Merge pull request FIRST-Tech-Challenge#3 from aashrithbandaru/master

Update

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java

@@ -69,7 +69,7 @@ public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
  * and paste it in to your code on the next line, between the double quotes.
  */
  private static final String VUFORIA_KEY =
- " -- YOUR NEW VUFORIA KEY GOES HERE --- ";
+ "Acb+W7P/////AAABmQi/NsuJ7kjnr7uhGM4oRFVKne6Cb6AiWhmKA4Z/is1/Ecpi0VRxI+bAtTQDRFT42HMUbTNV7109rlTUAbJknxi51kWI0E2RDAPb2Ohc9NlA+qnhHX7Inwgy0Gft+sI7CX2vt0lbukqyvjt3MkwYKtmnHou/UXRkbjQmpl1g8MM62h6IYaZEL27hCsnEIvGzQEi+PgVVng8hPeomjQ7lJO8BOUgcWQR3RG5iwQor0lbwADBYJm3X/+ZnE+nC9ef4g42IrTZhdnHfIpisC8ZnTYmllB6WOBsOD0u4GyeiRyVPBtU+hlhzRRpsihr6yugms29vpMKDUsPu1czDeBN5U5OJZAalMo5ET1V1IS0PWioD";
 
  /**
  * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
@@ -170,4 +170,4 @@ private void initTfod() {
  tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
  tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
  }
-}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControl.java

@@ -21,12 +21,32 @@ public void runOpModeImpl() {
  while(true) {
  // Gamepad 1 controls:
 
+ if (gamepad2.a)
+ while (gamepad2.a) {
+ intake.setPower(1);
+ }
+ else{
+ intake.setPower(0);
+ }
+
+ if (gamepad2.x) {
+ intake.setPower(1);
+ }
+
+ if (gamepad2.y) {
+ intake.setPower(0);
+ }
+
+
+
  // Left trigger - to move left sideways
  strafeRight(-gamepad1.right_trigger, 0);
 
  // Right trigger - to move right sideways
  strafeLeft(-gamepad1.left_trigger, 0);
 
+ /*shooter.setPower(1);*/
+
  // Left stick y - to go forward or backward
  double drive = -gamepad1.left_stick_y;
 
@@ -37,31 +57,20 @@ public void runOpModeImpl() {
  double leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
  double rightPower = Range.clip(drive - turn, -1.0, 1.0) ;
 
- leftFront.setPower(leftPower*2);
- leftBack.setPower(leftPower*2);
- rightFront.setPower(rightPower*2);
- rightBack.setPower(rightPower*2);
+ leftFront.setPower(leftPower);
+ leftBack.setPower(leftPower);
+ rightFront.setPower(rightPower);
+ rightBack.setPower(rightPower);
+
+ // left bumper - to close claw (front servo)
+
 /*
  // Gamepad 2 Controls
 
  // Left stick y - to move arm up or down
  arm.setPower(-gamepad2.left_stick_y*0.66);
 
- // left bumper - to close claw (front servo)
- if (gamepad2.left_bumper) {
 
- //frontServo.setPosition(0.4);
- //sleep(100);
- frontServo.setPosition(0.4);
- telemetry.addData("front servo open", "clawposition: 0.4" );
- }
-
- // right bumper - to open claw (front servo)
- if (gamepad2.right_bumper) {
-
- frontServo.setPosition(0.0);
- telemetry.addData("front servo closed", "clawposition: 0.1" );
- }
 
  // a - arm target position
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControltest.java

@@ -0,0 +1,105 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.util.Range;
+
+@TeleOp(name="DriverControltest", group="Linear Opmode")
+public class DriverControltest extends Movement {
+ private ElapsedTime runtime = new ElapsedTime();
+
+
+ @Override
+ public void runOpModeImpl() {
+ // TODO Set up frontServo in movement
+
+ waitForStart();
+ runtime.reset();
+
+
+ while(opModeIsActive()) {
+ while(true) {
+ // Gamepad 1 controls:
+
+ /*
+ // Left trigger - to move left sideways
+ strafeRight(-gamepad1.right_trigger, 0);
+
+ // Right trigger - to move right sideways
+ strafeLeft(-gamepad1.left_trigger, 0);
+
+ shooter.setPower(1);
+
+
+
+
+ // Left stick y - to go forward or backward
+ double drive = -gamepad1.left_stick_y;
+
+ // Right stick x - to turn left or right
+ double turn = gamepad1.right_stick_x;
+
+
+ double leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
+
+
+ leftFront.setPower(leftPower);
+ leftBack.setPower(leftPower);
+ rightFront.setPower(rightPower); */
+ double leftPower = 1;
+ double rightPower = -gamepad1.left_stick_y;
+ rightBack.setPower(rightPower);
+/*
+ // Gamepad 2 Controls
+
+ // Left stick y - to move arm up or down
+ arm.setPower(-gamepad2.left_stick_y*0.66);
+
+ // left bumper - to close claw (front servo)
+ if (gamepad2.left_bumper) {
+
+ //frontServo.setPosition(0.4);
+ //sleep(100);
+ frontServo.setPosition(0.4);
+ telemetry.addData("front servo open", "clawposition: 0.4" );
+ }
+
+ // right bumper - to open claw (front servo)
+ if (gamepad2.right_bumper) {
+
+ frontServo.setPosition(0.0);
+ telemetry.addData("front servo closed", "clawposition: 0.1" );
+ }
+
+ // a - arm target position
+
+// if (gamepad2.a) {
+ // arm.setTargetPosition(1);
+ // arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+ // arm.setPower(0);
+ // sleep(100);
+ // }
+
+ // x - to move back servo down
+ if (gamepad2.x) {
+
+ leftConstruction.setPosition(0.35);
+ rightConstruction.setPosition(0.43);
+ telemetry.addData("back servos down", "servoposition: 0,0" );
+ }
+q
+ // y - to move back servo up
+ if (gamepad2.y) {
+ leftConstruction.setPosition(1);
+ rightConstruction. setPosition(1);
+ telemetry.addData("back servos up", "servoposition: 0.95" );
+ }
+*/
+ telemetry.addData("Status", "Run Time: " + runtime.toString());
+ telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
+ telemetry.update();
+ }
+ }
+
+ }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Forward.java

