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NormalDriverControl.java
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package org.firstinspires.ftc.teamcode;
import android.graphics.Color;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.arcrobotics.ftclib.controller.PIDController;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.VoltageSensor;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
@Config
@TeleOp(name = "Normal Driver Control Java")
public class NormalDriverControl extends LinearOpMode {
SampleMecanumDrive drive;
private DcMotorEx arm;
private Servo wrist;
private Servo spooky;
private Servo claw;
private DistanceSensor distance;
private VoltageSensor ControlHub_VoltageSensor;
private ColorSensor clawSensor;
int coneGrab;
double currentWristPos;
private final double ticks_per_degree = 2400;
@Override
public void runOpMode() {
drive = new SampleMecanumDrive(hardwareMap);
drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
arm = hardwareMap.get(DcMotorEx.class, "arm");
wrist = hardwareMap.get(Servo.class, "wrist");
spooky = hardwareMap.get(Servo.class, "spooky");
claw = hardwareMap.get(Servo.class, "claw");
distance = hardwareMap.get(DistanceSensor.class, "distance");
clawSensor = hardwareMap.get(ColorSensor.class, "claw color");
ControlHub_VoltageSensor = hardwareMap.get(VoltageSensor.class, "Control Hub");
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
// Put initialization blocks here.
double slowLeftPower;
double slowRightPower;
coneGrab = 1;
waitForStart();
spooky.setPosition(0.95);
wrist.setPosition(.7);
claw.setPosition(0.82);
arm.setDirection(DcMotorSimple.Direction.REVERSE);
arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
arm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
if (opModeIsActive()) {
while (opModeIsActive()) {
telemetry.addData("Red levels", clawSensor.red());
telemetry.addData("Blue levels", clawSensor.blue());
telemetry.addData("Distance sensor", distance.getDistance(DistanceUnit.INCH));
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Wrist Pos", wrist.getPosition());
telemetry.addData("Target Level", coneGrab);
telemetry.addData("Flip Position", spooky.getPosition());
telemetry.addData("Claw_Pos", claw.getPosition());
/**
* Drive code
*
* gamepad1 left stick controls slow drive
* gamepad1 right stick controls fast drive
*/
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
/**
* Claw Code
*
* gamepad2 'a' without the left bumper closes the claw
* gamepad2 b opens the claw
*/
if ((gamepad2.a) && !(gamepad2.left_bumper)) {
claw.setPosition(.6);
}
if (gamepad2.b) {
claw.setPosition(.82);
}
/**
* Wrist Code
*
* gamepad 2 triggers control the code
* when the bumper is pressed, the adjustments become smaller
*/
currentWristPos = wrist.getPosition();
if (gamepad2.left_bumper) {
if (gamepad2.right_trigger != 0 || gamepad2.left_trigger != 0) {
wrist.setPosition(currentWristPos + (gamepad2.right_trigger - gamepad2.left_trigger) * 0.01);
}
}
else
{
wrist.setPosition(currentWristPos + (gamepad2.right_trigger - gamepad2.left_trigger) * 0.03);
}
/**
* wrist level adjustment code
*
* uses buttons on gamepad1
*/
if (gamepad1.x) {
coneGrab = 1;
wrist.setPosition(0.3);
}
if (gamepad1.dpad_down) {
coneGrab = 2;
wrist.setPosition(0.357);
}
if (gamepad1.dpad_left) {
coneGrab = 3;
wrist.setPosition(0.387);
}
if (gamepad1.dpad_right) {
coneGrab = 4;
wrist.setPosition(0.42);
}
if (gamepad1.dpad_up) {
coneGrab = 5;
wrist.setPosition(0.46);
}
/**
* Wrist Flip Code
*
* gamepad 2 right stick x direction flips the wrist
*/
if (gamepad2.right_stick_x > .5) {
spooky.setPosition(0.95);
}
if (gamepad2.right_stick_x < -.5) {
spooky.setPosition(0.21);
}
/**
* Resets Arm at 0 position
*
* uses gamepad2 a and left bumper
*/
if ((gamepad2.a) && (gamepad2.left_bumper))
{
arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
arm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
/**
* Controls Arm using gamepad2 left joystick and floats arm otherwise
*/
arm.setPower(gamepad2.left_stick_y * -.5);
double wristFF = .3 * (1 - Math.abs(.2-wrist.getPosition()));
double gravityFF = .14 * (Math.cos((Math.PI * (arm.getCurrentPosition() / ticks_per_degree)) * wristFF));
if((Math.cos(Math.PI * (arm.getCurrentPosition() / ticks_per_degree))) < 0) {
wristFF = -wristFF;
}
if(gamepad2.left_stick_y == 0 && arm.getCurrentPosition() != 0) {
telemetry.addData("cos measurement", (Math.cos(Math.PI * (arm.getCurrentPosition() / ticks_per_degree))));
arm.setPower(gravityFF);
}
telemetry.addData("wristFF", wristFF);
telemetry.addData("gravityFF", gravityFF);
/**
* Controls arm by setting it to preset locations
*/
if(gamepad2.dpad_down && gamepad2.right_bumper)
{
wrist.setPosition(0.59);
while (arm.getCurrentPosition() < 1600) {
if (arm.getCurrentPosition() > 300) {
spooky.setPosition(0.21);
}
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
}
}
if(gamepad2.dpad_down && !gamepad2.right_bumper) {
while(arm.getCurrentPosition() > 0){
if(arm.getCurrentPosition() < 1000) {
spooky.setPosition(0.95);
wrist.setPosition(.7);
}
if(arm.getCurrentPosition() < 200) {
arm.setPower((-.3 * (arm.getCurrentPosition()/200.)) - .2);
}
else {
arm.setPower(-.3);
}
if(gamepad1.y) {
arm.setPower(0);
