Skystone
| This season looked fun. |
The following source code was retrieved from a branch other than the main branch because the main branch was effectively empty.
League Tournament: Think Award
Super Qualifiers: Think Award
State: Promote Award
Non-OpMode Classes
This season used a in-development version of the Trobot package highlighted in Ultimate Goal along with a confusing bundle of other items.
Autonomous
FoundationBlue
package org.firstinspires.ftc.teamcode.oldcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous(name="Foundation Blue", group="Autonomous")
public class FoundationBlue extends LinearOpMode {
Robot_OmniDrive robot = new Robot_OmniDrive();
private ElapsedTime runtime = new ElapsedTime();
private Servo leftServo = null;
private Servo rightServo = null;
@Override
public void runOpMode() {
final long START = 1000;
final long END = 10000;
robot.initDrive(this);
robot.setServo(0.5);
leftServo = hardwareMap.get(Servo.class, "left_servo");
rightServo = hardwareMap.get(Servo.class, "right_servo");
waitForStart();
sleep(START);
robot.encoderDrive(.06, 10, 10, -10, -10, 1); //Strafe Right
robot.stopMotor();
sleep(1000);
robot.encoderDrive(0.06, -10, 10, -10, 10, 1.3); //Drive Forward
robot.stopMotor();
sleep(1000);
rightServo.setPosition(1); //Lower Servos
leftServo.setPosition(1);
robot.stopMotor();
sleep(1000);
robot.encoderDrive(.06, 10, -10, 10, -10, 1.9); //Drive Backwards
robot.stopMotor();
sleep(1000);
// robot.encoderDrive(0.06, -10, -10, -10, -10, 1); //Turn Left
// robot.stopMotor();
// sleep(1000);
rightServo.setPosition(0); //Lower Servos
leftServo.setPosition(0);
robot.stopMotor();
sleep(1000);
sleep(END);
robot.encoderDrive(.06, -10, -10, 10, 10, 2.2); //Strafe Left
// robot.stopMotor();
// sleep(1000);
// robot.encoderDrive(.06, 10, -10, 10, -10, 2); //Drive Backwards
// robot.stopMotor();
sleep(1500);
// telemetry.addData("Add", robot.getAngle());
// telemetry.addData("Last", robot.lastAngles.firstAngle);
// telemetry.update();
// robot.turnLeft(120); //Turn left
// telemetry.addData("Add", robot.getAngle());
// telemetry.addData("Last", robot.lastAngles.firstAngle);
// telemetry.update();
// robot.turnLeft(110); //Turn left
// telemetry.addData("Add", robot.getAngle());
// telemetry.addData("Last", robot.lastAngles.firstAngle);
// telemetry.update();
// robot.turnLeft(90); //Turn left
robot.encoderDrive(0.06, 10, -10, 10, -10, .5);
sleep(1000);
}
}
FoundationRed
package org.firstinspires.ftc.teamcode.oldcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous(name="Foundation Red", group="Autonomous")
public class FoundationRed extends LinearOpMode {
Robot_OmniDrive robot = new Robot_OmniDrive();
private ElapsedTime runtime = new ElapsedTime();
private Servo leftServo = null;
private Servo rightServo = null;
@Override
public void runOpMode() {
final long START = 1000;
final long END = 10000;
robot.initDrive(this);
robot.setServo(0.5);
leftServo = hardwareMap.get(Servo.class, "left_servo");
rightServo = hardwareMap.get(Servo.class, "right_servo");
waitForStart();
sleep(START);
robot.encoderDrive(.06, -10, -10, 10, 10, 1); //Strafe Right
robot.stopMotor();
sleep(1000);
robot.encoderDrive(0.06, -10, 10, -10, 10, 1.3); //Drive Forward
robot.stopMotor();
sleep(1000);
rightServo.setPosition(1); //Lower Servos
leftServo.setPosition(1);
robot.stopMotor();
sleep(1000);
robot.encoderDrive(.06, 10, -10, 10, -10, 1.9); //Drive Backwards
robot.stopMotor();
sleep(1000);
// robot.encoderDrive(0.06, -10, -10, -10, -10, 1); //Turn Left
// robot.stopMotor();
// sleep(1000);
rightServo.setPosition(0); //Lower Servos
leftServo.setPosition(0);
robot.stopMotor();
sleep(1000);
sleep(END);
robot.encoderDrive(.06, 10, 10, -10, -10, 2.2); //Strafe Left
// robot.stopMotor();
// sleep(1000);
// robot.encoderDrive(.06, 10, -10, 10, -10, 2); //Drive Backwards
// robot.stopMotor();
sleep(1500);
// telemetry.addData("Add", robot.getAngle());
// telemetry.addData("Last", robot.lastAngles.firstAngle);
// telemetry.update();
// robot.turnLeft(120); //Turn left
// telemetry.addData("Add", robot.getAngle());
// telemetry.addData("Last", robot.lastAngles.firstAngle);
// telemetry.update();
// robot.turnLeft(110); //Turn left
// telemetry.addData("Add", robot.getAngle());
// telemetry.addData("Last", robot.lastAngles.firstAngle);
// telemetry.update();
// robot.turnLeft(90); //Turn left
robot.encoderDrive(0.06, 10, -10, 10, -10, .5);
sleep(1000);
}
}
TeleOp
TrobotixTeleOp
/* 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.teleop;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
* the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
* of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all linear OpModes contain.
