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BlueAutonomous2.java
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BlueAutonomous2.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
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;
import org.opencv.core.Scalar;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
/*
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Rect;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
import org.openftc.easyopencv.OpenCvCamera;
import org.openftc.easyopencv.OpenCvCameraFactory;
import org.openftc.easyopencv.OpenCvCameraRotation;
import org.openftc.easyopencv.OpenCvPipeline;
import org.openftc.easyopencv.OpenCvWebcam;
*/
/**
* Created by maryjaneb on 11/13/2016.
*
* nerverest ticks
* 60 1680
* 40 1120
* 20 560
*
* monitor: 640 x 480
*YES
*/
@Autonomous(name= "Blue Autonomous Left")
//@Disabled
public class BlueAutonomous2<finalPosition> extends LinearOpMode {
private ElapsedTime runtime = new ElapsedTime();
//OpenCvWebcam robotWebcam;
//OpenCV.SkystoneDeterminationPipeline pipeline;
private OpenCvCamera robotWebcam;
private ContourPipeline pipeline;
private double crThreshHigh = 150;
private double crThreshLow = 120;
private double cbThreshHigh = 255;
private double cbThreshLow = 255;
private int minRectangleArea = 2000;
private double leftBarcodeRangeBoundary = 0.3; //i.e 30% of the way across the frame from the left
private double rightBarcodeRangeBoundary = 0.6; //i.e 60% of the way across the frame from the left
private double lowerRuntime = 0;
private double upperRuntime = 0;
// Pink Range Y Cr Cb
public static Scalar scalarLowerYCrCb = new Scalar( 0.0, 0.0, 0.0);
public static Scalar scalarUpperYCrCb = new Scalar(255.0, 120.0, 120.0);
//Motors
//Drivetrain
private DcMotor wheelFrontRight;
private DcMotor wheelFrontLeft;
private DcMotor wheelRearRight;
private DcMotor wheelRearLeft;
//Intake and Turntable
private DcMotor intake;
private DcMotor turntable;
//Servos
private Servo rightLinkage;
private Servo leftLinkage;
private Servo box;
private Servo catapult;
int x = 0;
BNO055IMU imu; // Additional Gyro device
Orientation angles;
//Servo init values
private static final double RIGHT_LINKAGE_DOWN = -0.3;
private static final double RIGHT_LINKAGE_UP = 0.3;
private static final double LEFT_LINKAGE_DOWN = -0.3;
private static final double LEFT_LINKAGE_UP = 0.3;
private static final double BOX_OUT = 0.93;
private static final double BOX_IN = 0.52;
private static final double CATAPULT_IN = 0.79;
private static final double CATAPULT_OUT = 0.265;
static final double DRIVE_SPEED = 0.52; // Nominal speed for better accuracy.
static final double TURN_SPEED = 0.47; // Nominal half speed for better accuracy.
static final double HEADING_THRESHOLD = 1; // As tight as we can make it with an integer gyro
static final double P_TURN_COEFF = 0.027; // Larger is more responsive, but also less stable
static final double P_DRIVE_COEFF = 0.009; // Larger is more responsive, but also less stable
@Override
public void runOpMode() throws InterruptedException {
// OpenCV webcam
int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
robotWebcam = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, "Webcam 1"), cameraMonitorViewId);
//OpenCV Pipeline
pipeline = new ContourPipeline(0.2, 0.2, 0.2, 0.2);
pipeline.configureScalarLower(scalarLowerYCrCb.val[0], scalarLowerYCrCb.val[1], scalarLowerYCrCb.val[2]);
pipeline.configureScalarUpper(scalarUpperYCrCb.val[0], scalarUpperYCrCb.val[1], scalarUpperYCrCb.val[2]);
robotWebcam.setPipeline(pipeline);
