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Starting point for Bumblebee

This commit is contained in:
Scott Barnes 2023-10-28 14:41:32 -05:00
parent 3a062d75aa
commit ed527be034
7 changed files with 191 additions and 3 deletions
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19
TeamCode/src/main/java/opmodes/MainTeleOp.java
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@ -1,5 +1,7 @@
package opmodes;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@ -12,6 +14,8 @@ public class MainTeleOp extends OpMode {
@Override
public void init() {
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
this.robot = new Robot(this.hardwareMap);
telemetry.addData("Status", "Initialized");
}
@ -22,6 +26,21 @@ public class MainTeleOp extends OpMode {
double y = -gamepad1.left_stick_y;
double z = gamepad1.right_stick_x;
// Set the drive input
this.robot.getDrive().setInput(x, y, z);
// Pickup
// this.robot.getClaw().close();
// this.robot.getClaw().open();
// this.robot.getClaw().up();
// this.robot.getClaw().down();
// Gantry
// this.robot.getGantry().up();
// this.robot.getGantry().down();
// this.robot.getGantry().armIn();
// this.robot.getGantry().armOut();
// this.robot.getGantry().intake();
// this.robot.getGantry().deposit();
}
}

46
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Claw.java Normal file
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@ -0,0 +1,46 @@
package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.CLAW_ARM_LEFT_NAME;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.PICKUP_ARM_MAX;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.PICKUP_ARM_MIN;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.CLAW_ARM_RIGHT_NAME;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.CLAW_MAX;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.CLAW_MIN;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.CLAW_NAME;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
public class Claw {
private final Servo claw;
private final Servo armLeft;
private final Servo armRight;
public Claw(HardwareMap hardwareMap) {
this.claw = hardwareMap.get(Servo.class, CLAW_NAME);
this.armLeft = hardwareMap.get(Servo.class, CLAW_ARM_LEFT_NAME);
this.armRight = hardwareMap.get(Servo.class, CLAW_ARM_RIGHT_NAME);
this.armRight.setDirection(Servo.Direction.REVERSE);
}
public void open() {
this.claw.setPosition(CLAW_MAX);
}
public void close() {
this.claw.setPosition(CLAW_MIN);
}
public void up() {
this.setArmPosition(PICKUP_ARM_MAX);
}
public void down() {
this.setArmPosition(PICKUP_ARM_MIN);
}
public void setArmPosition(double target) {
this.armLeft.setPosition(target);
this.armRight.setPosition(target);
}
}

52
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java Normal file
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@ -0,0 +1,52 @@
package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_ARM_MAX;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_ARM_MIN;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_ARM_NAME;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_SCREW_NAME;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_SCREW_POSITIONS;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_X_NAME;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import lombok.Getter;
public class Gantry extends Lift {
private final Servo xServo;
private final Servo armServo;
private final Servo screwServo;
private int currentScrewIndex = 0;
public Gantry(HardwareMap hardwareMap) {
super(hardwareMap);
this.xServo = hardwareMap.get(Servo.class, GANTRY_X_NAME);
this.armServo = hardwareMap.get(Servo.class, GANTRY_ARM_NAME);
this.screwServo = hardwareMap.get(Servo.class, GANTRY_SCREW_NAME);
}
public void setX(double x) {
this.xServo.setPosition(x);
}
public void armOut() {
this.armServo.setPosition(GANTRY_ARM_MAX);
}
public void armIn() {
this.armServo.setPosition(GANTRY_ARM_MIN);
}
public void resetScrew() {
this.currentScrewIndex = 0;
this.screwServo.setPosition(GANTRY_SCREW_POSITIONS[currentScrewIndex]);
}
public void intake() {
this.screwServo.setPosition(GANTRY_SCREW_POSITIONS[this.currentScrewIndex++]);
}
public void deposit() {
this.screwServo.setPosition(GANTRY_SCREW_POSITIONS[this.currentScrewIndex--]);
}
}

33
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Lift.java Normal file
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@ -0,0 +1,33 @@
package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.LIFT_MOTOR_NAME;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.LIFT_UP;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import lombok.Getter;
public class Lift {
protected final DcMotor lift;
protected Lift(HardwareMap hardwareMap) {
this.lift = hardwareMap.get(DcMotor.class, LIFT_MOTOR_NAME);
this.lift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
this.lift.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
public void up() {
this.lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
this.lift.setTargetPosition(LIFT_UP);
}
public void down() {
this.lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
this.lift.setTargetPosition(0);
}
public void setInput(double x) {
this.lift.setPower(x);
}
}

14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
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@ -2,18 +2,28 @@ package org.firstinspires.ftc.teamcode.hardware;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
import lombok.Getter;
public class Robot {
@Getter
private Drive drive;
private MecanumDrive drive;
@Getter
private Gantry gantry;
@Getter
private Claw claw;
public Robot(HardwareMap hardwareMap) {
this.init(hardwareMap);
}
private void init(HardwareMap hardwareMap) {
this.drive = new Drive(hardwareMap);
this.drive = new MecanumDrive(hardwareMap);
this.gantry = new Gantry(hardwareMap);
this.claw = new Claw(hardwareMap);
}
}

28
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConstants.java Normal file
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@ -0,0 +1,28 @@
package org.firstinspires.ftc.teamcode.hardware;
import com.acmerobotics.dashboard.config.Config;
@Config
public class RobotConstants {
public static final String LIFT_MOTOR_NAME = "lift";
public static final String CLAW_ARM_LEFT_NAME = "clawArmLeft";
public static final String CLAW_ARM_RIGHT_NAME = "clawArmRight";
public static final String CLAW_NAME = "claw";
public static final String GANTRY_X_NAME = "gantryX";
public static final String GANTRY_ARM_NAME = "gantryArm";
public static final String GANTRY_SCREW_NAME = "screw";
// Lift
public static int LIFT_UP = 100;
// Arm
public static double PICKUP_ARM_MIN = 0;
public static double PICKUP_ARM_MAX = 1;
public static double CLAW_MIN = 0;
public static double CLAW_MAX = 1;
// Gantry
public static double GANTRY_ARM_MIN = 0;
public static double GANTRY_ARM_MAX = 0;
public static double[] GANTRY_SCREW_POSITIONS = new double[] { 0, 0.1, 0.2, 1.0 };
}

2
build.dependencies.gradle
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@ -20,7 +20,7 @@ dependencies {
implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'com.acmerobotics.dashboard:dashboard:0.4.12'
implementation 'com.acmerobotics.dashboard:dashboard:0.4.13'
compileOnly 'org.projectlombok:lombok:1.18.30'
annotationProcessor 'org.projectlombok:lombok:1.18.30'