*
* Use Android Studios 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
*/
@TeleOp(name="TeleOp", group="Linear Opmode")
public class TrobotixTeleOp extends LinearOpMode {
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor frontLeftDrive = null;
private DcMotor frontRightDrive = null;
private DcMotor rearLeftDrive = null;
private DcMotor rearRightDrive = null;
private DcMotor beltMotor = null;
// private DcMotor topIntake = null;
// private DcMotor botIntake = null;
private DcMotor shooterMotor = null;
// private DcMotor leftShooter = null;
// private DcMotor rightShooter = null;
@Override
public void runOpMode() {
telemetry.addData("Status", "Initialized");
telemetry.update();
// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
frontLeftDrive = hardwareMap.get(DcMotor.class, "front left");
frontRightDrive = hardwareMap.get(DcMotor.class, "front right");
rearRightDrive = hardwareMap.get(DcMotor.class, "rear right");
rearLeftDrive = hardwareMap.get(DcMotor.class, "rear left");
beltMotor = hardwareMap.get(DcMotor.class, "belt");
shooterMotor = hardwareMap.get(DcMotor.class, "shooter");
// Wait for the game to start (driver presses PLAY)
waitForStart();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
//To shoot press X
//To move belt forward press A
//To reverse belt press B
double leftStickY = -gamepad1.left_stick_y;
double rightStickY = gamepad1.right_stick_y;
double leftStickX = -gamepad1.left_stick_x;
double rightStickX = gamepad1.right_stick_x;
boolean beltInA = gamepad1.a;
boolean beltOutB = gamepad1.b;
boolean shooterX = gamepad1.x;
//double stick drive
//this drive will be like the old one
if(Math.abs(leftStickY) >= 0.1 || Math.abs(rightStickY) >= 0.1){
frontLeftDrive.setPower(leftStickY);
frontRightDrive.setPower(rightStickY);
rearLeftDrive.setPower(leftStickY);
rearRightDrive.setPower(rightStickY);
}
else{
frontLeftDrive.setPower(0);
frontRightDrive.setPower(0);
rearLeftDrive.setPower(0);
rearRightDrive.setPower(0);
}
//INCOMPLETE CODE
//CANNOT BOTH TURN AND MOVE
//WILL NEED MATH
//new drive mode
//left stick will be to move the robot
//right stick will be to turn the robot
//orientation of the robot will have the front right be the "front" of the robot
// if(Math.abs(leftStickY) >= 0.1 || Math.abs(leftStickX) >= 0.1){
// frontLeftDrive.setPower(leftStickY);
// frontRightDrive.setPower(leftStickX);
// rearLeftDrive.setPower(leftStickX);
// rearRightDrive.setPower(leftStickY);
// }
// else if(Math.abs(rightStickX) >= 0.1){ //this is how the robot will turn
// frontLeftDrive.setPower(-rightStickX);
// frontRightDrive.setPower(rightStickX);
// rearLeftDrive.setPower(-rightStickX);
// rearRightDrive.setPower(rightStickY);
// }
// else{
// frontLeftDrive.setPower(0);
// frontRightDrive.setPower(0);
// rearLeftDrive.setPower(0);
// rearRightDrive.setPower(0);
// }
if(beltInA == true){
beltMotor.setPower(1);
}
else if(beltOutB == true){
beltMotor.setPower(-1);
}
else{
beltMotor.setPower(0);
}
if(shooterX == true){
shooterMotor.setPower(1);
}
else{
shooterMotor.setPower(0);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Motors", "front left (%.2f), front right (%.2f), rear left (%.2f), rear right (%.2f)", leftStickY, rightStickY, leftStickY, rightStickY);
telemetry.update();
}
}
}