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