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...ain/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java
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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.hardware.Gamepad; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
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| /** | ||
| * This sample illustrates using the rumble feature of many gamepads. | ||
| * | ||
| * Note: Some gamepads "rumble" better than others. | ||
| * The Xbox & PS4 have a left (rumble1) and right (rumble2) rumble motor. | ||
| * These two gamepads have two distinct rumble modes: Large on the left, and small on the right | ||
| * The ETpark gamepad may only respond to rumble1, and may only run at full power. | ||
| * The Logitech F310 gamepad does not have *any* rumble ability. | ||
| * | ||
| * Moral: You should use this sample to experiment with your specific gamepads to explore their rumble features. | ||
| * | ||
| * The rumble motors are accessed through the standard gamepad1 and gamepad2 objects. | ||
| * Several new methods were added to the Gamepad class in FTC SDK Rev 7 | ||
| * The key methods are as follows: | ||
| * | ||
| * .rumble(double rumble1, double rumble2, int durationMs) | ||
| * This method sets the rumble power of both motors for a specific time duration. | ||
| * Both rumble arguments are motor-power levels in the 0.0 to 1.0 range. | ||
| * durationMs is the desired length of the rumble action in milliseconds. | ||
| * This method returns immediately. | ||
| * Note: | ||
| * Use a durationMs of Gamepad.RUMBLE_DURATION_CONTINUOUS to provide a continuous rumble | ||
| * Use a power of 0, or duration of 0 to stop a rumble. | ||
| * | ||
| * .rumbleBlips(int count) allows an easy way to signal the driver with a series of rumble blips. | ||
| * Just specify how many blips you want. | ||
| * This method returns immediately. | ||
| * | ||
| * .runRumbleEffect(customRumbleEffect) allows you to run a custom rumble sequence that you have | ||
| * built using the Gamepad.RumbleEffect.Builder() | ||
| * A "custom effect" is a sequence of steps, where each step can rumble any of the | ||
| * rumble motors for a specific period at a specific power level. | ||
| * The Custom Effect will play as the (un-blocked) OpMode continues to run | ||
| * | ||
| * .isRumbling() returns true if there is a rumble effect in progress. | ||
| * Use this call to prevent stepping on a current rumble. | ||
| * | ||
| * .stopRumble() Stop any ongoing rumble or custom rumble effect. | ||
| * | ||
| * .rumble(int durationMs) Full power rumble for fixed duration. | ||
| * | ||
| * Note: Whenever a new Rumble command is issued, any currently executing rumble action will | ||
| * be truncated, and the new action started immediately. Take these precautions: | ||
| * 1) Do Not SPAM the rumble motors by issuing rapid fire commands | ||
| * 2) Multiple sources for rumble commands must coordinate to avoid tromping on each other. | ||
| * | ||
| * This can be achieved several possible ways: | ||
| * 1) Only having one source for rumble actions | ||
| * 2) Issuing rumble commands on transitions, rather than states. | ||
| * e.g. The moment a touch sensor is pressed, rather than the entire time it is being pressed. | ||
| * 3) Scheduling rumble commands based on timed events. e.g. 10 seconds prior to endgame | ||
| * 4) Rumble on non-overlapping mechanical actions. e.g. arm fully-extended or fully-retracted. | ||
| * 5) Use isRumbling() to hold off on a new rumble if one is already in progress. | ||
| * | ||
| * The examples shown here are representstive of how to invoke a gamepad rumble. | ||
| * It is assumed that these will be modified to suit the specific robot and team strategy needs. | ||
| * | ||
| * ######## Read the telemetry display on the Driver Station Screen for instructions. ###### | ||
| * | ||
| * Ex 1) This example shows a) how to create a custom rumble effect, and then b) how to trigger it based | ||
| * on game time. One use for this might be to alert the driver that half-time or End-game is approaching. | ||
| * | ||
| * Ex 2) This example shows tying the rumble power to a changing sensor value. | ||
| * In this case it is the Gamepad trigger, but it could be any sensor output scaled to the 0-1 range. | ||
| * Since it takes over the rumble motors, it is only performed when the Left Bumper is pressed. | ||
| * Note that this approach MUST include a way to turn OFF the rumble when the button is released. | ||
| * | ||
| * Ex 3) This example shows a simple way to trigger a 3-blip sequence. In this case it is | ||
| * triggered by the gamepad A (Cross) button, but it could be any sensor, like a touch or light sensor. | ||
| * Note that this code ensures that it only rumbles once when the input goes true. | ||
| * | ||
| * Ex 4) This example shows how to trigger a single rumble when an input value gets over a certain value. | ||
