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EncoderToBeaconRed.java
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EncoderToBeaconRed.java
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package org.firstinspires.ftc.teamcode;
/**
* Created by Alex on 2/2/2017.
*/
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.ServoController;
import com.qualcomm.robotcore.util.Range;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.vuforia.HINT;
import com.vuforia.Vuforia;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
@Autonomous(name="Red: Put the robot along the wall while having it target the middle of the white line or the corner of the same square it is in", group="Encoders")
public class EncoderToBeaconRed extends LinearOpMode {
/** Declaring the motor variables **/
private DcMotorController motorControllerL; // Left Motor Controllers
private DcMotorController motorControllerR; // Right Motor Controllers
private DcMotorController motorControllerA1; // Auxiliary Motor Controller 1
private DcMotorController motorControllerA2; // Auxiliary Motor Controller 2
private ServoController servoController; // Servo Controller
private DeviceInterfaceModule interfaceModule; //stated interface module
private DcMotor motorFrontL; // Front Left Motor
private DcMotor motorFrontR; // Front Right Motor
private DcMotor motorBackL; // Back Left Motor
private DcMotor motorBackR; // Back Right Motor
private DcMotor sweeperMotor; // Sweeper Motor
private DcMotor motorLauncher; // Continuous Catapult Launcher Motor
private DcMotor motorStrafe; // Sideways Strafe Motor
private Servo servo; // Ball Queue Servo
private ColorSensor colorSensor; //stated colorsensor
public static final I2cAddr COLOR_SENSOR_ORIGINAL_ADDRESS = I2cAddr.create8bit(0x3c);
/** For Encoders and specific turn values **/
int ticksPerRev = 1120; // This is the specific value for AndyMark motors
int ticksPer360Turn = 4870; // The amount of ticks for a 360 degree turn
int tickTurnRatio = ticksPer360Turn / 360;
double wheelDiameter = 4.0; // Diameter of the current omniwheels in inches
double ticksPerInch = (ticksPerRev / (wheelDiameter * 3.14159265));
public void runOpMode() throws InterruptedException{
/** This is the method that executes the code and what the robot should do **/
// Initializes the electronics
initElectronics(0);
telemetry.addData("Phase 1", "Init");
telemetry.update();
waitForStart();
colorSensor.enableLed(false);
telemetry.addData("Started Robot", "Now");
telemetry.update();
runToPositionEncoders();
telemetry.addData("Move Forward", "50 inches backwards");
telemetry.update();
encoderMove(0.4, -50, -50);
runToPositionEncoders();
telemetry.addData("Reached Corner", "Yes");
telemetry.update();
rotateDegreesRight(0.4, 45);
runToPositionEncoders();
telemetry.addData("Parallel", "Yes");
telemetry.update();
encoderMove(0.4, -11, -11);
runToPositionEncoders();
telemetry.addData("Centered", "Yes");
telemetry.update();
rotateDegreesLeft(0.4, 90);
runToPositionEncoders();
telemetry.addData("Aligned", "Yes");
telemetry.update();
encoderMove(0.4, -15, -15);
if (colorSensor.red() > colorSensor.blue()){
telemetry.addData("Color Sensed", "Red");
telemetry.update();
rotateDegreesLeft(0.1, 25);
}
else {
telemetry.addData("Color Sensed", "Blue");
telemetry.update();
rotateDegreesRight(0.1, 25);
}
}
public void initElectronics(int mode) throws InterruptedException {
// To make the initialization of electronics much easier and nicer to read
