-
Notifications
You must be signed in to change notification settings - Fork 4.6k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
21 changed files
with
903 additions
and
1,085 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
200 changes: 200 additions & 0 deletions
200
...ain/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadRumble.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,200 @@ | ||
| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
|
|
||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.hardware.Gamepad; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
|
|
||
| /** | ||
| * This sample illustrates using the rumble feature of many gamepads. | ||
| * | ||
| * Note: Some gamepads "rumble" better than others. | ||
| * The Xbox & PS4 have a left (rumble1) and right (rumble2) rumble motor. | ||
| * These two gamepads have two distinct rumble modes: Large on the left, and small on the right | ||
| * The ETpark gamepad may only respond to rumble1, and may only run at full power. | ||
| * The Logitech F310 gamepad does not have *any* rumble ability. | ||
| * | ||
| * Moral: You should use this sample to experiment with your specific gamepads to explore their rumble features. | ||
| * | ||
| * The rumble motors are accessed through the standard gamepad1 and gamepad2 objects. | ||
| * Several new methods were added to the Gamepad class in FTC SDK Rev 7 | ||
| * The key methods are as follows: | ||
| * | ||
| * .rumble(double rumble1, double rumble2, int durationMs) | ||
| * This method sets the rumble power of both motors for a specific time duration. | ||
| * Both rumble arguments are motor-power levels in the 0.0 to 1.0 range. | ||
| * durationMs is the desired length of the rumble action in milliseconds. | ||
| * This method returns immediately. | ||
| * Note: | ||
| * Use a durationMs of Gamepad.RUMBLE_DURATION_CONTINUOUS to provide a continuous rumble | ||
| * Use a power of 0, or duration of 0 to stop a rumble. | ||
| * | ||
| * .rumbleBlips(int count) allows an easy way to signal the driver with a series of rumble blips. | ||
| * Just specify how many blips you want. | ||
| * This method returns immediately. | ||
| * | ||
| * .runRumbleEffect(customRumbleEffect) allows you to run a custom rumble sequence that you have | ||
| * built using the Gamepad.RumbleEffect.Builder() | ||
| * A "custom effect" is a sequence of steps, where each step can rumble any of the | ||
| * rumble motors for a specific period at a specific power level. | ||
| * The Custom Effect will play as the (un-blocked) OpMode continues to run | ||
| * | ||
| * .isRumbling() returns true if there is a rumble effect in progress. | ||
| * Use this call to prevent stepping on a current rumble. | ||
| * | ||
| * .stopRumble() Stop any ongoing rumble or custom rumble effect. | ||
| * | ||
| * .rumble(int durationMs) Full power rumble for fixed duration. | ||
| * | ||
| * Note: Whenever a new Rumble command is issued, any currently executing rumble action will | ||
| * be truncated, and the new action started immediately. Take these precautions: | ||
| * 1) Do Not SPAM the rumble motors by issuing rapid fire commands | ||
| * 2) Multiple sources for rumble commands must coordinate to avoid tromping on each other. | ||
| * | ||
| * This can be achieved several possible ways: | ||
| * 1) Only having one source for rumble actions | ||
| * 2) Issuing rumble commands on transitions, rather than states. | ||
| * e.g. The moment a touch sensor is pressed, rather than the entire time it is being pressed. | ||
| * 3) Scheduling rumble commands based on timed events. e.g. 10 seconds prior to endgame | ||
| * 4) Rumble on non-overlapping mechanical actions. e.g. arm fully-extended or fully-retracted. | ||
| * 5) Use isRumbling() to hold off on a new rumble if one is already in progress. | ||
| * | ||
| * The examples shown here are representstive of how to invoke a gamepad rumble. | ||
| * It is assumed that these will be modified to suit the specific robot and team strategy needs. | ||
| * | ||
| * ######## Read the telemetry display on the Driver Station Screen for instructions. ###### | ||
| * | ||
| * Ex 1) This example shows a) how to create a custom rumble effect, and then b) how to trigger it based | ||
| * on game time. One use for this might be to alert the driver that half-time or End-game is approaching. | ||
| * | ||
| * Ex 2) This example shows tying the rumble power to a changing sensor value. | ||
| * In this case it is the Gamepad trigger, but it could be any sensor output scaled to the 0-1 range. | ||
| * Since it takes over the rumble motors, it is only performed when the Left Bumper is pressed. | ||