| * In this case it is reading the Right Trigger, but it could be any variable sensor, like a | ||
| * range sensor, or position sensor. The code needs to ensure that it is only triggered once, so | ||
| * it waits till the sensor drops back below the threshold before it can trigger again. | ||
| * | ||
| * 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. | ||
| */ | ||
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| @Disabled | ||
| @TeleOp(name="Concept: Gamepad Rumble", group ="Concept") | ||
| public class ConceptGamepadRumble extends LinearOpMode | ||
| { | ||
| boolean lastA = false; // Use to track the prior button state. | ||
| boolean lastLB = false; // Use to track the prior button state. | ||
| boolean highLevel = false; // used to prevent multiple level-based rumbles. | ||
| boolean secondHalf = false; // Use to prevent multiple half-time warning rumbles. | ||
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| Gamepad.RumbleEffect customRumbleEffect; // Use to build a custom rumble sequence. | ||
| ElapsedTime runtime = new ElapsedTime(); // Use to determine when end game is starting. | ||
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| final double HALF_TIME = 60.0; // Wait this many seconds before rumble-alert for half-time. | ||
| final double TRIGGER_THRESHOLD = 0.75; // Squeeze more than 3/4 to get rumble. | ||
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| @Override | ||
| public void runOpMode() | ||
| { | ||
| // Example 1. a) start by creating a three-pulse rumble sequence: right, LEFT, LEFT | ||
| customRumbleEffect = new Gamepad.RumbleEffect.Builder() | ||
| .addStep(0.0, 1.0, 500) // Rumble right motor 100% for 500 mSec | ||
| .addStep(0.0, 0.0, 300) // Pause for 300 mSec | ||
| .addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec | ||
| .addStep(0.0, 0.0, 250) // Pause for 250 mSec | ||
| .addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec | ||
| .build(); | ||
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| telemetry.addData(">", "Press Start"); | ||
| telemetry.update(); | ||
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| waitForStart(); | ||
| runtime.reset(); // Start game timer. | ||
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| // Loop while monitoring buttons for rumble triggers | ||
| while (opModeIsActive()) | ||
| { | ||
| // Read and save the current gamepad button states. | ||
| boolean currentA = gamepad1.a ; | ||
| boolean currentLB = gamepad1.left_bumper ; | ||
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| // Display the current Rumble status. Just for interest. | ||
| telemetry.addData(">", "Are we RUMBLING? %s\n", gamepad1.isRumbling() ? "YES" : "no" ); | ||
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| // ---------------------------------------------------------------------------------------- | ||
| // Example 1. b) Watch the runtime timer, and run the custom rumble when we hit half-time. | ||
| // Make sure we only signal once by setting "secondHalf" flag to prevent further rumbles. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if ((runtime.seconds() > HALF_TIME) && !secondHalf) { | ||
| gamepad1.runRumbleEffect(customRumbleEffect); | ||
| secondHalf =true; | ||
| } | ||
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| // Display the time remaining while we are still counting down. | ||
| if (!secondHalf) { | ||
| telemetry.addData(">", "Halftime Alert Countdown: %3.0f Sec \n", (HALF_TIME - runtime.seconds()) ); | ||
| } | ||
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| // ---------------------------------------------------------------------------------------- | ||
| // Example 2. If Left Bumper is being pressed, power the rumble motors based on the two trigger depressions. | ||
| // This is useful to see how the rumble feels at various power levels. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if (currentLB) { | ||
| // Left Bumper is being pressed, so send left and right "trigger" values to left and right rumble motors. | ||
| gamepad1.rumble(gamepad1.left_trigger, gamepad1.right_trigger, Gamepad.RUMBLE_DURATION_CONTINUOUS); | ||
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| // Show what is being sent to rumbles | ||
| telemetry.addData(">", "Squeeze triggers to control rumbles"); | ||
| telemetry.addData("> : Rumble", "Left: %.0f%% Right: %.0f%%", gamepad1.left_trigger * 100, gamepad1.right_trigger * 100); | ||
| } else { | ||
| // Make sure rumble is turned off when Left Bumper is released (only one time each press) | ||
| if (lastLB) { | ||
| gamepad1.stopRumble(); | ||
| } | ||
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| // Prompt for manual rumble action | ||
| telemetry.addData(">", "Hold Left-Bumper to test Manual Rumble"); | ||
| telemetry.addData(">", "Press A (Cross) for three blips"); | ||
| telemetry.addData(">", "Squeeze right trigger slowly for 1 blip"); | ||
| } | ||
