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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 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.hardware.DcMotorSimple;
- import com.qualcomm.robotcore.util.ElapsedTime;
- /**
- * This file illustrates the concept of driving a path based on encoder counts.
- * It uses the common Pushbot hardware class to define the drive on the robot.
- * The code is structured as a LinearOpMode
- *
- * The code REQUIRES that you DO have encoders on the wheels,
- * otherwise you would use: PushbotAutoDriveByTime;
- *
- * This code ALSO requires that the drive Motors have been configured such that a positive
- * power command moves them forwards, 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 Backwards 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 methods 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 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
- */
- @Autonomous(name="AutoEncoder", group="Pushbot")
- //@Disabled
- public class TryEncoders extends LinearOpMode {
- /* Declare OpMode members. */
- private ElapsedTime runtime = new ElapsedTime();
- static final double COUNTS_PER_MOTOR_REV = 1120 ; // eg: TETRIX Motor Encoder
- static final double DRIVE_GEAR_REDUCTION = 1.7 ; // This is < 1.0 if geared UP
- 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;
- private DcMotor leftfront;
- private DcMotor rightfront;
- @Override
- public void runOpMode() {
- leftfront = hardwareMap.dcMotor.get("left_front");
- rightfront = hardwareMap.dcMotor.get("right_front");
- leftfront.setDirection(DcMotorSimple.Direction.REVERSE);
- telemetry.addData("Status", "Resetting Encoders"); //
- telemetry.update();
- leftfront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
- rightfront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
- leftfront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
- rightfront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
- // Send telemetry message to indicate successful Encoder reset
- telemetry.addData("Path0", "Starting at %7d :%7d",
- leftfront.getCurrentPosition(),
- rightfront.getCurrentPosition());
- telemetry.update();
- waitForStart();
- encoderDrive(DRIVE_SPEED, 30, 30, 5.0); // S1: Forward 47 Inches with 5 Sec timeout
- sleep(1000); // pause for servos to move
- telemetry.addData("Path", "Complete");
- telemetry.update();
- }
- 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 = leftfront.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
- newRightTarget = rightfront.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
- leftfront.setTargetPosition(newLeftTarget);
- rightfront.setTargetPosition(newRightTarget);
- // Turn On RUN_TO_POSITION
- leftfront.setMode(DcMotor.RunMode.RUN_TO_POSITION);
- rightfront.setMode(DcMotor.RunMode.RUN_TO_POSITION);
- // reset the timeout time and start motion.
- runtime.reset();
- leftfront.setPower(Math.abs(speed));
- rightfront.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) &&
- (leftfront.isBusy() && rightfront.isBusy())) {
- // Display it for the driver.
- telemetry.addData("Path1", "Running to %7d :%7d", newLeftTarget, newRightTarget);
- telemetry.addData("Path2", "Running at %7d :%7d",
- leftfront.getCurrentPosition(),
- rightfront.getCurrentPosition());
- telemetry.update();
- }
- // Stop all motion;
- leftfront.setPower(0);
- rightfront.setPower(0);
- // Turn off RUN_TO_POSITION
- leftfront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
- rightfront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
- // sleep(250); // optional pause after each move
- }
- }
- }
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