@@ -4,7 +4,7 @@
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 @Autonomous(name="Forward", group="Linear Opmode")
-//Disabled
+
 
 public class Forward extends Movement {
  private ElapsedTime runtime = new ElapsedTime();
@@ -15,36 +15,17 @@ public class Forward extends Movement {
  waitForStart();
  runtime.reset();
 
+ sleep(50);
 
+ goForward(1, 20);
+ /*sense*/
+ goForward(1, 20);
 
- strafeRight(0.5, 500);
-
- //drive backward
- goBackward(0.5, 1800);
-
-
-
- //stop motors
- stopWithSleep("motors stopped",300);
-
- //drive forward
- goForward(0.5,2250);
-
-
-
- //stop motors
- stopWithSleep("motors stopped",300);
-
- goForward(1,10);
-
-
- //strafe to the left (maybe park under the bridge)
- strafeLeft(1,2250);
 
  telemetry.addData("Status", "Stop Program");
  telemetry.update();
 
 
 
  }
-}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IntakeClass.java

@@ -0,0 +1,113 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+
+/**
+ This is an abstract class that handles 4 drive train motors.
+ */
+abstract class IntakeClass extends LinearOpMode
+{
+
+ protected DcMotor intake;
+
+ public void runOpMode() {
+ setupDriveMotors();
+ runOpModeImpl();
+ }
+
+ public abstract void runOpModeImpl();
+
+ protected void setupDriveMotors() {
+ // Initialize the motor references for all the wheels
+ // Initialize the hardware variables. Note that the strings used here as parameters
+
+ updateTelemetryMessage("Initializing Motors");
+ intake = hardwareMap.get(DcMotor.class, "intake");
+
+
+ // Most robots need the motor on one side to be reve`rsed to drive goBackward
+ // Reverse the motor that runs backwards when connected directly to the battery
+
+ intake.setDirection(DcMotor.Direction.FORWARD);
+
+
+ /* */
+
+ updateTelemetryMessage("Initialized Motors");
+/*
+ arm = hardwareMap.get(DcMotor.class, "Arm");
+arm.setDirection(DcMotor.Direction.FORWARD);qa
+
+
+ rightConstruction = hardwareMap.servo.get("rightConstruction");
+
+ */
+ }
+
+ public void stop(final String message) {
+ intake.setPower(0.0);
+
+
+ updateTelemetryMessage(message);
+ }
+
+ public void stopWithSleep(final String message, final long duration) {
+ stop(message);
+ sleep(duration);
+ }
+
+ public void stopWithSleep(final long duration) {
+ stop("Stopping");
+ sleep(duration);
+ }
+
+
+
+ protected void updateTelemetryMessage(String message) {
+ updateTelemetryMessage("Status", message);
+ }
+
+ protected void updateTelemetryMessage(String caption, String message) {
+ telemetry.addData("Status", message);
+ telemetry.update();
+ }
+
+
+
+ public void intake(final double intakepower, final int duration){
+ intake.setPower(intakepower);
+ sleep(duration);
+ }
+
+
+
+/*
+ public void armUp(final double armpower, final int duration) {
+ arm.setPower(armpower);
+ sleep(duration);
+
+ updateTelemetryMessage("Arm going up");
+ }
+
+ public void armDown(final double armpower, final int duration) {
+ armUp(-armpower, duration);
+ }
+
+ public void backServosDown() {
+ rightConstruction.setPosition(0.43);
+ leftConstruction.setPosition(0.35);
+
+ updateTelemetryMessage("Foundation Servos Down");
+ }
+
+ public void backServosUp() {
+ rightConstruction.setPosition(1);
+ leftConstruction.setPosition(1);
+
+ updateTelemetryMessage("Foundation Servos Up");
+ }
+*/
+}