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…/20211223-120805-release-candidate FtcRobotController v7.1
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...n/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java
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| /* Copyright (c) 2021 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. | ||
| */ | ||
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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.DcMotor; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
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| /** | ||
| * This file contains an 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 a selection is made from the menu, the corresponding OpMode is executed. | ||
| * | ||
| * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot. | ||
| * This code will work with either a Mecanum-Drive or an X-Drive train. | ||
| * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html | ||
| * Note that a Mecanum drive must display an X roller-pattern when viewed from above. | ||
| * | ||
| * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously. | ||
| * Each motion axis is controlled by one Joystick axis. | ||
| * | ||
| * 1) Axial: Driving forward and backwards Left-joystick Forward/Backwards | ||
| * 2) Lateral: Strafing right and left Left-joystick Right and Left | ||
| * 3) Yaw: Rotating Clockwise and counter clockwise Right-joystick Right and Left | ||
| * | ||
| * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward. | ||
| * When you first test your robot, if it moves backwards when you push the left stick forward, then you must flip | ||
| * the direction of all 4 motors (see code below). | ||
| * | ||
| * 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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| @TeleOp(name="Basic: Omni Linear OpMode", group="Linear Opmode") | ||
| @Disabled | ||
| public class BasicOmniOpMode_Linear extends LinearOpMode { | ||
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| // Declare OpMode members for each of the 4 motors. | ||
| private ElapsedTime runtime = new ElapsedTime(); | ||
| private DcMotor leftFrontDrive = null; | ||
| private DcMotor leftBackDrive = null; | ||
| private DcMotor rightFrontDrive = null; | ||
| private DcMotor rightBackDrive = null; | ||
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| @Override | ||
| public void runOpMode() { | ||
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| // Initialize the hardware variables. Note that the strings used here must correspond | ||
| // to the names assigned during the robot configuration step on the DS or RC devices. | ||
| leftFrontDrive = hardwareMap.get(DcMotor.class, "left_front_drive"); | ||
| leftBackDrive = hardwareMap.get(DcMotor.class, "left_back_drive"); | ||
| rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive"); | ||
| rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive"); | ||
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| // Most robots need the motors on one side to be reversed to drive forward. | ||
| // When you first test your robot, push the left joystick forward | ||
| // and flip the direction ( FORWARD <-> REVERSE ) of any wheel that runs backwards | ||
| leftFrontDrive.setDirection(DcMotor.Direction.REVERSE); | ||
| leftBackDrive.setDirection(DcMotor.Direction.REVERSE); | ||
| rightFrontDrive.setDirection(DcMotor.Direction.FORWARD); | ||
| rightBackDrive.setDirection(DcMotor.Direction.FORWARD); | ||
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| // Wait for the game to start (driver presses PLAY) | ||
| telemetry.addData("Status", "Initialized"); | ||
| telemetry.update(); | ||
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| waitForStart(); | ||
| runtime.reset(); | ||
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| // run until the end of the match (driver presses STOP) | ||
| while (opModeIsActive()) { | ||
| double max; | ||
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| // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate. | ||
| double axial = -gamepad1.left_stick_y; // Note: pushing stick forward gives negative value | ||
| double lateral = gamepad1.left_stick_x; | ||
| double yaw = gamepad1.right_stick_x; | ||
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| // Combine the joystick requests for each axis-motion to determine each wheel's power. | ||
| // Set up a variable for each drive wheel to save the power level for telemetry. | ||
| double leftFrontPower = axial + lateral + yaw; | ||
| double rightFrontPower = axial - lateral - yaw; | ||
| double leftBackPower = axial - lateral + yaw; | ||
| double rightBackPower = axial + lateral - yaw; | ||
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| // Normalize the values so no wheel power exceeds 100% | ||
| // This ensures that the robot maintains the desired motion. | ||
| max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower)); | ||
| max = Math.max(max, Math.abs(leftBackPower)); | ||
| max = Math.max(max, Math.abs(rightBackPower)); | ||
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| if (max > 1.0) { | ||
| leftFrontPower /= max; | ||
| rightFrontPower /= max; | ||
| leftBackPower /= max; | ||
| rightBackPower /= max; | ||
| } | ||
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| // This is test code: | ||
| // | ||
| // Uncomment the following code to test your motor directions. | ||
| // Each button should make the corresponding motor run FORWARD. | ||
| // 1) First get all the motors to take to correct positions on the robot | ||
| // by adjusting your Robot Configuration if necessary. | ||
| // 2) Then make sure they run in the correct direction by modifying the | ||
| // the setDirection() calls above. | ||
| // Once the correct motors move in the correct direction re-comment this code. | ||
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| /* | ||
| leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad | ||
| leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad | ||
| rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad | ||
| rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad | ||
| */ | ||
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| // Send calculated power to wheels | ||
| leftFrontDrive.setPower(leftFrontPower); | ||
| rightFrontDrive.setPower(rightFrontPower); | ||
| leftBackDrive.setPower(leftBackPower); | ||
| rightBackDrive.setPower(rightBackPower); | ||
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| // Show the elapsed game time and wheel power. | ||
| telemetry.addData("Status", "Run Time: " + runtime.toString()); | ||
| telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower); | ||
| telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower); | ||
| telemetry.update(); | ||
| } | ||
| }} |
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