// Webcam Streaming
robotWebcam.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener() {
@Override
public void onOpened() {
robotWebcam.startStreaming(640, 480, OpenCvCameraRotation.UPRIGHT);
}
@Override
public void onError(int errorCode) {
}
});
//Drivetrain
wheelFrontRight = hardwareMap.get(DcMotor.class, "wheelFrontRight");
wheelFrontLeft = hardwareMap.get(DcMotor.class, "wheelFrontLeft");
wheelRearRight = hardwareMap.get(DcMotor.class, "wheelRearRight");
wheelRearLeft = hardwareMap.get(DcMotor.class, "wheelRearLeft");
intake = hardwareMap.get(DcMotor.class, "intake");
turntable = hardwareMap.get(DcMotor.class, "turntable");
//Servos
rightLinkage = hardwareMap.get(Servo.class, "rightLinkage");
leftLinkage = hardwareMap.get(Servo.class, "leftLinkage");
box = hardwareMap.get(Servo.class, "box");
catapult = hardwareMap.get(Servo.class, "catapult");
wheelFrontLeft.setDirection(DcMotor.Direction.FORWARD);
wheelRearLeft.setDirection(DcMotor.Direction.FORWARD);
wheelFrontRight.setDirection(DcMotor.Direction.REVERSE);
wheelRearRight.setDirection(DcMotor.Direction.REVERSE);
intake.setDirection(DcMotor.Direction.FORWARD);
turntable.setDirection(DcMotor.Direction.FORWARD);
//Set motor modes
wheelFrontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
wheelFrontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
wheelRearRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
wheelRearLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
intake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
turntable.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
//Setting motor mode regarding encoders
wheelFrontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
intake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
turntable.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.mode = BNO055IMU.SensorMode.IMU;
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.calibrationDataFile = "BNO055IMUCalibration.json";
imu = hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(parameters);
//Set servo positions
rightLinkage.setPosition(RIGHT_LINKAGE_DOWN);
leftLinkage.setPosition(LEFT_LINKAGE_DOWN);
box.setPosition(BOX_IN);
catapult.setPosition(CATAPULT_IN);
telemetry.addData("Mode", "working...");
telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
telemetry.update();
double rectangleArea = pipeline.getRectArea();
double position = pipeline.getRectMidpointX();
telemetry.addData("Mode", "ready");
telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
telemetry.update();
rectangleArea = pipeline.getRectArea();
position = pipeline.getRectMidpointX();
waitForStart();
runtime.reset();
if (isStopRequested()) return;
while (opModeIsActive()) {
rectangleArea = pipeline.getRectArea();
position = pipeline.getRectMidpointX();
sleep(1500);
//BOTTOM
//LEFT
if (position < 150) {
telemetry.addData("Barcode Position", "left");
telemetry.update();
gyroDrive(DRIVE_SPEED, 200, 0);
sleep(150);
gyroTurn(TURN_SPEED, 145);
gyroHold(TURN_SPEED, 145, 0.3);
gyroDrive(DRIVE_SPEED, -220, 145);
sleep(150);
catapult.setPosition(0.21);
sleep(500);
gyroDrive(DRIVE_SPEED, -70, 145);
sleep(150);
box.setPosition(0.95);
sleep(400);
gyroDrive(DRIVE_SPEED, 440, 145);
sleep(150);
catapult.setPosition(CATAPULT_IN);
sleep(150);
gyroTurn(TURN_SPEED, 90);
gyroHold(TURN_SPEED, 90, 0.3);
Drive(-300, 300, 300, -300, 0.5);
sleep(100);
gyroDrive(DRIVE_SPEED, 1000, 90);
sleep(150);
intakeIntake(-500, 0.5);
sleep(200);
box.setPosition(BOX_IN);
intakeIntake(300, 0.5);
gyroDrive(DRIVE_SPEED, -1200, 90); //???
