FTC Set Up the Mecanum Training Platform 20231025

Why

• Create a program testing platform. We want to create programs that we can copy to the competitions robot without modification.

Check Points

Check Point 2

• Locate the the Drive Mecanum program in GetHub and copy it to your laptop. You will need internet access for this step
  • DriveMecanumEpp.java
• Load the program into your robot

Check Point 3

• This program will not run correctly because it robot hardware needs to be configured for a different motor configuration.
• Configure these motors with the same I2C connections and motor names as the competition robot.
• Change the motor names in the java program to match the configuruation
• Build
• You can not test yet because the Driver Hub has not yet been configured.

Check Point 2

• Install the color sensor on the robot
• Plug the into IC2 port number 1
• Set the Configure a Color Sensor section below - FTC_Read_Colors_20231017#Configure_a_Color_Sensor

Check Point 3

• Run and test the program
• You should be able to see RGB and HSV color value displayed on the Driver Hub based on the color of objects under the color sensor - make sure the sensor is turned on
• What is the Hue value of our roll of green tape?

Check Point 4

• Check for the green tape and send a telemetry message to the Driver Station

            // Check for green using hue
            if (hsvValues[0] >110 && hsvValues[0]<140)
            {
               telemetry.addLine()
                   .addData("wow", “ I see something green.");
               telemetry.update();
            }

• TBD - suggest a program name change

Check Point 5

• Modify the program so that the robot moves forward.
  • Change "DRIVE" to "true"

Check Point 6

• Modify the program to move backwards when the robot encounters a green line of tape.

Sense - Think - Act loop

We have just implemented an Sense-Think-Act loop.

• Which code implements "Sense?"
• Which code implements "Think?"
• Which dode implements "Act?"

Photo credit:

• https://makezine.com/article/technology/robotics/choose-use-sensors-robot/
• https://youngzine.org/article-expert/technology/machines-sense-think-and-act

Configure a Color Sensor

Color Sensor Demo Code

• Read and display the value of a color sensor]

Find this line of code

  colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color");

Physical Connection

• Connect Color Sensor to one of the I2C ports - 1 in this case

References

• See section: FTC_Read_Colors_20231017#Color_Sensor_Choices
• OnBot Java Guide: Electronics setup to Programming see chapter 11: Configuring Your Hardware
• Hardware and Software Configuration: Configuring a Color Distance Sensor - modify to work for a REV Color Sensor V3

Configuration File

• Control Hub
  • I2C Bus 1
    • Port 0 REV Color Sensor V3
    • sensor_color

Example HW color senso configuration entry. Change ColorV3 to sensor_color for our examples.

From: https://docs.revrobotics.com/color-sensor/application-examples.