Backlaunch.java

/* Copyright (c) 2023 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.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;


@Autonomous(name="backlaunch", group = "Linear OpMode", preselectTeleOp = "KirtlandComp")
public class Backlaunch extends LinearOpMode
{


    final  double launchspeed = .42;
    private DcMotor leftFrontDrive   = null;  //  Used to control the left front drive wheel
    private DcMotor rightFrontDrive  = null;  //  Used to control the right front drive wheel
    private DcMotor leftBackDrive    = null;  //  Used to control the left back drive wheel
    private DcMotor rightBackDrive   = null;  //  Used to control the right back drive wheel
    private DcMotorEx launcherRight = null;
    private DcMotorEx launcherLeft = null;
    private CRServo top_left = null;
    private CRServo top_right = null;



    @Override public void runOpMode()
    {

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must match the names assigned during the robot configuration.
        // step (using the FTC Robot Controller app on the phone).
        leftFrontDrive  = hardwareMap.get(DcMotor.class, "left_front_drive");
        leftBackDrive  = hardwareMap.get(DcMotor.class, "left_back_drive");
        rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
        rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");
        launcherRight  = hardwareMap.get(DcMotorEx.class, "launcher_right");
        launcherLeft  = hardwareMap.get(DcMotorEx.class, "launcher_left");
        top_left = hardwareMap.get(CRServo.class, "top_left");
        top_right = hardwareMap.get(CRServo.class, "top_right");

        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
        leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
        leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
        rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
        rightBackDrive.setDirection(DcMotor.Direction.FORWARD);


        // Configure launcher motors for velocity control using encoders
        launcherRight.setDirection(DcMotor.Direction.FORWARD);
        launcherRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        launcherRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        launcherRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        // to configure. set P = 0, then run and see if target ~= actual.  increase or decrease f
        // to get them to be close. Then set P = 5 to start and add as needed. P is what keeps it
        // at speed (after launching) and ramp up time.
        launcherRight.setVelocityPIDFCoefficients(.5,0.0,0.0,18.3);

        launcherLeft.setDirection(DcMotor.Direction.FORWARD);
        launcherLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        launcherLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        launcherLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        // may be configured differently based on internal resistance or weight or other factors.
        // fining this needs a bit less f
        launcherLeft.setVelocityPIDFCoefficients(.5,0.0,0.0,19.5);
        waitForStart();

        while (opModeIsActive())
        {

            launch();

            double strafe = 0;
            double drive = .25;
            double turn = 0;


            moveRobot(drive, strafe, turn);
            sleep(2000);
            break;
        }
    }

    /**
     * Move robot according to desired axes motions
     * <p>
     * Positive X is forward
     * <p>
     * Positive Y is strafe left
     * <p>
     * Positive Yaw is counter-clockwise
     */
    public void moveRobot(double x, double y, double yaw) {
        // Calculate wheel powers.
        double leftFrontPower    =  x -y -yaw;
        double rightFrontPower   =  x +y +yaw;
        double leftBackPower     =  x +y -yaw;
        double rightBackPower    =  x -y +yaw;

        // Normalize wheel powers to be less than 1.0
        double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
        max = Math.max(max, Math.abs(leftBackPower));
        max = Math.max(max, Math.abs(rightBackPower));

        if (max > 1.0) {
            leftFrontPower /= max;
            rightFrontPower /= max;
            leftBackPower /= max;
            rightBackPower /= max;
        }

        // Send powers to the wheels.
        leftFrontDrive.setPower(leftFrontPower);
        rightFrontDrive.setPower(rightFrontPower);
        leftBackDrive.setPower(leftBackPower);
        rightBackDrive.setPower(rightBackPower);
    }


    private void launch() {
        launcherRight.setVelocity(628);
        launcherLeft.setVelocity(-628);
        sleep(1000);
        top_left.setPower(-1);
        top_right.setPower(1);
        sleep(3000);
        top_left.setPower(0);
        top_right.setPower(0);
        sleep(500);
        top_left.setPower(-1);
        top_right.setPower(1);
        sleep(3000);
        top_left.setPower(0);
        top_right.setPower(0);
        sleep(500);
        top_left.setPower(-1);
        top_right.setPower(1);
        sleep(3000);
        launcherLeft.setPower(0);
        launcherRight.setPower(0);
    }
    /**
     * Initialize the AprilTag processor.
     */
}