/* Copyright (c) 2016 Robert Atkinson 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 Robert Atkinson nor the names of his 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 FITNESSFOR 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; 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.util.Range; import org.firstinspires.ftc.robotcontroller.external.samples.HardwarePushbot; /** * This file provides basic Telop driving for a Pushbot robot. * The code is structured as an Iterative OpMode * * This OpMode uses the common Pushbot hardware class to define the devices on the robot. * All device access is managed through the HardwarePushbot class. * * This particular OpMode executes a basic Tank Drive Teleop for a PushBot * It raises and lowers the claw using the Gampad Y and A buttons respectively. * It also opens and closes the claws slowly using the left and right Bumper buttons. * * 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="6417 Teleop", group="Pushbot") //@Disabled public class Teleop6417 extends OpMode{ /* Declare OpMode members. */ Hardware6417 robot = new Hardware6417(); // use the class created to define a Pushbot's hardware // could also use HardwarePushbotMatrix class. double clawOffset = 0.0 ; // Servo mid position final double CLAW_SPEED = 0.1 ; // sets rate to move servo boolean redTeam = true; /* * Code to run ONCE when the driver hits INIT */ @Override public void init() { /* Initialize the hardware variables. * The init() method of the hardware class does all the work here */ robot.init(hardwareMap); // Send telemetry message to signify robot waiting; telemetry.addData("Say", "Hello Driver"); // } /* * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY */ @Override public void init_loop() { // bPrevState and bCurrState represent the previous and current state of the button. boolean bPrevState = false; boolean bCurrState = false; // check the status of the x button on either gamepad. bCurrState = gamepad1.x; // check for button state transitions. if ((bCurrState == true) && (bCurrState != bPrevState)) { // button is transitioning to a pressed state. redTeam = !redTeam; } // update previous state variable. bPrevState = bCurrState; // Display the light level while we are waiting to start telemetry.addData("Status", "Ready to Start"); telemetry.update(); } /* * Code to run ONCE when the driver hits PLAY */ @Override public void start() { robot.leftHand.setPosition(robot.HAND_MIN); robot.rightHand.setPosition(robot.HAND_MAX); } /* * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP */ @Override public void loop() { double left; double right; // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it) left = -gamepad1.left_stick_y; right = -gamepad1.right_stick_y; robot.leftMotor.setPower(left); robot.rightMotor.setPower(right); // Use gamepad 1 right Trigger to move ball to launch area // Reverse to start, later forward /*if (gamepad1.right_trigger>0.1) { robot.holdServo.setPosition(robot.HOLD_MAX); // Serve ball robot.legMotor.setPower(robot.LEG_DOWN_POWER); } else robot.legMotor.setPower(0.0);*/ // Use gamepad 1 right Bumper accept a ball if (gamepad1.right_bumper) robot.holdServo.setPosition(robot.HOLD_MIN); // Accept ball else if(gamepad1.right_trigger>0.1) { // Use gamepad 1 right Trigger to move ball to launch area // Now move ball up robot.holdServo.setPosition(robot.HOLD_MAX); // Serve ball robot.legMotor.setPower(robot.LEG_UP_POWER); } else { robot.holdServo.setPosition(robot.HOLD_IDLE); // Hold ball robot.legMotor.setPower(0.0); // Use gamepad 1 buttons to launch ball } // Use gamepad 1 left Bumper and Trigger to control ball blocking servo if (gamepad1.left_bumper) robot.blockServo.setPosition(robot.BLOCK_OUT); // Push out ball else if (gamepad1.left_trigger>0.1) robot.blockServo.setPosition(robot.BLOCK_IN); // Suck in ball // Use gamepad 2 left and right Bumpers and Triggers to open and close the hands if (gamepad2.left_bumper) robot.leftHand.setPosition(robot.HAND_MAX); // Push left beacon button else if (gamepad2.left_trigger>0.1) robot.leftHand.setPosition(robot.HAND_MIN); // Withdraw left hand if (gamepad2.right_bumper) robot.rightHand.setPosition(robot.HAND_MIN); // Push right beacon button else if (gamepad2.right_trigger>0.1) robot.rightHand.setPosition(robot.HAND_MAX); // Withdrawn right hand /*// Use gamepad 2 for wheel locking servo if (gamepad2.y ) robot.lockServo.setPosition(robot.LOCK_MAX); // Lock on else if (gamepad2.a) robot.lockServo.setPosition(robot.LOCK_MIN); // Lock off*/ if(gamepad1.x){ redTeam = false; pressBeacon(); } else if (gamepad1.b){ redTeam = true; pressBeacon(); } if (gamepad1.y) robot.armMotor.setPower(robot.ARM_UP_POWER); //else if (gamepad1.a) // Only move launcher in one direction //robot.armMotor.setPower(robot.ARM_DOWN_POWER); else robot.armMotor.setPower(0.0); // Send telemetry message to signify robot running; //telemetry.addData("claw", "Offset = %.2f", clawOffset); telemetry.addData("left", "%.2f", left); telemetry.addData("right", "%.2f", right); telemetry.update(); } private void pressBeacon() { telemetry.clear(); telemetry.addData("Red ", robot.colorSensor.red()); telemetry.addData("Blue ", robot.colorSensor.blue()); telemetry.update(); int stillBlue = robot.colorSensor.blue() - robot.colorSensor.red(); //stillblue if + if(redTeam == (stillBlue > 0)){ robot.rightHand.setPosition(robot.HAND_MIN); } else if(stillBlue != 0){ robot.leftHand.setPosition(robot.HAND_MAX); } if(stillBlue != 0) { try { Thread.sleep(1000); } catch (InterruptedException e) { e.printStackTrace(); } } robot.leftHand.setPosition(robot.HAND_MIN); robot.rightHand.setPosition(robot.HAND_MAX); } /* * Code to run ONCE after the driver hits STOP */ @Override public void stop() { } }