sleep(150);
Drive(250, -250, -250, 250, 0.5);
sleep(100);
gyroTurn(TURN_SPEED, 155); //MAYEB CHANGE TO TURN INTO HUB MORE
gyroHold(TURN_SPEED, 155, 0.3);
gyroDrive(DRIVE_SPEED, -490, 155);
sleep(150);
leftLinkage.setPosition(LEFT_LINKAGE_UP);
rightLinkage.setPosition(RIGHT_LINKAGE_UP);
sleep(200);
catapult.setPosition(CATAPULT_OUT);
sleep(800);
box.setPosition(0.95);
sleep(500);
catapult.setPosition(CATAPULT_IN);
sleep(300);
leftLinkage.setPosition(LEFT_LINKAGE_DOWN);
rightLinkage.setPosition(RIGHT_LINKAGE_DOWN);
sleep(100);
gyroDrive(DRIVE_SPEED, 570, 155);
sleep(150);
gyroTurn(TURN_SPEED, 90);
gyroHold(TURN_SPEED, 90, 0.3);
Drive(-300, 300, 300, -300, 0.5);
sleep(100);
gyroDrive(DRIVE_SPEED, 1000, 90);
sleep(150);
Drive(800, -800, -800, 800, 0.5);
sleep(100);
sleep(10000);
//MIDDLE
} else if (position > 150 && position < 400) {
telemetry.addData("Barcode Position", "Center");
telemetry.update();
gyroDrive(DRIVE_SPEED, 200, 0);
sleep(150);
gyroTurn(TURN_SPEED, 145);
gyroHold(TURN_SPEED, 145, 0.3);
gyroDrive(DRIVE_SPEED, -280, 145);
sleep(150);
catapult.setPosition(0.3);
sleep(500);
gyroDrive(DRIVE_SPEED, -120, 145);
sleep(150);
box.setPosition(0.95);
sleep(400);
gyroDrive(DRIVE_SPEED, 460, 145);
sleep(150);
catapult.setPosition(CATAPULT_IN);
sleep(150);
gyroTurn(TURN_SPEED, 90);
gyroHold(TURN_SPEED, 90, 0.3);
Drive(-300, 300, 300, -300, 0.5);
sleep(100);
gyroDrive(DRIVE_SPEED, 1050, 90);
sleep(150);
intakeIntake(-500, 0.5);
sleep(200);
box.setPosition(BOX_IN);
intakeIntake(300, 0.5);
gyroDrive(DRIVE_SPEED, -1200, 90); //???
sleep(150);
Drive(250, -250, -250, 250, 0.5);
sleep(100);
gyroTurn(TURN_SPEED, 155); //MAYEB CHANGE TO TURN INTO HUB MORE
gyroHold(TURN_SPEED, 155, 0.3);
gyroDrive(DRIVE_SPEED, -490, 155);
sleep(150);
leftLinkage.setPosition(LEFT_LINKAGE_UP);
rightLinkage.setPosition(RIGHT_LINKAGE_UP);
sleep(200);
catapult.setPosition(CATAPULT_OUT);
sleep(800);
box.setPosition(0.95);
sleep(500);
catapult.setPosition(CATAPULT_IN);
sleep(300);
leftLinkage.setPosition(LEFT_LINKAGE_DOWN);
rightLinkage.setPosition(RIGHT_LINKAGE_DOWN);
sleep(100);
gyroDrive(DRIVE_SPEED, 570, 155);
sleep(150);
gyroTurn(TURN_SPEED, 90);
gyroHold(TURN_SPEED, 90, 0.3);
Drive(-300, 300, 300, -300, 0.5);
sleep(100);
gyroDrive(DRIVE_SPEED, 1000, 90);
sleep(150);
Drive(800, -800, -800, 800, 0.5);
sleep(100);
sleep(10000);
//TOP
} else {
telemetry.addData("Barcode Position", "Right");
telemetry.update();
gyroDrive(DRIVE_SPEED, 200, 0);
sleep(150);
gyroTurn(TURN_SPEED, 145);
gyroHold(TURN_SPEED, 145, 0.3);
gyroDrive(DRIVE_SPEED, -410, 145);
sleep(150);
leftLinkage.setPosition(LEFT_LINKAGE_UP);
rightLinkage.setPosition(RIGHT_LINKAGE_UP);
sleep(200);
catapult.setPosition(CATAPULT_OUT);
sleep(800);
box.setPosition(0.95);
sleep(500);
catapult.setPosition(CATAPULT_IN);
sleep(300);
leftLinkage.setPosition(LEFT_LINKAGE_DOWN);
rightLinkage.setPosition(RIGHT_LINKAGE_DOWN);
gyroDrive(DRIVE_SPEED, 550, 145);
sleep(150);
gyroTurn(TURN_SPEED, 90);
gyroHold(TURN_SPEED, 90, 0.3);
Drive(-300, 300, 300, -300, 0.5);
sleep(100);
gyroDrive(DRIVE_SPEED, 950, 90);
sleep(150);
intakeIntake(-500, 0.5);
sleep(200);
box.setPosition(BOX_IN);
intakeIntake(300, 0.5);
gyroDrive(DRIVE_SPEED, -1200, 90); //???