| * Note that this approach MUST include a way to turn OFF the rumble when the button is released. | ||
| * | ||
| * Ex 3) This example shows a simple way to trigger a 3-blip sequence. In this case it is | ||
| * triggered by the gamepad A (Cross) button, but it could be any sensor, like a touch or light sensor. | ||
| * Note that this code ensures that it only rumbles once when the input goes true. | ||
| * | ||
| * Ex 4) This example shows how to trigger a single rumble when an input value gets over a certain value. | ||
| * In this case it is reading the Right Trigger, but it could be any variable sensor, like a | ||
| * range sensor, or position sensor. The code needs to ensure that it is only triggered once, so | ||
| * it waits till the sensor drops back below the threshold before it can trigger again. | ||
| * | ||
| * 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. | ||
| */ | ||
|
|
||
| @Disabled | ||
| @TeleOp(name="Concept: Gamepad Rumble", group ="Concept") | ||
| public class ConceptGamepadRumble extends LinearOpMode | ||
| { | ||
| boolean lastA = false; // Use to track the prior button state. | ||
| boolean lastLB = false; // Use to track the prior button state. | ||
| boolean highLevel = false; // used to prevent multiple level-based rumbles. | ||
| boolean secondHalf = false; // Use to prevent multiple half-time warning rumbles. | ||
|
|
||
| Gamepad.RumbleEffect customRumbleEffect; // Use to build a custom rumble sequence. | ||
| ElapsedTime runtime = new ElapsedTime(); // Use to determine when end game is starting. | ||
|
|
||
| final double HALF_TIME = 60.0; // Wait this many seconds before rumble-alert for half-time. | ||
| final double TRIGGER_THRESHOLD = 0.75; // Squeeze more than 3/4 to get rumble. | ||
|
|
||
| @Override | ||
| public void runOpMode() | ||
| { | ||
| // Example 1. a) start by creating a three-pulse rumble sequence: right, LEFT, LEFT | ||
| customRumbleEffect = new Gamepad.RumbleEffect.Builder() | ||
| .addStep(0.0, 1.0, 500) // Rumble right motor 100% for 500 mSec | ||
| .addStep(0.0, 0.0, 300) // Pause for 300 mSec | ||
| .addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec | ||
| .addStep(0.0, 0.0, 250) // Pause for 250 mSec | ||
| .addStep(1.0, 0.0, 250) // Rumble left motor 100% for 250 mSec | ||
| .build(); | ||
|
|
||
| telemetry.addData(">", "Press Start"); | ||
| telemetry.update(); | ||
|
|
||
| waitForStart(); | ||
| runtime.reset(); // Start game timer. | ||
|
|
||
| // Loop while monitoring buttons for rumble triggers | ||
| while (opModeIsActive()) | ||
| { | ||
| // Read and save the current gamepad button states. | ||
| boolean currentA = gamepad1.a ; | ||
| boolean currentLB = gamepad1.left_bumper ; | ||
|
|
||
| // Display the current Rumble status. Just for interest. | ||
| telemetry.addData(">", "Are we RUMBLING? %s\n", gamepad1.isRumbling() ? "YES" : "no" ); | ||
|
|
||
| // ---------------------------------------------------------------------------------------- | ||
| // Example 1. b) Watch the runtime timer, and run the custom rumble when we hit half-time. | ||
| // Make sure we only signal once by setting "secondHalf" flag to prevent further rumbles. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if ((runtime.seconds() > HALF_TIME) && !secondHalf) { | ||
| gamepad1.runRumbleEffect(customRumbleEffect); | ||
| secondHalf =true; | ||
| } | ||
|
|
||
| // Display the time remaining while we are still counting down. | ||
| if (!secondHalf) { | ||
| telemetry.addData(">", "Halftime Alert Countdown: %3.0f Sec \n", (HALF_TIME - runtime.seconds()) ); | ||
| } | ||
|
|
||
|
|
||
| // ---------------------------------------------------------------------------------------- | ||
| // Example 2. If Left Bumper is being pressed, power the rumble motors based on the two trigger depressions. | ||
| // This is useful to see how the rumble feels at various power levels. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if (currentLB) { | ||
| // Left Bumper is being pressed, so send left and right "trigger" values to left and right rumble motors. | ||
| gamepad1.rumble(gamepad1.left_trigger, gamepad1.right_trigger, Gamepad.RUMBLE_DURATION_CONTINUOUS); | ||
|
|
||
| // Show what is being sent to rumbles | ||
| telemetry.addData(">", "Squeeze triggers to control rumbles"); | ||
| telemetry.addData("> : Rumble", "Left: %.0f%% Right: %.0f%%", gamepad1.left_trigger * 100, gamepad1.right_trigger * 100); | ||
| } else { | ||
| // Make sure rumble is turned off when Left Bumper is released (only one time each press) | ||
| if (lastLB) { | ||
| gamepad1.stopRumble(); | ||
| } | ||
|
|
||
