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RRBotAuto3.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.hardware.bosch.BNO055IMU;
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.firstinspires.ftc.teamcode.RRBotHardware;
import org.firstinspires.ftc.teamcode.RRBotMecanumDrive;
import java.util.Locale;
@Autonomous(name="RedRepoPark")
public class RRBotAuto3 extends LinearOpMode {
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
RRBotHardware robot = new RRBotHardware();
//gyro variables
private BNO055IMU imu;
private Orientation angles;
//Motor Definitions
private final double COUNTS_PER_MOTOR_REV = 537.6; // Andymark 20:1 gearmotor
private final double DRIVE_GEAR_REDUCTION = 1.0; // This is < 1.0 if geared UP
private final double WHEEL_DIAMETER_INCHES = 4.0; // For figuring circumference
private final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (WHEEL_DIAMETER_INCHES * 3.1415);
//construct drive class
RRBotMecanumDrive drive = new RRBotMecanumDrive(robot);
@Override
public void runOpMode() {
telemetry.addData("Status", "Initialized");
telemetry.update();
robot.init(hardwareMap);
initGyro();
// Send telemetry message to indicate successful Encoder reset
telemetry.addData("Path0", "Starting at %7d :%7d",
robot.rearRightMotor.getCurrentPosition(),
robot.rearLeftMotor.getCurrentPosition(),
robot.frontRightMotor.getCurrentPosition(),
robot.frontLeftMotor.getCurrentPosition());
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// Show the elapsed game time and wheel power.
/*telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.update();*/
EncoderDriveSideways(Constants.autoSpeed,-8.5,10);//strafe 20 inches to the left
EncoderDriveTank(Constants.autoSpeed,-33,-33,10); //run to foundation
robot.trayPullerLeft.setPosition(0);//Grasp foundation with servos
robot.trayPullerRight.setPosition(1);//^^^
sleep(800);//Wait for servos
EncoderDriveTank(Constants.autoSpeed,32,32,10);//bring foundation back to wall
robot.trayPullerLeft.setPosition(1);//Release servos
robot.trayPullerRight.setPosition(0);//^^^
sleep(800);//Wait for servos
EncoderDriveSideways(Constants.autoSpeed,24,10);//strafe 20 inches to the left
EncoderDriveTank(Constants.autoSpeed,-20,-20,10);//forward 20 inches
EncoderDriveSideways(Constants.autoSpeed,16,10);//strafe 40 inches to the left, towards Audience
requestOpModeStop();
}
}
public void initGyro()
{
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.calibrationDataFile = "BNO055IMUCalibration.json";
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
imu = hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(parameters);
}
public void EncoderDriveSideways(double speed, double distance, double timeoutS)
{
//reset encoders
robot.rearLeftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.rearRightMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontLeftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontRightMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
idle();
robot.rearLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rearRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
int newRearLeftTarget;
int newRearRightTarget;
int newFrontLeftTarget;
int newFrontRightTarget;
//ensure that the opmode is still active
if(opModeIsActive())
{
//calculate target positions, negative for two motors so the robot strafes
newRearLeftTarget = robot.rearLeftMotor.getCurrentPosition() + (int) (-distance * Math.sqrt(2) * COUNTS_PER_INCH);
newRearRightTarget = robot.rearRightMotor.getCurrentPosition() + (int) (distance * Math.sqrt(2) * COUNTS_PER_INCH);
newFrontLeftTarget = robot.frontLeftMotor.getCurrentPosition() + (int) (distance * Math.sqrt(2) * COUNTS_PER_INCH);
newFrontRightTarget = robot.frontRightMotor.getCurrentPosition() + (int) (-distance * Math.sqrt(2) * COUNTS_PER_INCH);
robot.rearLeftMotor.setTargetPosition(newRearLeftTarget);
robot.rearRightMotor.setTargetPosition(newRearRightTarget);
robot.frontLeftMotor.setTargetPosition(newFrontLeftTarget);
robot.frontRightMotor.setTargetPosition(newFrontRightTarget);
robot.rearLeftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.rearRightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.frontLeftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.frontRightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