sleep(150);
Drive(250, -250, -250, 250, 0.5);
sleep(100);
gyroTurn(TURN_SPEED, 155); //MAYEB CHANGE TO TURN INTO HUB MORE
gyroHold(TURN_SPEED, 155, 0.3);
gyroDrive(DRIVE_SPEED, -490, 155); //470
sleep(150);
leftLinkage.setPosition(LEFT_LINKAGE_UP);
rightLinkage.setPosition(RIGHT_LINKAGE_UP);
sleep(200);
catapult.setPosition(CATAPULT_OUT);
sleep(800);
box.setPosition(0.95);
sleep(500);
catapult.setPosition(CATAPULT_IN);
sleep(300);
leftLinkage.setPosition(LEFT_LINKAGE_DOWN);
rightLinkage.setPosition(RIGHT_LINKAGE_DOWN);
sleep(100);
gyroDrive(DRIVE_SPEED, 570, 155);
sleep(150);
gyroTurn(TURN_SPEED, 90);
gyroHold(TURN_SPEED, 90, 0.3);
Drive(-300, 300, 300, -300, 0.5);
sleep(100);
gyroDrive(DRIVE_SPEED, 1000, 90);
sleep(150);
Drive(800, -800, -800, 800, 0.5);
sleep(100);
sleep(10000);
}
}
}
public void testing(ContourPipeline pipeline){
if(lowerRuntime + 0.05 < getRuntime()){
crThreshLow += -gamepad1.left_stick_y;
cbThreshLow += gamepad1.left_stick_x;
lowerRuntime = getRuntime();
}
if(upperRuntime + 0.05 < getRuntime()){
crThreshHigh += -gamepad1.right_stick_y;
cbThreshHigh += gamepad1.right_stick_x;
upperRuntime = getRuntime();
}
crThreshLow = inValues(crThreshLow, 0, 255);
crThreshHigh = inValues(crThreshHigh, 0, 255);
cbThreshLow = inValues(cbThreshLow, 0, 255);
cbThreshHigh = inValues(cbThreshHigh, 0, 255);
pipeline.configureScalarLower(0.0, crThreshLow, cbThreshLow);
pipeline.configureScalarUpper(255.0, crThreshHigh, cbThreshHigh);
telemetry.addData("lowerCr ", crThreshLow);
telemetry.addData("lowerCb ", cbThreshLow);
telemetry.addData("UpperCr ", crThreshHigh);
telemetry.addData("UpperCb ", cbThreshHigh);
}
public double inValues(double value, double min, double max){
if(value < min){ value = min; }
if(value > max){ value = max; }
return value;
}
public void duck (int distance, double speed){
turntable.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
turntable.setTargetPosition(distance);
turntable.setMode(DcMotor.RunMode.RUN_TO_POSITION);
turntable.setPower(speed);
while (turntable.isBusy() && opModeIsActive()) {
telemetry.addData("Horizontal Slide", turntable.getCurrentPosition());
telemetry.update();
}
turntable.setPower(0);
turntable.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(500);
}
public void intakeIntake (int distance, double speed){
intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
intake.setTargetPosition(distance);
intake.setMode(DcMotor.RunMode.RUN_TO_POSITION);
intake.setPower(speed);
while (intake.isBusy() && opModeIsActive()) {
telemetry.addData("Horizontal Slide", intake.getCurrentPosition());
telemetry.update();
}
intake.setPower(0);
intake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(500);
}
public void gyroDrive(double speed,
int distance,
double angle) {
double max;
double error;
double steer;
double leftSpeed;
double rightSpeed;
// Ensure that the opmode is still active
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
wheelFrontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelFrontRight.setTargetPosition(distance);
wheelFrontLeft.setTargetPosition(distance);
wheelRearRight.setTargetPosition(distance);
wheelRearLeft.setTargetPosition(distance);
wheelFrontRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelRearRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelFrontRight.setPower(speed);
wheelFrontLeft.setPower(speed);
wheelRearRight.setPower(speed);
wheelRearLeft.setPower(speed);
// keep looping while we are still active, and BOTH motors are running.