/** Initializing and mapping electronics **/
if (mode == 0) {
motorControllerL = hardwareMap.dcMotorController.get("MC_L");
motorControllerR = hardwareMap.dcMotorController.get("MC_R");
motorControllerA1 = hardwareMap.dcMotorController.get("MC_A1");
motorControllerA2 = hardwareMap.dcMotorController.get("MC_A2");
servoController = hardwareMap.servoController.get("SC");
motorFrontL = hardwareMap.dcMotor.get("motorFrontL"); //P0 is actually the right
motorFrontR = hardwareMap.dcMotor.get("motorFrontR"); //P1 is actually the left
motorBackL = hardwareMap.dcMotor.get("motorBackL"); //P0
motorBackR = hardwareMap.dcMotor.get("motorBackR"); //P1
servo = hardwareMap.servo.get("servo");
motorLauncher = hardwareMap.dcMotor.get("motorLauncher"); //P0
sweeperMotor = hardwareMap.dcMotor.get("motorSweeper"); //P1
motorStrafe = hardwareMap.dcMotor.get("motorStrafe"); //P0 A2
/*Setting channel modes*/
resetEncoders();
runUsingEncoders();
motorLauncher.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sweeperMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
motorStrafe.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
motorFrontL.setDirection(DcMotorSimple.Direction.REVERSE);
motorBackL.setDirection(DcMotorSimple.Direction.REVERSE);
motorLauncher.setDirection(DcMotorSimple.Direction.REVERSE);
interfaceModule = hardwareMap.deviceInterfaceModule.get("DIM"); //hardware map the device interface module which controls the color sensor
colorSensor = hardwareMap.colorSensor.get("colorBeacon"); //hardware map the color sensor
colorSensor.setI2cAddress(COLOR_SENSOR_ORIGINAL_ADDRESS); //we made it so this one has to be this address, need seperate program to change this
}
else if (mode == 1) {
}
}
public void launch(double power, long milliseconds) throws InterruptedException{
motorLauncher.setPower(power);
Thread.sleep(milliseconds);
}
public void encoderMove(double power,
double leftInches, double rightInches) {
/** This method makes the motors move a certain distance **/
resetEncoders();
// Sets the power range
power = Range.clip(power, -1, 1);
// Setting the target positions
motorFrontL.setTargetPosition((int)(leftInches * -ticksPerInch));
motorFrontR.setTargetPosition((int)(rightInches * -ticksPerInch));
motorBackL.setTargetPosition((int)(leftInches * -ticksPerInch));
motorBackR.setTargetPosition((int)(rightInches * -ticksPerInch));
runToPositionEncoders();
// Sets the motors' position
motorFrontL.setPower(power);
motorFrontR.setPower(power);
motorBackL.setPower(power);
motorBackR.setPower(power);
// While loop for updating telemetry
while(motorFrontL.isBusy() && motorFrontR.isBusy() &&
motorBackL.isBusy() && motorBackR.isBusy() && opModeIsActive()){
// Updates the position of the motors
double frontLPos = motorFrontL.getCurrentPosition();
double frontRPos = motorFrontR.getCurrentPosition();
double backLPos = motorBackL.getCurrentPosition();
double backRPos = motorBackR.getCurrentPosition();
// Adds telemetry of the drive motors
telemetry.addData("MotorFrontL Pos", frontLPos);
telemetry.addData("MotorFrontR Pos", frontRPos);
telemetry.addData("MotorBackL Pos", backLPos);
telemetry.addData("MotorBackR Pos", backRPos);
// Updates the telemetry
telemetry.update();
}
// Stops the motors
stopMotion();
// Resets to run using encoders mode
runUsingEncoders();
}
public void rotateDegreesLeft(double power, int robotDegrees) throws InterruptedException {
/** Robot requires values of...
