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GearUp12499-org · Aug 5, 2024 · e9f6efb · e9f6efb
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Showing 5 changed files with 18 additions and 10 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -47,9 +47,7 @@ public class Hardware extends HardwareMapper implements TriOdoProvider {
     public DcMotor encoderRight;
 
     @Override
-    public DcMotor getLeftEncoder() {
-        return encoderLeft;
-    }
+    public DcMotor getLeftEncoder() { return encoderLeft; }
 
     @Override
     public DcMotor getRightEncoder() {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Pose2PoseTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Pose2PoseTest.java
@@ -18,6 +18,7 @@
 public class Pose2PoseTest extends LinearOpMode {
     public static final double ACCEPT_DIST = 1.0; // inch. euclidean distance
     public static final double ACCEPT_TURN = degrees(5); // radian.
+    // power biases
     public static final Motion.Calibrate CALIBRATION = new Motion.Calibrate(1.0, 1.0, 1.0);
 
     private static double degrees(double deg) {
@@ -29,6 +30,7 @@ private static double degrees(double deg) {
     public void runOpMode() {
         Hardware hardware = new Hardware(hardwareMap);
         EncoderTracking tracker = new EncoderTracking(hardware);
+        // Pose targets to go thru
         Pose[] targets = {
                 new Pose(24, 0, degrees(90)),
                 new Pose(24, 24, degrees(180)),
@@ -43,7 +45,9 @@ public void runOpMode() {
         timer.reset();
         boolean wait = false;
         while (opModeIsActive()) {
+            // Updates pose
             tracker.step();
+            // Gets current pose
             Pose p = tracker.getPose();
             if (wait) {
                 hardware.driveMotors.setAll(0);
@@ -56,11 +60,13 @@ public void runOpMode() {
                     wait = false;
                 }
             } else {
+                // Calculates the distance between current pose and target pose
                 double linear = p.linearDistanceTo(targets[targetIndex]);
                 double angular = p.subtractAngle(targets[targetIndex]);
                 if (linear > ACCEPT_DIST || abs(angular) > ACCEPT_TURN) {
                     targetTime.reset();
                 }
+                // Waits at the target for one second
                 if (targetTime.time() > 1.0) {
                     targetIndex++;
                     wait = true;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mmooover/EncoderTracking.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mmooover/EncoderTracking.java
@@ -24,6 +24,7 @@ private double tick2inch(int ticks) {
     double lastLeft, lastCenter, lastRight;
     final DcMotor leftEncoder, centerEncoder, rightEncoder;
 
+    // TriOdoProvider provides the methods for the getting the encoders
     public EncoderTracking(TriOdoProvider encoderSource) {
         leftEncoder = encoderSource.getLeftEncoder();
         centerEncoder = encoderSource.getCenterEncoder();
@@ -37,20 +38,21 @@ public EncoderTracking(TriOdoProvider encoderSource) {
         lastCenter = tick2inch(centerEncoder.getCurrentPosition());
         lastRight = tick2inch(rightEncoder.getCurrentPosition());
     }
-
+    // Updates the pose
     public void step() {
+        // Current encoder values
         double currentLeft = tick2inch(leftEncoder.getCurrentPosition());
         double currentCenter = tick2inch(centerEncoder.getCurrentPosition());
         double currentRight = tick2inch(rightEncoder.getCurrentPosition());
-
+        // Change in the encoders' values
         double deltaLeft = currentLeft - lastLeft;
         double deltaCenter = currentCenter - lastCenter;
         double deltaRight = currentRight - lastRight;
-
+        // Change in distances
         double deltaTurn = (deltaRight - deltaLeft) / trackWidth;
         double deltaForward = (deltaLeft + deltaRight) / 2.;
         double deltaStrafe = deltaCenter - forwardOffset * deltaTurn;
-
+        // Predicts how much our robot turns so we know how much forward and strafe we now need - the heading changes enough in each loop that we need to predict it
         double nextHeading = heading + deltaTurn;
         double avgHead = (heading + nextHeading) / 2.;
         double deltaX = deltaForward * cos(avgHead) - deltaStrafe * sin(avgHead);
@@ -64,7 +66,7 @@ public void step() {
         lastCenter = currentCenter;
         lastRight = currentRight;
     }
-
+// Gets current pose
     public Pose getPose() {
         return new Pose(
                 x, y, heading

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mmooover/Pose.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mmooover/Pose.kt
@@ -34,7 +34,7 @@ data class Pose(
     fun subtractAngle(other: Pose): Double {
         return wrapAngle(other.heading - heading)
     }
-
+    // Sets the power?
     fun to(other: Pose, robot: TriOdoProvider): Motion {
         val dh = wrapAngle(other.heading - heading)
         val dx = other.x - x

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mmooover/TriOdoProvider.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mmooover/TriOdoProvider.java
@@ -1,7 +1,9 @@
 package org.firstinspires.ftc.teamcode.mmooover;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
-
+// An interface describes what methods a class needs to have
+// The hardware.java has methods and other stuff that can be used no matter what robot hub thing
+// so we used the interface which describes what methods we will provide for this specific program
 public interface TriOdoProvider {
     DcMotor getLeftEncoder();
     DcMotor getRightEncoder();