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Merge pull request FIRST-Tech-Challenge#4 from derryfieldftc/AS-mecanum
Add Mecanum classes to base
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <projectDescription> | ||
| <name>FtcRobotController</name> | ||
| <comment>Project FtcRobotController created by Buildship.</comment> | ||
| <projects> | ||
| </projects> | ||
| <buildSpec> | ||
| <buildCommand> | ||
| <name>org.eclipse.buildship.core.gradleprojectbuilder</name> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| </buildSpec> | ||
| <natures> | ||
| <nature>org.eclipse.buildship.core.gradleprojectnature</nature> | ||
| </natures> | ||
| <filteredResources> | ||
| <filter> | ||
| <id>1697888154165</id> | ||
| <name></name> | ||
| <type>30</type> | ||
| <matcher> | ||
| <id>org.eclipse.core.resources.regexFilterMatcher</id> | ||
| <arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments> | ||
| </matcher> | ||
| </filter> | ||
| </filteredResources> | ||
| </projectDescription> |
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| arguments=--init-script /home/asmi/.cache/jdtls/config/org.eclipse.osgi/223/0/.cp/gradle/init/init.gradle | ||
| auto.sync=false | ||
| build.scans.enabled=false | ||
| connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER) | ||
| connection.project.dir= | ||
| eclipse.preferences.version=1 | ||
| gradle.user.home= | ||
| java.home=/usr/lib/jvm/java-17-openjdk | ||
| jvm.arguments= | ||
| offline.mode=false | ||
| override.workspace.settings=true | ||
| show.console.view=true | ||
| show.executions.view=true |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <classpath> | ||
| <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-17/"/> | ||
| <classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/> | ||
| <classpathentry kind="output" path="bin/default"/> | ||
| </classpath> |
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| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <projectDescription> | ||
| <name>FtcRobotController-FtcRobotController</name> | ||
| <comment>Project FtcRobotController-FtcRobotController created by Buildship.</comment> | ||
| <projects> | ||
| </projects> | ||
| <buildSpec> | ||
| <buildCommand> | ||
| <name>org.eclipse.jdt.core.javabuilder</name> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| <buildCommand> | ||
| <name>org.eclipse.buildship.core.gradleprojectbuilder</name> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| </buildSpec> | ||
| <natures> | ||
| <nature>org.eclipse.jdt.core.javanature</nature> | ||
| <nature>org.eclipse.buildship.core.gradleprojectnature</nature> | ||
| </natures> | ||
| <filteredResources> | ||
| <filter> | ||
| <id>1697888154168</id> | ||
| <name></name> | ||
| <type>30</type> | ||
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| <id>org.eclipse.core.resources.regexFilterMatcher</id> | ||
| <arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments> | ||
| </matcher> | ||
| </filter> | ||
| </filteredResources> | ||
| </projectDescription> |
2 changes: 2 additions & 0 deletions
2
FtcRobotController/.settings/org.eclipse.buildship.core.prefs
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| connection.project.dir=.. | ||
| eclipse.preferences.version=1 |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <classpath> | ||
| <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-17/"/> | ||
| <classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/> | ||
| <classpathentry kind="output" path="bin/default"/> | ||
| </classpath> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <projectDescription> | ||
| <name>TeamCode</name> | ||
| <comment>Project TeamCode created by Buildship.</comment> | ||
| <projects> | ||
| </projects> | ||
| <buildSpec> | ||
| <buildCommand> | ||
| <name>org.eclipse.jdt.core.javabuilder</name> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| <buildCommand> | ||
| <name>org.eclipse.buildship.core.gradleprojectbuilder</name> | ||
| <arguments> | ||
| </arguments> | ||
| </buildCommand> | ||
| </buildSpec> | ||
| <natures> | ||
| <nature>org.eclipse.jdt.core.javanature</nature> | ||
| <nature>org.eclipse.buildship.core.gradleprojectnature</nature> | ||
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| <arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments> | ||
| </matcher> | ||
| </filter> | ||
| </filteredResources> | ||
| </projectDescription> |
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| connection.project.dir=.. | ||
| eclipse.preferences.version=1 |
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55
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Helper/MecanumDrive.java
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| package org.firstinspires.ftc.teamcode.Helper; | ||
| import com.qualcomm.robotcore.hardware.DcMotor; | ||
|
|
||
| public class MecanumDrive { | ||
|
|
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| DcMotor rightFront; | ||
| DcMotor leftFront; | ||
| DcMotor rightRear; | ||
| DcMotor leftRear; | ||
|
|
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| public MecanumDrive( | ||