* 360 degrees =~ 4600 ticks
* 180 degrees =~ 2300 ticks **/
/** This method, given an input amount of degrees, makes the robot turn
* the amount of degrees specified around ITS center of rotation **/
resetEncoders();
// Sets the power range
power = Range.clip(power, -1, 1);
// Setting the target positions
motorFrontL.setTargetPosition(robotDegrees * tickTurnRatio);
motorFrontR.setTargetPosition(robotDegrees * -tickTurnRatio);
motorBackL.setTargetPosition(robotDegrees * tickTurnRatio);
motorBackR.setTargetPosition(robotDegrees * -tickTurnRatio);
runToPositionEncoders();
// Sets the motors' positions
motorFrontL.setPower(power);
motorFrontR.setPower(power);
motorBackL.setPower(power);
motorBackR.setPower(power);
// While loop for updating telemetry
while(motorFrontL.isBusy() && motorFrontR.isBusy() &&
motorBackL.isBusy() && motorBackR.isBusy() && opModeIsActive()){
// Updates the position of the motors
double frontLPos = motorFrontL.getCurrentPosition();
double frontRPos = motorFrontR.getCurrentPosition();
double backLPos = motorBackL.getCurrentPosition();
double backRPos = motorBackR.getCurrentPosition();
// Adds telemetry of the drive motors
telemetry.addData("MotorFrontL Pos", frontLPos);
telemetry.addData("MotorFrontR Pos", frontRPos);
telemetry.addData("MotorBackL Pos", backLPos);
telemetry.addData("MotorBackR Pos", backRPos);
// Updates the telemetry
telemetry.update();
}
// Stops the motors
stopMotion();
// Resets to run using encoders mode
runUsingEncoders();
}
public void rotateDegreesRight(double power, int robotDegrees) throws InterruptedException {
/** Robot requires values of...
* 360 degrees =~ 4600 ticks
* 180 degrees =~ 2300 ticks **/
/** This method, given an input amount of degrees, makes the robot turn
* the amount of degrees specified around ITS center of rotation **/
resetEncoders();
// Sets the power range
power = Range.clip(power, -1, 1);
// Setting the target positions
motorFrontL.setTargetPosition(robotDegrees * -tickTurnRatio);
motorFrontR.setTargetPosition(robotDegrees * tickTurnRatio);
motorBackL.setTargetPosition(robotDegrees * -tickTurnRatio);
motorBackR.setTargetPosition(robotDegrees * tickTurnRatio);
runToPositionEncoders();
// Sets the motors' positions
motorFrontL.setPower(power);
motorFrontR.setPower(power);
motorBackL.setPower(power);
motorBackR.setPower(power);
// While loop for updating telemetry
while(motorFrontL.isBusy() && motorFrontR.isBusy() &&
motorBackL.isBusy() && motorBackR.isBusy() && opModeIsActive()){
// Updates the position of the motors
double frontLPos = motorFrontL.getCurrentPosition();
double frontRPos = motorFrontR.getCurrentPosition();
double backLPos = motorBackL.getCurrentPosition();
double backRPos = motorBackR.getCurrentPosition();
// Adds telemetry of the drive motors
telemetry.addData("MotorFrontL Pos", frontLPos);
telemetry.addData("MotorFrontR Pos", frontRPos);
telemetry.addData("MotorBackL Pos", backLPos);
telemetry.addData("MotorBackR Pos", backRPos);
// Updates the telemetry
telemetry.update();
}
// Stops the motors
stopMotion();
// Resets to run using encoders mode
runUsingEncoders();
}
public void resetEncoders() {
/** Resets the encoder values on each of the drive motors **/
motorFrontL.setMode(DcMotor.RunMode.RESET_ENCODERS);
motorFrontR.setMode(DcMotor.RunMode.RESET_ENCODERS);
motorBackL.setMode(DcMotor.RunMode.RESET_ENCODERS);
motorBackR.setMode(DcMotor.RunMode.RESET_ENCODERS);
}
public void runToPositionEncoders() {
/** Sets the encoded motors to RUN_TO_POSITION **/
motorFrontL.setMode(DcMotor.RunMode.RUN_TO_POSITION);
motorFrontR.setMode(DcMotor.RunMode.RUN_TO_POSITION);
motorBackL.setMode(DcMotor.RunMode.RUN_TO_POSITION);
motorBackR.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void runUsingEncoders() {
/** Sets the encoders to RUN_USING_ENCODERS **/
motorFrontL.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorFrontR.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorBackL.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorBackR.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
public void addTelemetryData(String string1, String string2) {
telemetry.addData(string1, string2);
telemetry.update();
}
public void stopMotion() {
/** Stops all drive motor motion **/
motorFrontL.setPower(0);
motorFrontR.setPower(0);
motorBackL.setPower(0);
motorBackR.setPower(0);
}
}