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RobotTeleopTank_Iterative.java
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RobotTeleopTank_Iterative.java
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
/*
* This OpMode executes a Tank Drive control TeleOp a direct drive robot
* The code is structured as an Iterative OpMode
*
* In this mode, the left and right joysticks control the left and right motors respectively.
* Pushing a joystick forward will make the attached motor drive forward.
* It raises and lowers the claw using the Gamepad Y and A buttons respectively.
* It also opens and closes the claws slowly using the left and right Bumper buttons.
*
* 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
*/
@TeleOp(name="Robot: Teleop Tank", group="Robot")
@Disabled
public class RobotTeleopTank_Iterative extends OpMode{
/* Declare OpMode members. */
public DcMotor leftDrive = null;
public DcMotor rightDrive = null;
public DcMotor leftArm = null;
public Servo leftClaw = null;
public Servo rightClaw = null;
double clawOffset = 0;
public static final double MID_SERVO = 0.5 ;
public static final double CLAW_SPEED = 0.02 ; // sets rate to move servo
public static final double ARM_UP_POWER = 0.50 ; // Run arm motor up at 50% power
public static final double ARM_DOWN_POWER = -0.25 ; // Run arm motor down at -25% power
/*
* Code to run ONCE when the driver hits INIT
*/
@Override
public void init() {
// Define and Initialize Motors
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
leftArm = hardwareMap.get(DcMotor.class, "left_arm");
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// Pushing the left and right sticks forward MUST make robot go 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);
// If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
// leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Define and initialize ALL installed servos.
leftClaw = hardwareMap.get(Servo.class, "left_hand");
rightClaw = hardwareMap.get(Servo.class, "right_hand");
leftClaw.setPosition(MID_SERVO);
rightClaw.setPosition(MID_SERVO);
// Send telemetry message to signify robot waiting;
telemetry.addData(">", "Robot Ready. Press Play."); //
}
/*
* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
*/
@Override
public void init_loop() {
}
/*
* Code to run ONCE when the driver hits PLAY
*/
@Override
public void start() {
}
/*
* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
*/
@Override
public void loop() {
double left;
double right;
// Run wheels in tank mode (note: The joystick goes negative when pushed forward, so negate it)
left = -gamepad1.left_stick_y;
right = -gamepad1.right_stick_y;
leftDrive.setPower(left);
rightDrive.setPower(right);
// Use gamepad left & right Bumpers to open and close the claw
if (gamepad1.right_bumper)
clawOffset += CLAW_SPEED;
else if (gamepad1.left_bumper)
clawOffset -= CLAW_SPEED;
// Move both servos to new position. Assume servos are mirror image of each other.
clawOffset = Range.clip(clawOffset, -0.5, 0.5);
leftClaw.setPosition(MID_SERVO + clawOffset);
rightClaw.setPosition(MID_SERVO - clawOffset);
// Use gamepad buttons to move the arm up (Y) and down (A)
if (gamepad1.y)
leftArm.setPower(ARM_UP_POWER);
else if (gamepad1.a)
leftArm.setPower(ARM_DOWN_POWER);
else
leftArm.setPower(0.0);
// Send telemetry message to signify robot running;
telemetry.addData("claw", "Offset = %.2f", clawOffset);
telemetry.addData("left", "%.2f", left);
telemetry.addData("right", "%.2f", right);
}
/*
* Code to run ONCE after the driver hits STOP
*/
@Override
public void stop() {
}
}