| // Prompt for manual rumble action | ||
| telemetry.addData(">", "Hold Left-Bumper to test Manual Rumble"); | ||
| telemetry.addData(">", "Press A (Cross) for three blips"); | ||
| telemetry.addData(">", "Squeeze right trigger slowly for 1 blip"); | ||
| } | ||
| lastLB = currentLB; // remember the current button state for next time around the loop | ||
|
|
||
|
|
||
| // ---------------------------------------------------------------------------------------- | ||
| // Example 3. Blip 3 times at the moment that A (Cross) is pressed. (look for pressed transition) | ||
| // BUT !!! Skip it altogether if the Gamepad is already rumbling. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if (currentA && !lastA) { | ||
| if (!gamepad1.isRumbling()) // Check for possible overlap of rumbles. | ||
| gamepad1.rumbleBlips(3); | ||
| } | ||
| lastA = currentA; // remember the current button state for next time around the loop | ||
|
|
||
|
|
||
| // ---------------------------------------------------------------------------------------- | ||
| // Example 4. Rumble once when gamepad right trigger goes above the THRESHOLD. | ||
| // ---------------------------------------------------------------------------------------- | ||
| if (gamepad1.right_trigger > TRIGGER_THRESHOLD) { | ||
| if (!highLevel) { | ||
| gamepad1.rumble(0.9, 0, 200); // 200 mSec burst on left motor. | ||
| highLevel = true; // Hold off any more triggers | ||
| } | ||
| } else { | ||
| highLevel = false; // We can trigger again now. | ||
| } | ||
|
|
||
| // Send the telemetry data to the Driver Station, and then pause to pace the program. | ||
| telemetry.update(); | ||
| sleep(10); | ||
| } | ||
| } | ||
| } |
78 changes: 78 additions & 0 deletions
78
...n/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadTouchpad.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
|
|
||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
|
|
||
| import org.firstinspires.ftc.robotcore.external.Telemetry; | ||
|
|
||
| /** | ||
| * This sample illustrates using the touchpad feature found on some gamepads. | ||
| * | ||
| * The Sony PS4 gamepad can detect two distinct touches on the central touchpad. | ||
| * Other gamepads with different touchpads may provide mixed results. | ||
| * | ||
| * The touchpads are accessed through the standard gamepad1 and gamepad2 objects. | ||
| * Several new members were added to the Gamepad class in FTC SDK Rev 7 | ||
| * | ||
| * .touchpad_finger_1 returns true if at least one finger is detected. | ||
| * .touchpad_finger_1_x finger 1 X coordinate. Valid if touchpad_finger_1 is true | ||
| * .touchpad_finger_1_y finger 1 Y coordinate. Valid if touchpad_finger_1 is true | ||
| * | ||
| * .touchpad_finger_2 returns true if a second finger is detected | ||
| * .touchpad_finger_2_x finger 2 X coordinate. Valid if touchpad_finger_2 is true | ||
| * .touchpad_finger_2_y finger 2 Y coordinate. Valid if touchpad_finger_2 is true | ||
| * | ||
| * Finger touches are reported with an X and Y coordinate in following coordinate system. | ||
| * | ||
| * 1) X is the Horizontal axis, and Y is the vertical axis | ||
| * 2) The 0,0 origin is at the center of the touchpad. | ||
| * 3) 1.0, 1.0 is at the top right corner of the touchpad. | ||
| * 4) -1.0,-1.0 is at the bottom left corner of the touchpad. | ||
| * | ||
| * 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. | ||
| */ | ||
|
|
||
| @Disabled | ||
| @TeleOp(name="Concept: Gamepad Touchpad", group ="Concept") | ||
| public class ConceptGamepadTouchpad extends LinearOpMode | ||
| { | ||
| @Override | ||
| public void runOpMode() | ||
| { | ||
| telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE); | ||
|
|
||
| telemetry.addData(">", "Press Start"); | ||
| telemetry.update(); | ||
|
|
||
| waitForStart(); | ||
|
|
||
| while (opModeIsActive()) | ||
| { | ||
| boolean finger = false; | ||
|
|
||
| // Display finger 1 x & y position if finger detected | ||
| if(gamepad1.touchpad_finger_1) | ||
| { | ||
| finger = true; | ||
| telemetry.addLine(String.format("Finger 1: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_1_x, gamepad1.touchpad_finger_1_y)); | ||
| } | ||
|
|
||
| // Display finger 2 x & y position if finger detected | ||
| if(gamepad1.touchpad_finger_2) | ||
| { | ||
| finger = true; | ||
| telemetry.addLine(String.format("Finger 2: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_2_x, gamepad1.touchpad_finger_2_y)); | ||
| } | ||
|
|
||
| if(!finger) | ||
| { | ||
| telemetry.addLine("No fingers"); | ||
| } | ||
|
|
||
| telemetry.update(); | ||
| sleep(10); | ||
| } | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.