runtime.reset();
robot.rearLeftMotor.setPower(Math.abs(speed));
robot.rearRightMotor.setPower(Math.abs(speed));
robot.frontLeftMotor.setPower(Math.abs(speed));
robot.frontRightMotor.setPower(Math.abs(speed));
//keep looping until one of the motors finished its movement
while (opModeIsActive() &&
(runtime.seconds() < timeoutS) &&
(robot.rearLeftMotor.isBusy() && robot.rearRightMotor.isBusy() && robot.frontLeftMotor.isBusy() && robot.frontRightMotor.isBusy()))
{
}
TurnOffMotors();
robot.rearLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rearRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}
public void EncoderDriveTank(double speed, double leftInches, double rightInches, double timeoutS)
{
robot.rearLeftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.rearRightMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontLeftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontRightMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
idle();
robot.rearLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rearRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
int newRearLeftTarget;
int newRearRightTarget;
int newFrontLeftTarget;
int newFrontRightTarget;
// Ensure that the opmode is still active
if (opModeIsActive())
{
// Determine new target position, and pass to motor controller
newRearLeftTarget = robot.rearLeftMotor.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH);
newRearRightTarget = robot.rearRightMotor.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH);
newFrontLeftTarget = robot.frontLeftMotor.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH);
newFrontRightTarget = robot.frontRightMotor.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH);
robot.rearLeftMotor.setTargetPosition(newRearLeftTarget);
robot.rearRightMotor.setTargetPosition(newRearRightTarget);
robot.frontLeftMotor.setTargetPosition(newFrontLeftTarget);
robot.frontRightMotor.setTargetPosition(newFrontRightTarget);
// Turn On RUN_TO_POSITION
robot.rearLeftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.rearRightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.frontLeftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.frontRightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// reset the timeout time and start motion.
runtime.reset();
robot.rearLeftMotor.setPower(Math.abs(speed));
robot.rearRightMotor.setPower(Math.abs(speed));
robot.frontLeftMotor.setPower(Math.abs(speed));
robot.frontRightMotor.setPower(Math.abs(speed));
// keep looping while we are still active, and there is time left, and both motors are running.
while(opModeIsActive() &&
(runtime.seconds() < timeoutS) &&
(robot.rearLeftMotor.isBusy() && robot.rearRightMotor.isBusy() && robot.frontLeftMotor.isBusy() && robot.frontRightMotor.isBusy()))
{
}
TurnOffMotors();
// Turn off RUN_TO_POSITION
robot.rearLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.rearRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
robot.frontRightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}
public void TurnByGyro(String direction, int angle, double speed)
{
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
float startHeading = angles.firstAngle;
if(direction.equals("left"))
{
robot.rearRightMotor.setPower(speed);
robot.rearLeftMotor.setPower(-speed);
robot.frontRightMotor.setPower(speed);
robot.frontLeftMotor.setPower(-speed);
}
else if(direction.equals("right"))
{
robot.rearRightMotor.setPower(-speed);
robot.rearLeftMotor.setPower(speed);
robot.frontRightMotor.setPower(-speed);
robot.frontLeftMotor.setPower(speed);
}
while(opModeIsActive() && Math.abs(angles.firstAngle - startHeading) < angle)
{
angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
telemetry.addData("heading", formatAngle(AngleUnit.DEGREES, angles.firstAngle));
telemetry.update();
}
TurnOffMotors();
}
String formatAngle(AngleUnit angleUnit, double angle)
{
return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
}
String formatDegrees(double degrees)
{
return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
}
public void TurnOffMotors()
{
robot.rearRightMotor.setPower(0);
robot.rearLeftMotor.setPower(0);
robot.frontRightMotor.setPower(0);
robot.frontLeftMotor.setPower(0);
}
}