Difference between revisions of "FTC Using methods 20203018"
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= Full Code One Method = | = Full Code One Method = | ||
− | * '''Exercise 1''': The turn method is not completed. Your job is to complete it | + | * '''Exercise 1''': The turn method is not completed. Your job is to complete it. The challenges are |
+ | ** Computing the clicks for each wheel for a differential drive robot. | ||
+ | ** Compensating for wheel slippage. | ||
* [[DriveInASquare.java]] | * [[DriveInASquare.java]] |
Revision as of 12:32, 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 { double TARGET_DISTANCE = 300; // mm (about 12 inches) double MAX_MOTOR_VELOCITY = 600; // mm / second double TARGET_VELOCITY = MAX_MOTOR_VELOCITY / 4; double TARGET_TURN = 90; // degrees int SQUARE_SIDES = 4; waitForStart(); int count = 0; 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
- Exercise 1: The turn method is not completed. Your job is to complete it. The challenges are
- Computing the clicks for each wheel for a differential drive robot.
- Compensating for wheel slippage.
- DriveInASquare.java