Difference between revisions of "FTC Using methods 20203018"
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** Computing the clicks for each wheel for a differential drive robot. | ** Computing the clicks for each wheel for a differential drive robot. | ||
** Compensating for wheel slippage. | ** Compensating for wheel slippage. | ||
+ | ** The program probably is not optimum and may execute slowly. For example, it may re-execute motor commands that should be executed once. Explore techniques to make it computer more efficiently. | ||
+ | ** Currently the program is not driving straight. Why? | ||
* [[DriveInASquare.java]] | * [[DriveInASquare.java]] |
Revision as of 13:05, 18 March 2022
Why Use Abstraction
- Makes it easier to reason about complex programs by reducing the detail you have to think about at one time
- Makes is easier to test programs - we can test small part individually
- Makes the code is reusable saving time. We can more easily takes code from one program and use it somewhere else.
- Makes code more reliable by allowing us to use the same code over and over.
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.
- The program probably is not optimum and may execute slowly. For example, it may re-execute motor commands that should be executed once. Explore techniques to make it computer more efficiently.
- Currently the program is not driving straight. Why?
- DriveInASquare.java