| DcMotor rightFront, | ||
| DcMotor leftFront, | ||
| DcMotor rightRear, | ||
| DcMotor leftRear | ||
| ) { | ||
| this.rightFront = rightFront; | ||
| this.leftFront = leftFront; | ||
| this.rightRear = rightRear; | ||
| this.leftRear = leftRear; | ||
| } | ||
|
|
||
| public void drive( | ||
| double forward, | ||
| double strafe, | ||
| double rotate, | ||
| double scale | ||
| ) { | ||
| double leftFrontPower = forward + strafe - rotate; | ||
| double rightFrontPower = forward - strafe + rotate; | ||
| double leftRearPower = forward - strafe - rotate; | ||
| double rightRearPower = forward + strafe + rotate; | ||
|
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| double magnitude = Math.max(Math.max(Math.max( | ||
| Math.abs(leftFrontPower), | ||
| Math.abs(rightFrontPower)), | ||
| Math.abs(leftRearPower)), | ||
| Math.abs(rightRearPower) | ||
| ); | ||
|
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| if (magnitude > 1.0) { | ||
| leftFrontPower /= magnitude; | ||
| rightFrontPower /= magnitude; | ||
| leftRearPower /= magnitude; | ||
| rightRearPower /= magnitude; | ||
| } | ||
|
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| this.leftFront.setPower(scale * leftFrontPower); | ||
| this.rightFront.setPower(scale * rightFrontPower); | ||
| this.leftRear.setPower(scale * leftRearPower); | ||
| this.rightRear.setPower(scale * rightRearPower); | ||
|
|
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| } | ||
|
|
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| } |
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73
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpMode/MecanumDriveTest.java
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| package org.firstinspires.ftc.teamcode.OpMode; | ||
|
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| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.hardware.DcMotor; | ||
| import com.qualcomm.robotcore.hardware.DcMotorSimple; | ||
|
|
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| import org.firstinspires.ftc.teamcode.Helper.MecanumDrive; | ||
|
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| @TeleOp(name="MecanumDriveTest", group="Tests") | ||
| public class MecanumDriveTest extends LinearOpMode { | ||
|
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| public static final String rightFrontMotorName = "motorFR"; | ||
| public static final String leftFrontMotorName = "motorFL"; | ||
| public static final String rightRearMotorName = "motorBR"; | ||
| public static final String leftRearMotorName = "motorBL"; | ||
|
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| DcMotor rightFrontMotor, | ||
| leftFrontMotor, | ||
| rightRearMotor, | ||
| leftRearMotor; | ||
|
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| @Override | ||
| public void runOpMode() { | ||
|
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| initMotors(); | ||
| MecanumDrive mecanum = new MecanumDrive( | ||
| rightFrontMotor, | ||
| leftFrontMotor, | ||
| rightRearMotor, | ||
| leftRearMotor | ||
| ); | ||
|
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| waitForStart(); | ||
|
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| double forward, strafe, rotate, scale; // Drive variables | ||
|
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| while (opModeIsActive()) { | ||
|
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| forward = -gamepad1.left_stick_y; // Up is negative; we want up to be positive, so we *(-1) | ||
| strafe = gamepad1.left_stick_x; // Perfect child, no flip | ||
| rotate = -gamepad1.right_stick_x; // Positive is CCW; we want positive to be CW, so we *(-1) | ||
| scale = 0.8; | ||
|
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| mecanum.drive(forward, strafe, rotate, scale); | ||
|
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| telemetry.addData("forward", forward); | ||
| telemetry.addData("strafe", forward); | ||
| telemetry.addData("rotate", forward); | ||
| telemetry.update(); | ||
| } | ||
|
|
||
| } | ||
|
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| public void initMotors() { | ||
| rightFrontMotor = (DcMotor)hardwareMap.get(rightFrontMotorName); | ||
| leftFrontMotor = (DcMotor)hardwareMap.get(leftFrontMotorName); | ||
| rightRearMotor = (DcMotor)hardwareMap.get(rightRearMotorName); | ||
| leftRearMotor = (DcMotor)hardwareMap.get(leftRearMotorName); | ||
|
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| rightFrontMotor.setDirection(DcMotorSimple.Direction.FORWARD); | ||
| leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE); | ||
| rightRearMotor.setDirection(DcMotorSimple.Direction.FORWARD); | ||
| leftRearMotor.setDirection(DcMotorSimple.Direction.REVERSE); | ||
|
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| rightFrontMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); | ||
| leftFrontMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); | ||
| rightRearMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); | ||
| leftRearMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); | ||
|
|
||
|
|
||
| } | ||
| } |