Rover Ruckus
| Many CAD drawings of the robot this season. This is one of the few images found. |
The following source code was retrieved from an archived document.
This former Trobotix member may have potentially more up-to-date versions as well as hardware classes. Any communications or questions should be directed at the team organization linked on the main page.
League Tournament: Think Award
Super Qualifiers: Design Award
We did not advance past State.
Non-OpMode Classes
Please see description above.
OpMode8696
package org.firstinspires.ftc.teamcode.teamcode;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.DcMotor;
//DogeCV Imports (Important) ((Haha, get it?))
import com.disnodeteam.dogecv.CameraViewDisplay;
import com.disnodeteam.dogecv.DogeCV;
import com.disnodeteam.dogecv.detectors.roverrukus.GoldDetector;
import com.disnodeteam.dogecv.detectors.roverrukus.SamplingOrderDetector;
import com.disnodeteam.dogecv.filters.HSVColorFilter;
import com.qualcomm.hardware.bosch.BNO055IMU;
//Gyro Imports
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
/**
* Superclass used by all of team 8696's opModes.
* Contains all the methods and functionality that
* any generic robot might have.
*/
public abstract class OpMode8696 extends LinearOpMode8696 {
//Robot motors/servos
protected DcMotor lift;
protected DcMotor leftFront;
protected DcMotor leftBack;
protected DcMotor rightFront;
protected DcMotor rightBack;
protected DcMotor rightPivot;
protected DcMotor leftPivot;
protected DcMotor extender;
protected CRServo dumper;
//Sensors
protected SamplingOrderDetector detector;
protected BNO055IMU imu;
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
protected DcMotor[] motors = new DcMotor[4];
protected void initGyro(){
parameters.mode = BNO055IMU.SensorMode.IMU;
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.loggingEnabled = false;
// Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
// on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
// and named "imu".
imu = hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(parameters);
telemetry.addData("Mode", "calibrating...");
telemetry.update();
// make sure the imu gyro is calibrated before continuing.
while (!isStopRequested() && !imu.isGyroCalibrated())
{
sleep(50);
idle();
}
}
protected void initDogeCV(){
telemetry.addData("DogeBoi TM", "Sampling dectector is good to go!");
// Setup detector
detector = new SamplingOrderDetector(); // Create the detector
detector.init(hardwareMap.appContext, CameraViewDisplay.getInstance()); // Initialize detector with app context and camera
detector.useDefaults(); // Set detector to use default settings
detector.downscale = 0.4; // How much to downscale the input frames
// Optional tuning
detector.areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA; // Can also be PERFECT_AREA
//detector.perfectAreaScorer.perfectArea = 10000; // if using PERFECT_AREA scoring
detector.maxAreaScorer.weight = 0.001;
detector.ratioScorer.weight = 15;
detector.ratioScorer.perfectRatio = 1.0;
detector.enable(); // Start detector
}
protected void initRobot() {
initDriveTrain();
initOtherStuff();
}
protected void initDriveTrain() {
rightBack = hardwareMap.dcMotor.get("right_back");
leftBack = hardwareMap.dcMotor.get("left_back");
rightFront = hardwareMap.dcMotor.get("right_front");
leftFront = hardwareMap.dcMotor.get("left_front");
motors[0] = leftBack;
motors[1] = rightBack;
motors[2] = leftFront;
motors[3] = rightFront;
}
protected void initOtherStuff() {
lift = hardwareMap.get(DcMotor.class, "lift");
rightPivot = hardwareMap.get(DcMotor.class, "rightPivot");
leftPivot = hardwareMap.get(DcMotor.class, "leftPivot");
extender = hardwareMap.get(DcMotor.class, "extender");
dumper = hardwareMap.get(CRServo.class, "scoop");
imu = hardwareMap.get(BNO055IMU.class, "imu");
leftPivot.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightPivot.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftPivot.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rightPivot.setMode(DcMotor.RunMode.RUN_TO_POSITION);
imu.initialize(parameters);
lift.setDirection(DcMotor.Direction.REVERSE);
}
}
Autonomous
FullDepo
package org.firstinspires.ftc.teamcode.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.teamcode.OpMode8696;
/**
* Created by USER on 2/24/2018.
*/
/* From lander to drop-zone 4.5
From drop zone to crater 8.5*/
@Autonomous(name = "FullDepo", group = "test")
public class FullDepo extends OpMode8696 {
@Override
public void runOpMode(){
initRobot();
initDogeCV();
waitForStart();
/*lift.setPower(1);
sleep(1250);
lift.setPower(0);
sleep(1000); */
leftFront.setPower(0.2);
leftBack.setPower(0.2);
rightFront.setPower(-0.2);
rightBack.setPower(-0.2);
sleep(600);
leftFront.setPower(0);
leftBack.setPower(0);
rightFront.setPower(0);
rightBack.setPower(0);
sleep(1000);
rightFront.setPower(-0.5);
rightBack.setPower(0.5);
leftFront.setPower(-0.5);
leftBack.setPower(0.5);
sleep(1200);
leftFront.setPower(0);
leftBack.setPower(0);
rightFront.setPower(0);
rightBack.setPower(0);
sleep(500);
detector.disable();
}
}
Crater
package org.firstinspires.ftc.teamcode.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.teamcode.OpMode8696;
/**
* Created by USER on 2/24/2018.