while (opModeIsActive() &&
(wheelFrontRight.isBusy() && wheelFrontLeft.isBusy() && wheelRearRight.isBusy() && wheelRearLeft.isBusy())) {
// adjust relative speed based on heading error.
error = getError(angle);
steer = getSteer(error, P_DRIVE_COEFF);
// if driving in reverse, the motor correction also needs to be reversed
if (distance < 0)
steer *= -1.0;
leftSpeed = speed - steer;
rightSpeed = speed + steer;
// Normalize speeds if either one exceeds +/- 1.0;
max = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed));
if (max > 1.0) {
leftSpeed /= max;
rightSpeed /= max;
}
wheelFrontLeft.setPower(leftSpeed);
wheelRearLeft.setPower(leftSpeed);
wheelFrontRight.setPower(rightSpeed);
wheelRearRight.setPower(rightSpeed);
// Display drive status for the driver.
telemetry.addData("Err/St", "%5.1f/%5.1f", error, steer);
telemetry.addData("Speed", "%5.2f:%5.2f", leftSpeed, rightSpeed);
telemetry.update();
}
// Stop all motion;
wheelFrontRight.setPower(0);
wheelRearRight.setPower(0);
wheelFrontLeft.setPower(0);
wheelRearLeft.setPower(0);
// Turn off RUN_TO_POSITION
wheelFrontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}
public void gyroIntakeDrive(double speed,
int distance,
double angle, int intakeDistance, double intakeSpeed) {
double max;
double error;
double steer;
double leftSpeed;
double rightSpeed;
// Ensure that the opmode is still active
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
wheelFrontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelFrontRight.setTargetPosition(distance);
wheelFrontLeft.setTargetPosition(distance);
wheelRearRight.setTargetPosition(distance);
wheelRearLeft.setTargetPosition(distance);
intake.setTargetPosition(intakeDistance);
wheelFrontRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelRearRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
intake.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelFrontRight.setPower(speed);
wheelFrontLeft.setPower(speed);
wheelRearRight.setPower(speed);
wheelRearLeft.setPower(speed);
intake.setPower(intakeSpeed);
// keep looping while we are still active, and BOTH motors are running.
while (opModeIsActive() &&
(wheelFrontRight.isBusy() && wheelFrontLeft.isBusy() && wheelRearRight.isBusy() && wheelRearLeft.isBusy())) {
// adjust relative speed based on heading error.
error = getError(angle);
steer = getSteer(error, P_DRIVE_COEFF);
// if driving in reverse, the motor correction also needs to be reversed
if (distance < 0)
steer *= -1.0;
leftSpeed = speed - steer;
rightSpeed = speed + steer;
// Normalize speeds if either one exceeds +/- 1.0;
max = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed));
if (max > 1.0) {
leftSpeed /= max;
rightSpeed /= max;
}
wheelFrontLeft.setPower(leftSpeed);
wheelRearLeft.setPower(leftSpeed);
wheelFrontRight.setPower(rightSpeed);
wheelRearRight.setPower(rightSpeed);
// Display drive status for the driver.
telemetry.addData("Err/St", "%5.1f/%5.1f", error, steer);
telemetry.addData("Speed", "%5.2f:%5.2f", leftSpeed, rightSpeed);
telemetry.update();
}
// Stop all motion;
wheelFrontRight.setPower(0);
wheelRearRight.setPower(0);
wheelFrontLeft.setPower(0);
wheelRearLeft.setPower(0);
intake.setPower(0);
// Turn off RUN_TO_POSITION
wheelFrontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
intake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}
/**
* Method to spin on central axis to point in a new direction.
* Move will stop if either of these conditions occur:
* 1) Move gets to the heading (angle)
* 2) Driver stops the opmode running.
*
* @param speed Desired speed of turn.
* @param angle Absolute Angle (in Degrees) relative to last gyro reset.
* 0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
* If a relative angle is required, add/subtract from current heading.
