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package org.firstinspires.ftc.robotcontroller.external.samples;
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.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on encoder counts.
* The code is structured as a LinearOpMode
*
* The code REQUIRES that you DO have encoders on the wheels,
* otherwise you would use: RobotAutoDriveByTime;
*
* This code ALSO requires that the drive Motors have been configured such that a positive
* power command moves them forward, 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 Backward 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 method 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 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
*/
@Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
@Disabled
public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
/* Declare OpMode members. */
private DcMotor leftDrive = null;
private DcMotor rightDrive = 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.
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
// 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
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Send telemetry message to indicate successful Encoder reset
telemetry.addData("Starting at", "%7d :%7d",
leftDrive.getCurrentPosition(),
rightDrive.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, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout
encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout
encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 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 newLeftTarget;
int newRightTarget;
// Ensure that the opmode is still active
if (opModeIsActive()) {
// Determine new target position, and pass to motor controller
newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
leftDrive.setTargetPosition(newLeftTarget);
rightDrive.setTargetPosition(newRightTarget);
// Turn On RUN_TO_POSITION
leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// reset the timeout time and start motion.
runtime.reset();
leftDrive.setPower(Math.abs(speed));
rightDrive.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) &&
(leftDrive.isBusy() && rightDrive.isBusy())) {
// Display it for the driver.
telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget);
telemetry.addData("Currently at", " at %7d :%7d",
leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
telemetry.update();
}
// Stop all motion;
leftDrive.setPower(0);
rightDrive.setPower(0);
// Turn off RUN_TO_POSITION
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(250); // optional pause after each move.
}
}
}