| lastLB = currentLB; // remember the current button state for next time around the loop | ||
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| // ---------------------------------------------------------------------------------------- | ||
| // Example 3. Blip 3 times at the moment that A (Cross) is pressed. (look for pressed transition) | ||
| // BUT !!! Skip it altogether if the Gamepad is already rumbling. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if (currentA && !lastA) { | ||
| if (!gamepad1.isRumbling()) // Check for possible overlap of rumbles. | ||
| gamepad1.rumbleBlips(3); | ||
| } | ||
| lastA = currentA; // remember the current button state for next time around the loop | ||
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| // ---------------------------------------------------------------------------------------- | ||
| // Example 4. Rumble once when gamepad right trigger goes above the THRESHOLD. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if (gamepad1.right_trigger > TRIGGER_THRESHOLD) { | ||
| if (!highLevel) { | ||
| gamepad1.rumble(0.9, 0, 200); // 200 mSec burst on left motor. | ||
| highLevel = true; // Hold off any more triggers | ||
| } | ||
| } else { | ||
| highLevel = false; // We can trigger again now. | ||
| } | ||
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| // Send the telemetry data to the Driver Station, and then pause to pace the program. | ||
| telemetry.update(); | ||
| sleep(10); | ||
| } | ||
| } | ||
| } |
78 changes: 78 additions & 0 deletions
78
...n/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,78 @@ | ||
| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
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| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
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| import org.firstinspires.ftc.robotcore.external.Telemetry; | ||
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| /** | ||
| * This sample illustrates using the touchpad feature found on some gamepads. | ||
| * | ||
| * The Sony PS4 gamepad can detect two distinct touches on the central touchpad. | ||
| * Other gamepads with different touchpads may provide mixed results. | ||
| * | ||
| * The touchpads are accessed through the standard gamepad1 and gamepad2 objects. | ||
| * Several new members were added to the Gamepad class in FTC SDK Rev 7 | ||
| * | ||
| * .touchpad_finger_1 returns true if at least one finger is detected. | ||
| * .touchpad_finger_1_x finger 1 X coordinate. Valid if touchpad_finger_1 is true | ||
| * .touchpad_finger_1_y finger 1 Y coordinate. Valid if touchpad_finger_1 is true | ||
| * | ||
| * .touchpad_finger_2 returns true if a second finger is detected | ||
| * .touchpad_finger_2_x finger 2 X coordinate. Valid if touchpad_finger_2 is true | ||
| * .touchpad_finger_2_y finger 2 Y coordinate. Valid if touchpad_finger_2 is true | ||
| * | ||
| * Finger touches are reported with an X and Y coordinate in following coordinate system. | ||
| * | ||
| * 1) X is the Horizontal axis, and Y is the vertical axis | ||
| * 2) The 0,0 origin is at the center of the touchpad. | ||
| * 3) 1.0, 1.0 is at the top right corner of the touchpad. | ||
| * 4) -1.0,-1.0 is at the bottom left corner of the touchpad. | ||
| * | ||
| * 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. | ||
| */ | ||
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| @Disabled | ||
| @TeleOp(name="Concept: Gamepad Touchpad", group ="Concept") | ||
| public class ConceptGamepadTouchpad extends LinearOpMode | ||
| { | ||
| @Override | ||
| public void runOpMode() | ||
| { | ||
| telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE); | ||
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| telemetry.addData(">", "Press Start"); | ||
| telemetry.update(); | ||
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| waitForStart(); | ||
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| while (opModeIsActive()) | ||
| { | ||
| boolean finger = false; | ||
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| // Display finger 1 x & y position if finger detected | ||
| if(gamepad1.touchpad_finger_1) | ||
| { | ||
| finger = true; | ||
| telemetry.addLine(String.format("Finger 1: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_1_x, gamepad1.touchpad_finger_1_y)); | ||
| } | ||
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| // Display finger 2 x & y position if finger detected | ||
| if(gamepad1.touchpad_finger_2) | ||
| { | ||
| finger = true; | ||
| telemetry.addLine(String.format("Finger 2: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_2_x, gamepad1.touchpad_finger_2_y)); | ||
| } | ||
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| if(!finger) | ||
| { | ||
| telemetry.addLine("No fingers"); | ||
| } | ||
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| telemetry.update(); | ||
| sleep(10); | ||
| } | ||
| } | ||
| } |
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