIVE_SPEED,  48,  48, 5.0);  // S1: Forward 47 Inches with 5 Sec timeout
+        encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
+        encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout
+
+        telemetry.addData("Path", "Complete");
+        telemetry.update();
+        sleep(1000);  // pause to display final telemetry message.
+    }
+
+    /*
+     *  Method to perform a relative move, based on encoder counts.
+     *  Encoders are not reset as the move is based on the current position.
+     *  Move will stop if any of three conditions occur:
+     *  1) Move gets to the desired position
+     *  2) Move runs out of time
+     *  3) Driver stops the OpMode running.
+     */
+    public void encoderDrive(double speed,
+                             double leftInches, double rightInches,
+                             double timeoutS) {
+        int newLeftTarget;
+        int newRightTarget;
+
+        // Ensure that the OpMode is still active
+        if (opModeIsActive()) {
+
+            // Determine new target position, and pass to motor controller
+            newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
+            newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
+            leftDrive.setTargetPosition(newLeftTarget);
+            rightDrive.setTargetPosition(newRightTarget);
+
+            // Turn On RUN_TO_POSITION
+            leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+            // reset the timeout time and start motion.
+            runtime.reset();
+            leftDrive.setPower(Math.abs(speed));
+            rightDrive.setPower(Math.abs(speed));
+
+            // keep looping while we are still active, and there is time left, and both motors are running.
+            // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
+            // its target position, the motion will stop.  This is "safer" in the event that the robot will
+            // always end the motion as soon as possible.
+            // However, if you require that BOTH motors have finished their moves before the robot continues
+            // onto the next step, use (isBusy() || isBusy()) in the loop test.
+            while (opModeIsActive() &&
+                   (runtime.seconds() < timeoutS) &&
+                   (leftDrive.isBusy() && rightDrive.isBusy())) {
+
+                // Display it for the driver.
+                telemetry.addData("Running to",  " %7d :%7d", newLeftTarget,  newRightTarget);
+                telemetry.addData("Currently at",  " at %7d :%7d",
+                                            leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
+                telemetry.update();
+            }
+
+            // Stop all motion;
+            leftDrive.setPower(0);
+            rightDrive.setPower(0);
+
+            // Turn off RUN_TO_POSITION
+            leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+            sleep(250);   // optional pause after each move.
+        }
+    }
+}