Difference between revisions of "FTC Using methods 20203018"
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= Why Use Abstraction = | = Why Use Abstraction = | ||
| − | * Makes it easier to reason about complex programs | + | * 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 Outline = | ||
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<pre> | <pre> | ||
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public class DriveInASquare extends LinearOpMode | public class DriveInASquare extends LinearOpMode | ||
{ | { | ||
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@Override | @Override | ||
public void runOpMode() throws InterruptedException | 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; | ||
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waitForStart(); | waitForStart(); | ||
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int count = 0; | int count = 0; | ||
while (opModeIsActive() && count < SQUARE_SIDES) | while (opModeIsActive() && count < SQUARE_SIDES) | ||
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count++; | count++; | ||
} | } | ||
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} | } | ||
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void driveForMmAt (double distanceMm, double velocityMmPerSec) | void driveForMmAt (double distanceMm, double velocityMmPerSec) | ||
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} | } | ||
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void turnForDegrees (double turnDegrees) | void turnForDegrees (double turnDegrees) | ||
{ | { | ||
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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. 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? | ||
| + | * [https://github.com/edcepp/FTCJavaLabs/blob/main/DriveInASquare.java Drive In a Square] to be finished | ||
Latest revision as of 13:31, 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?
- Drive In a Square to be finished
