Difference between revisions of "FTC Using methods 20203018"

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<pre>
 
<pre>
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// autonomous program that drives bot in the shape of a square.
 
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//
 
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// Ed C. Epp
 
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// March 18, 2022
 
  
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package org.firstinspires.ftc.teamcode;
 
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
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import com.qualcomm.robotcore.hardware.DcMotor;
 
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import com.qualcomm.robotcore.hardware.DcMotorEx;
 
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@Autonomous(name="Drive in a square v05", group="Concept")
 
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//@Disabled
 
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// --------------------------- DriveInASquare class -----------------------------
 
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// ------------------------------------------------------------------------------
 
 
public  class DriveInASquare extends LinearOpMode
 
public  class DriveInASquare extends LinearOpMode
 
{
 
{
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    double TARGET_DISTANCE    = 300;        // mm (about 12 inches)
 
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    double MAX_MOTOR_VELOCITY = 600;        // mm / second
 
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    double TARGET_VELOCITY    = MAX_MOTOR_VELOCITY / 4;
 
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    double TARGET_TURN        =  90;        // degrees
 
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    int    SQUARE_SIDES      =  2;
 
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    DcMotorEx leftMotor;
 
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    DcMotorEx rightMotor;
 
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     @Override
 
     @Override
 
     public void runOpMode() throws InterruptedException
 
     public void runOpMode() throws InterruptedException
 
     {
 
     {
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        // Configure the motors
 
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        leftMotor = hardwareMap.get(DcMotorEx.class,"myLeftMotor");
 
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        leftMotor.setDirection(DcMotor.Direction.REVERSE);
 
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        rightMotor = hardwareMap.get(DcMotorEx.class,"myRightMotor");
 
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        telemetry.addData("Mode", "waiting");
 
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        telemetry.update();
 
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        // wait for start button.
 
 
         waitForStart();
 
         waitForStart();
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        // wait while opmode is active and
 
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        // left or right motor is busy running to position.
 
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        int count = 0;
 
 
         while (opModeIsActive() && count < SQUARE_SIDES)
 
         while (opModeIsActive() && count < SQUARE_SIDES)
 
         {
 
         {
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             count++;
 
             count++;
 
         }
 
         }
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        // wait 5 sec to you can observe the final encoder position.
 
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        Thread.sleep(5000);
 
 
     }
 
     }
  
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    // ----------- driveForMmAt ----------------------------------------
 
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    // Drive for a specific distance and velocity
 
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    //    distanceMm:  target distance in mm
 
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    //    velocityMm:  target velocity in mm per second
 
 
     void driveForMmAt (double distanceMm, double velocityMmPerSec)
 
     void driveForMmAt (double distanceMm, double velocityMmPerSec)
 
     {
 
     {
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        // REV-41-1300 Core Hex Motor
 
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        // 4 Ticks per revolution at the motor
 
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        // Gear ration: 72:1 motor revolutions per output revolution
 
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        // 72 motor rev per output rev * 4 ticks per rev  => 288 ticks per output rev
 
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        // REV-41-1354 90 mm traction wheel
 
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        // 90 mm Wheel diameter
 
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        // 90 mm * pi => 283 mm / rev
 
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        double mMPerTick = 283.0 / 288.0;
 
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        double ticksToMove = distanceMm / mMPerTick;
 
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        // telemetry.addData("  mMPerTick  ticksToMove  ", mMPerTick + "  " + ticksToMove);
 
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        double ticksPerSecond = velocityMmPerSec / mMPerTick;
 
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        // reset the motors
 
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        leftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 
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        rightMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 
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        leftMotor.setTargetPosition((int)ticksToMove);
 
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        rightMotor.setTargetPosition((int)ticksToMove);
 
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        leftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
 
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        rightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
 
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        leftMotor.setVelocity(ticksPerSecond);
 
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        rightMotor.setVelocity(ticksPerSecond);
 
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        // telemetry.addData("ticksPerSecond  ", ticksPerSecond);
 
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        // telemetry.update();
 
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        while (leftMotor.isBusy() || leftMotor.isBusy())
 
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        {
 
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            telemetry.addData("position  velocity ", leftMotor.getCurrentPosition() +
 
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                                                    "  " + leftMotor.getVelocity());
 
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            telemetry.update();
 
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            idle();
 
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        }
 
  
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        // set motor power to zero to turn off motors. The motors stop on their own but
 
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        // power is still applied so we turn off the power.
 
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        leftMotor.setVelocity(0);
 
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        rightMotor.setVelocity(0);
 
 
     }
 
     }
  
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    // ---------- turnForDegrees -----------------------------------
 
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    // turnDegrees:  target turn in degrees
 
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    // To be completed by the student
 
 
     void turnForDegrees (double turnDegrees)
 
     void turnForDegrees (double turnDegrees)
 
     {
 
     {

Revision as of 12:10, 18 March 2022

Why Use Abstraction

  • Makes it easier to reason about complex programs
  • Easier to test programs - can test small part individually
  • Code is reused making it more reliable

Code Outline

  • Code based on FTC_Motor_Encoders_20200304
  • Enhance the drive forward with encoders using the setVelocity to drive the robot in a square. 

public  class DriveInASquare extends LinearOpMode
{
    @Override
    public void runOpMode() throws InterruptedException
    {
        waitForStart();
        while (opModeIsActive() && count < SQUARE_SIDES)
        {
            driveForMmAt (TARGET_DISTANCE, TARGET_VELOCITY);
            turnForDegrees (TARGET_TURN);
            count++;
        }
    }

    void driveForMmAt (double distanceMm, double velocityMmPerSec)
    {

    }

    void turnForDegrees (double turnDegrees)
    {

    }
}

Full Code One Method

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