*/
/* From lander to drop-zone 4.5
From drop zone to crater 8.5*/
@Autonomous(name = "Crater", group = "test")
public class Crater extends OpMode8696 {
@Override
public void runOpMode(){
initRobot();
initDogeCV();
waitForStart();
lift.setPower(1);
sleep(1250);
lift.setPower(0);
sleep(1000);
leftFront.setPower(0.2);
leftBack.setPower(0.2);
rightFront.setPower(-0.2);
rightBack.setPower(-0.2);
sleep(600);
leftFront.setPower(0);
leftBack.setPower(0);
rightFront.setPower(0);
rightBack.setPower(0);
sleep(1000);
}
}
Depo
package org.firstinspires.ftc.teamcode.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.teamcode.teamcode.OpMode8696;
/**
* Created by USER on 2/24/2018.
*/
/* From lander to drop-zone 4.5
From drop zone to crater 8.5*/
@Autonomous(name = "Depo", group = "test")
public class Depo extends OpMode8696 {
@Override
public void runOpMode(){
initRobot();
initDogeCV();
waitForStart();
lift.setPower(1);
sleep(1250);
lift.setPower(0);
sleep(1000);
leftFront.setPower(0.2);
leftBack.setPower(0.2);
rightFront.setPower(-0.2);
rightBack.setPower(-0.2);
sleep(600);
leftFront.setPower(0);
leftBack.setPower(0);
rightFront.setPower(0);
rightBack.setPower(0);
sleep(1000);
rightFront.setPower(-0.5);
rightBack.setPower(0.5);
leftFront.setPower(-0.5);
leftBack.setPower(0.5);
sleep(2200);
leftFront.setPower(0);
leftBack.setPower(0);
rightFront.setPower(0);
rightBack.setPower(0);
sleep(500);
dumper.setPower(1);
sleep(2000);
dumper.setPower(0);
sleep(1000);
}
}
TeleOp
TroTeleOp
package org.firstinspires.ftc.teamcode.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@TeleOp(name="TroTeleOP", group="Linear Opmode")
public class TroTeleOp extends OpMode8696 {
private int encoderval = 0;
@Override
public void runOpMode() {
telemetry.addData("Status of Mr. Roboto", "Good to go! ...I think. Yeah. We're good.");
telemetry.update();
//Initializes [the robots parts, including wheels and lifting mechanism.
initRobot();
waitForStart();
//Run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
//Sets power for the tank drive mecanum wheels. We use the left and right gamepad 1 sticks in order to do this.
leftBack.setPower(gamepad1.left_stick_y);
leftFront.setPower(gamepad1.left_stick_y);
rightBack.setPower(-gamepad1.right_stick_y);
rightFront.setPower(-gamepad1.right_stick_y);
//Strafing right for the right bumper and left for the left bumper.
//Helps with aligning our robot to the lander correctly.
if (gamepad1.right_bumper){
leftBack.setPower(1);
leftFront.setPower(-1);
rightBack.setPower(1);
rightFront.setPower(-1);
}
if (gamepad1.left_bumper){
leftBack.setPower(-1);
leftFront.setPower(1);
rightBack.setPower(-1);
rightFront.setPower(1);
}
//All other controls besides movement reside on the second controller. It makes the driver's life easier.
//Lift controls are set on the Dpad. Pivoting mechanisms also rely somewhat on the Dpad.
if (gamepad2.dpad_down) lift.setPower(-1);
if (gamepad2.dpad_up) lift.setPower(1);
if (gamepad2.dpad_left){
encoderval += 1;
leftPivot.setTargetPosition(encoderval);
rightPivot.setTargetPosition(encoderval);
leftPivot.setPower(1);
rightPivot.setPower(1);
extender.setPower(-0.3);
}
if (gamepad2.dpad_right){
encoderval -= 1;
leftPivot.setTargetPosition(encoderval);
rightPivot.setTargetPosition(encoderval);
rightPivot.setPower(1);
leftPivot.setPower(1);
}
if (!gamepad2.dpad_down && !gamepad2.dpad_up) lift.setPower(0);
//Extending our robot arm
if (-gamepad2.right_stick_y > 0){
extender.setPower(-1);
}
if (-gamepad2.right_stick_y < 0){
extender.setPower(1);
}
if (-gamepad2.right_stick_y == 0 && !gamepad2.y && !gamepad2.a && !gamepad2.dpad_right && !gamepad2.dpad_left) {
extender.setPower(0);
}
//Pivots to a specific point for the robot.
if (gamepad2.a){
leftPivot.setTargetPosition(-75);
rightPivot.setTargetPosition(-75);
leftPivot.setPower(1);
rightPivot.setPower(1);
leftPivot.setTargetPosition(-120);
rightPivot.setTargetPosition(-120);
leftPivot.setPower(0.30);
rightPivot.setPower(0.30);
extender.setPower(-0.3);
}
if (gamepad2.y){
leftPivot.setTargetPosition(-50);
rightPivot.setTargetPosition(-50);
leftPivot.setPower(0.1);
rightPivot.setPower(0.1);
leftPivot.setTargetPosition(0);
rightPivot.setTargetPosition(0);
rightPivot.setPower(0.25);
leftPivot.setPower(0.25);
}
//Controls our servo that pushes out minerals.
if (gamepad2.x){
dumper.setPower(1);
}
if (gamepad2.b){
dumper.setPower(-1);
}
if (!gamepad2.x && !gamepad2.b){
dumper.setPower(0);
}
}
}
}