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PracticeOpModeTest.java
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PracticeOpModeTest.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;
import android.util.Log;
import com.qualcomm.hardware.bosch.BNO055IMU;
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.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
/**
* 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
* 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.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@TeleOp(name="PracticeOpMode", group="Linear Opmode")
//@Disabled
public class PracticeOpModeTest extends TeleOp_Methods {
//OpenCvInternalCamera2 phoneCam;
//StoneOrientationExample.StoneOrientationAnalysisPipeline pipeline;
@Override
public void runOpMode() throws InterruptedException {
initRobot();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// Setup a variable for each drive wheel to save power level for telemetry
double leftFrontPower, leftBackPower;
double rightFrontPower, rightBackPower;
double intakePower, liftPower;
//boolean button_b, button_a;
// Choose to drive using either Tank Mode, or POV Mode
// Comment out the method that's not used. The default below is POV.
/*// POV Mode uses left stick to go forward, and right stick to turn.
// - This uses basic math to combine motions and is easier to drive straight.
double drive = -gamepad1.left_stick_y;
double turn = gamepad1.right_stick_x;
double shoot = gamepad1.right_trigger;
leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
shooterPower = Range.clip(shoot + shoot, -1.0,1.0);
// Tank Mode uses one stick to control each wheel.
// - This requires no math, but it is hard to drive forward slowly and keep straight.
// leftPower = -gamepad1.left_stick_y ;
// rightPower = -gamepad1.right_stick_y ;
*/
//this is to use left joystick to translate robot (y: front/back; x: strafing)
// use right joystick to turn
double drive = -gamepad1.left_stick_y;
double turn = gamepad1.right_stick_x;
double strafe = gamepad1.left_stick_x;
double goIn = gamepad2.right_trigger;
double goOut = gamepad2.left_trigger;
double lift = gamepad2.left_stick_x;
//double shoot = gamepad1.right_trigger;
leftFrontPower = (drive + turn + strafe) * .75;
rightFrontPower = (drive - turn - strafe) * .75;
rightBackPower = (drive - turn + strafe) * .75;
leftBackPower = (drive + turn - strafe) * .75;
intakePower = Range.clip(goIn - goOut, -.8, .8);
liftPower = Range.clip(lift, -.5, .5);
if (gamepad2.dpad_right)
trigger.setPosition(shootPosition);
sleep(100);
trigger.setPosition(readyPosition);
//shooterPower.setPower(shoot);
// Send calculated power to wheels
/*leftBackDrive.setPower(-leftPower);
rightBackDrive.setPower(-rightPower);
leftFrontDrive.setPower(-leftPower);
rightFrontDrive.setPower(-rightPower);
frontShooter.setPower(shooterPower);
*/
leftBackDrive.setPower(leftBackPower);
rightBackDrive.setPower(rightBackPower);
leftFrontDrive.setPower(leftFrontPower);
rightFrontDrive.setPower(rightFrontPower);
intake.setPower(intakePower);
frontShooter.setPower(shoot);
wobbleArm.setPower(liftPower);
//for shooter function and callibration
//
if (gamepad2.b) {
button_b = true;
} else if (gamepad2.a) {
button_a = true;
}
if (button_b == true) {
frontShooter.setPower(shoot += 0.025);
button_b = false;
sleep(200);
} else if (button_a == true) {
frontShooter.setPower(shoot -= 0.025);
button_a = false;
sleep(200);
}
if (shoot < 0) {
shoot = 0;
} else if (gamepad2.x) {
shoot = 0;
} else if (gamepad2.y) {
shoot = 0.675;
}
//IMU align to goal/anything
else if (gamepad1.left_bumper)
resetAngle();
else if (gamepad1.right_bumper) {
check(0.4);
sleep(250);
check(0.1);
//forward(0.8,48);
} else if (gamepad1.dpad_up)
forward(0.4, 48);
else if (gamepad1.dpad_right)
strafeRight(0.3, 30);
if (gamepad1.y) {
automatedPowerShots();
returnToTeleOp();
}
/*
//other random commands
//
if (gamepad1.left_bumper) {
frontShooter.setPower(0.55);
sleep(2000);
strafeRight(12.5, 0.1);
trigger.setPosition(shootPosition);
sleep(100);
trigger.setPosition(readyPosition);
strafeRight(4.5, 0.1);
trigger.setPosition(shootPosition);
sleep(100);
trigger.setPosition(readyPosition);
strafeRight(4.5, 0.1);
trigger.setPosition(shootPosition);
sleep(100);
trigger.setPosition(readyPosition);
sleep(1000);
frontShooter.setPower(0);
leftRear.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightRear.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
*/
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Motors", "left-back (%.2f), left-front (%.2f), right-back (%.2f), right-front (%.2f), frontShooter (%.2f), intake (%.2f)", leftBackPower, leftFrontPower, rightBackPower, rightFrontPower, shoot, intakePower);
//telemetry.addData("Servos", "trigger (%.2f)", trigger.getPosition());
telemetry.addData("Angle: ", "%.2f", getAngle());
telemetry.addData("correction: ", "%.2f", checkDirection());
//Log.i("[philos:turnTest]", String.format("GettingAngle %.2f", getAngle()));
telemetry.update();
}
}
}