Difference between revisions of "FTC Bumper State Change"
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Latest revision as of 12:05, 21 September 2018
/* Copyright (c) 2017 FIRST. All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted (subject to the limitations in the disclaimer below) provided that * the following conditions are met: * * Redistributions of source code must retain the above copyright notice, this list * of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright notice, this * list of conditions and the following disclaimer in the documentation and/or * other materials provided with the distribution. * * Neither the name of FIRST nor the names of its contributors may be used to endorse or * promote products derived from this software without specific prior written permission. * * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ package org.firstinspires.ftc.teamcode; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.TouchSensor; import com.qualcomm.robotcore.robot.RobotState; import static org.firstinspires.ftc.teamcode.ConceptBumperState03.RobotStates.STATE_FORWARD; import static org.firstinspires.ftc.teamcode.ConceptBumperState03.RobotStates.STATE_REVERSE; import static org.firstinspires.ftc.teamcode.ConceptBumperState03.RobotStates.STATE_STOP; /** * This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed. * The code is structured as a LinearOpMode * * This code assumes a DC motor configured with the name "left_drive" as is found on a pushbot. * * INCREMENT sets how much to increase/decrease the power each cycle * CYCLE_MS sets the update period. * * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name. * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list */ @Autonomous(name = "Concept: Bumper State with Touch", group = "Concept") //@Disabled public class ConceptBumperState03 extends LinearOpMode { enum RobotStates { STATE_FORWARD, STATE_REVERSE, STATE_STOP, } static final double INCREMENT = 0.01; // amount to ramp motor each CYCLE_MS cycle static final int CYCLE_MS = 50; // period of each cycle static final double MAX_FWD = 1.0; // Maximum FWD power applied to motor static final double MAX_REV = -1.0; // Maximum REV power applied to motor // Define class members DcMotor right_motor; DcMotor left_motor; TouchSensor front_bumper; double power = 0; boolean rampUp = true; private RobotStates state = STATE_FORWARD; @Override public void runOpMode() { // Connect to motor (Assume standard left wheel) // Change the text in quotes to match any motor name on your robot. // right_motor = hardwareMap.get(DcMotor.class, "right_drive"); left_motor = hardwareMap.get(DcMotor.class, "left_drive"); front_bumper= hardwareMap.get(TouchSensor.class, "front_touch"); // Wait for the start button telemetry.addData(">", "Press Start to run Motors." ); telemetry.update(); waitForStart(); // Ramp motor speeds till stop pressed. while(opModeIsActive()) { // Ramp the motors, according to the rampUp variable. switch (state) { case STATE_FORWARD: // Keep stepping up until we hit the max value. power += INCREMENT ; if (power >= MAX_FWD ) { power = MAX_FWD; } if (front_bumper.isPressed()){ power = 0; state = STATE_REVERSE; // Switch ramp direction } break; case STATE_REVERSE: // Keep stepping down until we hit the min value. power -= INCREMENT ; if (power <= MAX_REV ) { state = STATE_STOP; } break; case STATE_STOP: power = 0; } // Display the current value telemetry.addData("Motor Power", "%5.2f", power); switch (state) { case STATE_FORWARD: telemetry.addData("State: ", "Forward"); break; case STATE_REVERSE: telemetry.addData("State: ", "Reverse"); break; case STATE_STOP: telemetry.addData("state: ", "Stop"); break; } telemetry.addData(">", "Press Stop to end test." ); telemetry.update(); // Set the motor to the new power and pause; right_motor.setPower(power); left_motor.setPower(-power); sleep(CYCLE_MS); idle(); } // Turn off motor and signal done; right_motor.setPower(0); left_motor.setPower(0); telemetry.addData(">", "Done"); telemetry.update(); } }