*/
public void gyroTurn(double speed, double angle) {
// keep looping while we are still active, and not on heading.
while (opModeIsActive() && !onHeading(speed, angle, P_TURN_COEFF)) {
// Update telemetry & Allow time for other processes to run.
telemetry.update();
}
}
public void Drive (int frontRightDistance, int frontLeftDistance, int rearRightDistance, int rearLeftDistance, double speed){
wheelFrontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
wheelFrontRight.setTargetPosition(frontRightDistance);
wheelFrontLeft.setTargetPosition(frontLeftDistance);
wheelRearRight.setTargetPosition(rearRightDistance);
wheelRearLeft.setTargetPosition(rearLeftDistance);
wheelFrontRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelRearRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
wheelFrontRight.setPower(speed);
wheelFrontLeft.setPower(speed);
wheelRearRight.setPower(speed);
wheelRearLeft.setPower(speed);
while (wheelFrontRight.isBusy() && wheelFrontLeft.isBusy() && wheelRearRight.isBusy() && wheelRearLeft.isBusy() && opModeIsActive()) {
telemetry.addData("FrontRightPosition", wheelFrontRight.getCurrentPosition());
telemetry.addData("FrontLeftPosition", wheelFrontLeft.getCurrentPosition());
telemetry.update();
}
wheelFrontRight.setPower(0);
wheelFrontLeft.setPower(0);
wheelRearRight.setPower(0);
wheelRearLeft.setPower(0);
wheelFrontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelFrontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
wheelRearLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(500);
}
/**
* Method to obtain & hold a heading for a finite amount of time
* Move will stop once the requested time has elapsed
*
* @param speed Desired speed of turn.
* @param angle Absolute Angle (in Degrees) relative to last gyro reset.
* 0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
* If a relative angle is required, add/subtract from current heading.
* @param holdTime Length of time (in seconds) to hold the specified heading.
*/
public void gyroHold(double speed, double angle, double holdTime) {
ElapsedTime holdTimer = new ElapsedTime();
// keep looping while we have time remaining.
holdTimer.reset();
while (opModeIsActive() && (holdTimer.time() < holdTime)) {
// Update telemetry & Allow time for other processes to run.
onHeading(speed, angle, P_TURN_COEFF);
telemetry.update();
}
// Stop all motion;
wheelFrontRight.setPower(0);
wheelRearRight.setPower(0);
wheelFrontLeft.setPower(0);
wheelRearLeft.setPower(0);
}
/**
* Perform one cycle of closed loop heading control.
*
* @param speed Desired speed of turn.
* @param angle Absolute Angle (in Degrees) relative to last gyro reset.
* 0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
* If a relative angle is required, add/subtract from current heading.
* @param PCoeff Proportional Gain coefficient
* @return
*/
boolean onHeading(double speed, double angle, double PCoeff) {
double error;
double steer;
boolean onTarget = false;
double leftSpeed;
double rightSpeed;
// determine turn power based on +/- error
error = getError(angle);
if (Math.abs(error) <= HEADING_THRESHOLD) {
steer = 0.0;
leftSpeed = 0.0;
rightSpeed = 0.0;
onTarget = true;
} else {
steer = getSteer(error, PCoeff);
rightSpeed = speed * steer;
leftSpeed = -rightSpeed;
}
// Send desired speeds to motors.
wheelFrontLeft.setPower(leftSpeed);
wheelRearLeft.setPower(leftSpeed);
wheelFrontRight.setPower(rightSpeed);
wheelRearRight.setPower(rightSpeed);
// Display it for the driver.
telemetry.addData("Target", "%5.2f", angle);
telemetry.addData("Error", error);
telemetry.addData("Speed.", "%5.2f:%5.2f", leftSpeed, rightSpeed);
return onTarget;
}
/**
* getError determines the error between the target angle and the robot's current heading
*
* @param targetAngle Desired angle (relative to global reference established at last Gyro Reset).
* @return error angle: Degrees in the range +/- 180. Centered on the robot's frame of reference
* +ve error means the robot should turn LEFT (CCW) to reduce error.
*/
public double getError(double targetAngle) {
double robotError;
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
this.imu.getPosition();
// calculate error in -179 to +180 range (
robotError = angles.firstAngle - targetAngle;
while (robotError > 180) robotError -= 360;
while (robotError <= -180) robotError += 360;
return robotError;
}
/**
* returns desired steering force. +/- 1 range. +ve = steer left
*
* @param error Error angle in robot relative degrees
* @param PCoeff Proportional Gain Coefficient
* @return
*/
public double getSteer(double error, double PCoeff) {
return Range.clip(error * PCoeff, -1, 1);
}
}