Difference between revisions of "FTC Using methods 20203018"
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* Makes it easier to reason about complex programs | * Makes it easier to reason about complex programs | ||
* Easier to test programs - can test small part individually | * Easier to test programs - can test small part individually | ||
− | * Code is | + | * Code is reusable saving time and making it more reliable |
= Code Outline = | = Code Outline = |
Revision as of 12:38, 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 reusable saving time and 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