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PushbotTeleopPOV_Linear.java
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PushbotTeleopPOV_Linear.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.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;
/**
* This OpMode uses the common Pushbot hardware class to define the devices on the robot.
* All device access is managed through the HardwarePushbot class.
* The code is structured as a LinearOpMode
*
* This particular OpMode executes a POV Game style Teleop for a PushBot
* In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
* It raises and lowers the claw using the Gampad Y and A buttons respectively.
* It also opens and closes the claws slowly using the left and right Bumper buttons.
*
* Use Android Studios 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="Pushbot: Teleop POV", group="Pushbot")
@Disabled
public class PushbotTeleopPOV_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
double clawOffset = 0; // Servo mid position
final double CLAW_SPEED = 0.02 ; // sets rate to move servo
@Override
public void runOpMode() {
double left;
double right;
double drive;
double turn;
double max;
/* Initialize the hardware variables.
* The init() method of the hardware class does all the work here
*/
robot.init(hardwareMap);
// Send telemetry message to signify robot waiting;
telemetry.addData("Say", "Hello Driver"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
// Run wheels in POV mode (note: The joystick goes negative when pushed forwards, so negate it)
// In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right.
// This way it's also easy to just drive straight, or just turn.
drive = -gamepad1.left_stick_y;
turn = gamepad1.right_stick_x;
// Combine drive and turn for blended motion.
left = drive + turn;
right = drive - turn;
// Normalize the values so neither exceed +/- 1.0
max = Math.max(Math.abs(left), Math.abs(right));
if (max > 1.0)
{
left /= max;
right /= max;
}
// Output the safe vales to the motor drives.
robot.leftDrive.setPower(left);
robot.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);
robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);
// Use gamepad buttons to move arm up (Y) and down (A)
if (gamepad1.y)
robot.leftArm.setPower(robot.ARM_UP_POWER);
else if (gamepad1.a)
robot.leftArm.setPower(robot.ARM_DOWN_POWER);
else
robot.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);
telemetry.update();
// Pace this loop so jaw action is reasonable speed.
sleep(50);
}
}
}