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BlueTruss1
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BlueTruss1
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package org.firstinspires.ftc.teamcode.Auto;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.CRServo;
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 org.checkerframework.checker.units.qual.A;
@Autonomous(name="BlueTruss1", group="Robot")
public class BlueTruss1 extends LinearOpMode {
/* Declare OpMode members. */
private DcMotor fr = null;
private DcMotor fl = null;
private DcMotor bl = null;
private DcMotor br = 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.
fr = hardwareMap.get(DcMotor.class, "fR");
fl = hardwareMap.get(DcMotor.class, "fL");
br = hardwareMap.get(DcMotor.class, "bR");
bl = hardwareMap.get(DcMotor.class, "bL");
// 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
fr.setDirection(DcMotor.Direction.FORWARD);
fl.setDirection(DcMotor.Direction.REVERSE);
br.setDirection(DcMotor.Direction.FORWARD);
bl.setDirection(DcMotor.Direction.REVERSE);
fr.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
fl.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
br.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
bl.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
fr.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
fl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
br.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
bl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Send telemetry message to indicate successful Encoder reset
telemetry.addData("Starting at", "%7d :%7d :%7d :%7d",
fr.getCurrentPosition(),
fl.getCurrentPosition(),
br.getCurrentPosition(),
bl.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, 1, 1, 5.0); // S1: Forward 1 Inch with 5 Sec timeout
encoderStrafe(DRIVE_SPEED, 40, 40, 5.0); // S2: Strafe Right 40 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 newflTarget;
int newfrTarget;
int newblTarget;
int newbrTarget;
// Ensure that the opmode is still active
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
newflTarget = fl.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
newfrTarget = fr.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
newblTarget = bl.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
newbrTarget = br.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
fl.setTargetPosition(newflTarget);
fr.setTargetPosition(newfrTarget);
bl.setTargetPosition(newblTarget);
br.setTargetPosition(newbrTarget);
// Turn On RUN_TO_POSITION
fr.setMode(DcMotor.RunMode.RUN_TO_POSITION);
fl.setMode(DcMotor.RunMode.RUN_TO_POSITION);
br.setMode(DcMotor.RunMode.RUN_TO_POSITION);
bl.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// reset the timeout time and start motion.
runtime.reset();
fr.setPower(Math.abs(speed));
fl.setPower(Math.abs(speed));
br.setPower(Math.abs(speed));
bl.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) &&
(fr.isBusy() && br.isBusy() && bl.isBusy() && fl.isBusy())) {
// Display it for the driver.
telemetry.addData("Running to", " %7d :%7d :%7d :%7d", newfrTarget, newflTarget, newbrTarget, newblTarget);
telemetry.addData("Currently at", " at %7d :%7d :%7d :%7d", newfrTarget, newflTarget, newbrTarget, newblTarget,
fr.getCurrentPosition(), fl.getCurrentPosition(), br.getCurrentPosition(), bl.getCurrentPosition());
telemetry.update();
}
// Stop all motion;
fr.setPower(0);
fl.setPower(0);
br.setPower(0);
bl.setPower(0);
// Turn off RUN_TO_POSITION
fr.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
fl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
br.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
bl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(250); // optional pause after each move.
}
}
//strafing encoders
public void encoderStrafe(double speed, double leftInches, double rightInches, double timeoutS){
int newflTarget;
int newfrTarget;
int newblTarget;
int newbrTarget;
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
// For strafing one side's wheels 'attract' each other while the other side 'repels' each other
//The positive value will make the robot go to the left with current arrangement
newflTarget = fl.getCurrentPosition() - (int)(leftInches * COUNTS_PER_INCH);
newfrTarget = fr.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
newblTarget = bl.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
newbrTarget = br.getCurrentPosition() - (int)(rightInches * COUNTS_PER_INCH);
fl.setTargetPosition(newflTarget);
fr.setTargetPosition(newfrTarget);
bl.setTargetPosition(newblTarget);
br.setTargetPosition(newbrTarget);
// Turn On RUN_TO_POSITION
fr.setMode(DcMotor.RunMode.RUN_TO_POSITION);
fl.setMode(DcMotor.RunMode.RUN_TO_POSITION);
br.setMode(DcMotor.RunMode.RUN_TO_POSITION);
bl.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// reset the timeout time and start motion.
runtime.reset();
fr.setPower(Math.abs(speed));
fl.setPower(Math.abs(speed));
br.setPower(Math.abs(speed));
bl.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) &&
(fr.isBusy() && br.isBusy() && bl.isBusy() && fl.isBusy())) {
// Display it for the driver.
telemetry.addData("Running to", " %7d :%7d :%7d :%7d", newfrTarget, newflTarget, newbrTarget, newblTarget);
telemetry.addData("Currently at", " at %7d :%7d :%7d :%7d", newfrTarget, newflTarget, newbrTarget, newblTarget,
fr.getCurrentPosition(), fl.getCurrentPosition(), br.getCurrentPosition(), bl.getCurrentPosition());
telemetry.update();
}
// Stop all motion;
fr.setPower(0);
fl.setPower(0);
br.setPower(0);
bl.setPower(0);
// Turn off RUN_TO_POSITION
fr.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
fl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
br.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
bl.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(250); // optional pause after each move.
}
}
}