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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <QCARConfig> | ||
| <Tracking> | ||
| <VuMark name="RelicRecovery" size="304.80000376701355 223.630235354" /> | ||
| </Tracking> | ||
| </QCARConfig> |
139 changes: 139 additions & 0 deletions
139
...in/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java
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| /* 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.robotcontroller.external.samples; | ||
|
|
||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.OpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.hardware.DcMotor; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
| import com.qualcomm.robotcore.util.Range; | ||
|
|
||
| /** | ||
| * This file contains an example of an iterative (Non-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 iterative 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="Basic: Iterative OpMode", group="Iterative Opmode") | ||
| @Disabled | ||
| public class BasicOpMode_Iterative extends OpMode | ||
| { | ||
| // Declare OpMode members. | ||
| private ElapsedTime runtime = new ElapsedTime(); | ||
| private DcMotor leftDrive = null; | ||
| private DcMotor rightDrive = null; | ||
|
|
||
| /* | ||
| * Code to run ONCE when the driver hits INIT | ||
| */ | ||
| @Override | ||
| public void init() { | ||
| telemetry.addData("Status", "Initialized"); | ||
|
|
||
| // 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). | ||
| leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); | ||
| rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); | ||
|
|
||
| // Most robots need the motor on one side to be reversed to drive forward | ||
| // Reverse the motor that runs backwards when connected directly to the battery | ||
| leftDrive.setDirection(DcMotor.Direction.FORWARD); | ||
| rightDrive.setDirection(DcMotor.Direction.REVERSE); | ||
|
|
||
| // Tell the driver that initialization is complete. | ||
| telemetry.addData("Status", "Initialized"); | ||
| } | ||
|
|
||
| /* | ||
| * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY | ||
| */ | ||
| @Override | ||
| public void init_loop() { | ||
| } | ||
|
|
||
| /* | ||
| * Code to run ONCE when the driver hits PLAY | ||
| */ | ||
| @Override | ||
| public void start() { | ||
| runtime.reset(); | ||
| } | ||
|
|
||
| /* | ||
| * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP | ||
| */ | ||
| @Override | ||
| public void loop() { | ||
| // Setup a variable for each drive wheel to save power level for telemetry | ||
| double leftPower; | ||
| double rightPower; | ||
|
|
||
| // Choose to drive using either Tank Mode, or POV Mode | ||
| // Comment out the method that's not used. The default below is POV. | ||
|
|
||
| // POV Mode uses left stick to go forward, and right stick to turn. | ||
| // - This uses basic math to combine motions and is easier to drive straight. | ||
| double drive = -gamepad1.left_stick_y; | ||
| double turn = gamepad1.right_stick_x; | ||
| leftPower = Range.clip(drive + turn, -1.0, 1.0) ; | ||
| rightPower = Range.clip(drive - turn, -1.0, 1.0) ; | ||
|
|
||
| // Tank Mode uses one stick to control each wheel. | ||
| // - This requires no math, but it is hard to drive forward slowly and keep straight. | ||
| // leftPower = -gamepad1.left_stick_y ; | ||
| // rightPower = -gamepad1.right_stick_y ; | ||
|
|
||
| // Send calculated power to wheels | ||
| leftDrive.setPower(leftPower); | ||
| rightDrive.setPower(rightPower); | ||
|
|
||
| // Show the elapsed game time and wheel power. | ||
| telemetry.addData("Status", "Run Time: " + runtime.toString()); | ||
| telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower); | ||
| } | ||
|
|
||
| /* | ||
| * Code to run ONCE after the driver hits STOP | ||
| */ | ||
| @Override | ||
| public void stop() { | ||
| } | ||
|
|
||
| } |
114 changes: 114 additions & 0 deletions
114
.../main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| /* 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.robotcontroller.external.samples; | ||
|
|
||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.hardware.DcMotor; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
| import com.qualcomm.robotcore.util.Range; | ||
|
|
||
|
|
||
| /** | ||
| * 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="Basic: Linear OpMode", group="Linear Opmode") | ||
| @Disabled | ||
| public class BasicOpMode_Linear extends LinearOpMode { | ||
|
|
||
| // Declare OpMode members. | ||
| private ElapsedTime runtime = new ElapsedTime(); | ||
| private DcMotor leftDrive = null; | ||
| private DcMotor rightDrive = 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). | ||
| leftDrive = hardwareMap.get(DcMotor.class, "left_drive"); | ||
| rightDrive = hardwareMap.get(DcMotor.class, "right_drive"); | ||
|
|
||
| // Most robots need the motor on one side to be reversed to drive forward | ||
| // Reverse the motor that runs backwards when connected directly to the battery | ||
| leftDrive.setDirection(DcMotor.Direction.FORWARD); | ||
| rightDrive.setDirection(DcMotor.Direction.REVERSE); | ||
|
|
||
| // Wait for the game to start (driver presses PLAY) | ||
| waitForStart(); | ||
| runtime.reset(); | ||
|
|
||
| // run until the end of the match (driver presses STOP) | ||
| while (opModeIsActive()) { | ||
|
|
||
| // Setup a variable for each drive wheel to save power level for telemetry | ||
| double leftPower; | ||
| double rightPower; | ||
|
|
||
| // Choose to drive using either Tank Mode, or POV Mode | ||
| // Comment out the method that's not used. The default below is POV. | ||
|
|
||
| // POV Mode uses left stick to go forward, and right stick to turn. | ||
| // - This uses basic math to combine motions and is easier to drive straight. | ||
| double drive = -gamepad1.left_stick_y; | ||
| double turn = gamepad1.right_stick_x; | ||
| leftPower = Range.clip(drive + turn, -1.0, 1.0) ; | ||
| rightPower = Range.clip(drive - turn, -1.0, 1.0) ; | ||
|
|
||
| // Tank Mode uses one stick to control each wheel. | ||
| // - This requires no math, but it is hard to drive forward slowly and keep straight. | ||
| // leftPower = -gamepad1.left_stick_y ; | ||
| // rightPower = -gamepad1.right_stick_y ; | ||
|
|
||
| // Send calculated power to wheels | ||
| leftDrive.setPower(leftPower); | ||
| rightDrive.setPower(rightPower); | ||
|
|
||
| // Show the elapsed game time and wheel power. | ||
| telemetry.addData("Status", "Run Time: " + runtime.toString()); | ||
| telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower); | ||
| telemetry.update(); | ||
| } | ||
| } | ||
| } |
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