break;
}
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
}
}
if (gamepad2.dpad_left && !gamepad2.right_bumper) {
while(arm.getCurrentPosition() < 350) {
arm.setPower(.7);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
}
if (gamepad2.dpad_right && !gamepad2.right_bumper) {
while (arm.getCurrentPosition() < 650) {
arm.setPower(.7);
if(arm.getCurrentPosition() < 300) {
wrist.setPosition(.23);
}
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
}
if (gamepad2.dpad_right && gamepad2.right_bumper) {
while (arm.getCurrentPosition() < 800) {
arm.setPower(1);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
wrist.setPosition(0.3);
while (arm.getCurrentPosition() < 1500) {
spooky.setPosition(0.21);
arm.setPower(0.2);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
}
if (gamepad2.dpad_up && !gamepad2.right_bumper) {
while (arm.getCurrentPosition() < 750) {
arm.setPower(.8);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.addData("Claw Position", claw.getPosition());
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
if(arm.getCurrentPosition() > 200) {
wrist.setPosition(0);
}
}
while (arm.getCurrentPosition() < 900) {
arm.setPower(.4);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.addData("Claw Position", claw.getPosition());
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
}
if (gamepad2.dpad_up && gamepad2.right_bumper) {
while (arm.getCurrentPosition() < 800) {
spooky.setPosition(0.21);
arm.setPower(1);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
while (arm.getCurrentPosition() < 1200) {
wrist.setPosition(0.59);
arm.setPower(0.8);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
while (arm.getCurrentPosition() < 1300) {
arm.setPower(0.3);
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
telemetry.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
}
}
/**
* Funky Little cycles for tall and medium poles
*/
if (gamepad2.y) {
boolean skip = false;
wrist.setPosition(0.36);
sleep(300);
claw.setPosition(.6);
sleep(350);
wrist.setPosition(.7);
arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
arm.setTargetPosition(1100);
arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
while(arm.getCurrentPosition() < 1100) {
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
skip = true;
break;
}
if(arm.getCurrentPosition() > 800) {
arm.setPower(.5 * ((1100 - arm.getCurrentPosition())/300.));
}
else {
arm.setPower(.5);
}
if (arm.getCurrentPosition() > 300) {
spooky.setPosition(0.21);
wrist.setPosition(0.25);
}
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
}
if(!skip) {
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
sleep(300);
telemetry.addData("Arm Position when claw opens", arm.getCurrentPosition());
telemetry.update();
claw.setPosition(.82);
sleep(200);
wrist.setPosition(.7);
while (arm.getCurrentPosition() > 0) {
telemetry.addData("Arm Position when arm starts retracting", arm.getCurrentPosition());
telemetry.update();
arm.setTargetPosition(0);
if (arm.getCurrentPosition() < 1000) {
spooky.setPosition(0.95);
wrist.setPosition(.7);
}
if (arm.getCurrentPosition() < 200) {
arm.setPower(-.3 * (arm.getCurrentPosition() / 200.));
} else {
arm.setPower(-.3);
}
telemetry.update();
if (gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
skip = true;
break;
}
}
}
arm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
if (gamepad2.x) {
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
boolean skip = false;
wrist.setPosition(0.36);
sleep(500);
claw.setPosition(.6);
sleep(500);
wrist.setPosition(.7);
arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
arm.setTargetPosition(1600);
arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
while(arm.getCurrentPosition() < 1400) {
slowLeftPower = 0;
slowRightPower = 0;
if(gamepad1.right_bumper) {
slowRightPower = .35;
}
if(gamepad1.left_bumper) {
slowLeftPower = .35;
}
drive.setWeightedDrivePower(
new Pose2d(
-((gamepad1.left_stick_y * .35) + (gamepad1.right_stick_y)),
-((gamepad1.left_stick_x * .35) + (gamepad1.right_stick_x)),
-((gamepad1.right_trigger - gamepad1.left_trigger) + ((slowRightPower - slowLeftPower)))
)
);
drive.update();
if(gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
break;
}
if(arm.getCurrentPosition() > 800) {
arm.setPower(.4 * ((1400 - arm.getCurrentPosition())/600.));
}
else {
arm.setPower(.5);
}
if (arm.getCurrentPosition() > 300) {
spooky.setPosition(0.21);
wrist.setPosition(0.17);
}
telemetry.addData("Arm Power", arm.getPower());
telemetry.addData("Arm Position", arm.getCurrentPosition());
telemetry.update();
}
if(!skip) {
sleep(100);
claw.setPosition(.82);
sleep(500);
wrist.setPosition(.7);
while (arm.getCurrentPosition() > 20) {
if (gamepad2.dpad_down || gamepad1.y) {
arm.setPower(0);
skip = true;
break;
}
telemetry.addData("Arm Position when arm starts retracting", arm.getCurrentPosition());
telemetry.update();
arm.setTargetPosition(0);
if (arm.getCurrentPosition() < 1000) {
spooky.setPosition(0.95);
wrist.setPosition(.7);
}
if (arm.getCurrentPosition() < 600) {
arm.setPower(-.3 * (arm.getCurrentPosition() / 600.));
} else {
arm.setPower(-.5);
}
telemetry.update();
}
}
arm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
telemetry.update();
}
}
}
}