Head

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

@@ -91,7 +91,7 @@ public class ConceptVuMarkIdentificationWebcam extends LinearOpMode {
         /*
          * Retrieve the camera we are to use.
          */
-        webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
+        webcamName = hardwareMap.get(WebcamName.class, "Webcam");
 
         /*
          * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
@@ -115,7 +115,7 @@ public class ConceptVuMarkIdentificationWebcam extends LinearOpMode {
          * Once you've obtained a license key, copy the string from the Vuforia web site
          * and paste it in to your code on the next line, between the double quotes.
          */
-        parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
+        parameters.vuforiaLicenseKey = "AZ7AcNj/////AAABmdKSAUs6jUbsp930wtIqmTIRxjvnBoJicMSGMSRBRbhQXiAWgOguLnfnmd4VY/dCrYjng3gsv1I5Ay+eqb/l35mf6A2IuMtk67j2418iymTvTLGolY0+WhbIGrOwoF8GEjnqqn0fGDSZQGJbrpIKvNvDyj87SiV7cqDvtpyKzU8IqmlPzxSq8S5+opn6ai7Rl3w6P/uDSIThMYNi9Eb/BelfNf/OjToOO5JXqx4muxjz8wJbGSIC++GYHjoPPn+oPSEvHEKaLMIy43JsTMC1lilc8XK2JBnUjQf+b7rmphbz8kMwI6Kr6rv/ubUkvwIor2lBKw7SPeGIawSWBoVdVncDgyUylbWBmh5RHIx1g2nX";
 
 
         /**

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

@@ -147,7 +147,7 @@ public class ConceptVuforiaNavigationWebcam extends LinearOpMode {
          * Once you've obtained a license key, copy the string from the Vuforia web site
          * and paste it in to your code on the next line, between the double quotes.
          */
-        parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
+        parameters.vuforiaLicenseKey = "Abhg0uD/////AAABmY26d2nlY0Hmptt0cQ/Ros4OL3zWSe0yB6zr8WuTqEvE/K9IgpgHArL+IxI5hb23LlUKkh5sx6XPbxX+Z6yg/jAIlHKYPrLqVgM8efHoio7dx5E8EfTyNmNaa83pY4beZ4MySDc3lB7CXjoScgP1+pVEujlo1nGp3nx61E3oVegAymgyZdfAtIjJgs8/OmeXKDXxOaYZcSN/ww99IkGFwSIA02mX8pdIUXr0DtCVKLsqq5v4sNoRsc4udSDr+Y+3eyDuMGCQDlHoiN5yPHyPiIBG1Urko8/Pnq1fl9VmBVg6l/pRJ2H6KfyNmFnt2ceoFIAFopWuV8Tc8VaSKC5n95PjYda6pOpbH8jQjMr/sEns";
 
         /**
          * We also indicate which camera on the RC we wish to use.

README.md

@@ -1,11 +1,13 @@
-## NOTICE
+# FTC-Skystone-2019-2020-Programming
 
-This repository contains the public FTC SDK for the SKYSTONE (2019-2020) competition season.  
+Welcome!
 
-Formerly this software project was hosted [here](https://github.com/ftctechnh/ftc_app).  Teams who are competing in the SKYSTONE Challenge should use this [new SKYSTONE repository](https://github.com/FIRST-Tech-Challenge/SKYSTONE) instead of the older (and no longer updated) ftc_app repository.
+This module, TeamCode, is the place where our team has wrote the code for our robot controller app for the FTC Rover Ruckus season.
+
+Programmers: Read the issue in the Issues tab. This is where you can assign different team members to do different things.
+
+Software Team: Ian Fernandes, Melissa Fusco, and Bella Gonzalez
 
-## Welcome!
-This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot.  To use this SDK, download/clone the entire project to your local computer.
 
 ## Getting Started
 If you are new to robotics or new to the *FIRST* Tech Challenge, then you should consider reviewing the [FTC Blocks Tutorial](https://github.com/FIRST-Tech-Challenge/SKYSTONE/wiki/Blocks-Tutorial) to get familiar with how to use the control system:  

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Cleopatra12820TeleOp.java

@@ -0,0 +1,177 @@
+/* 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.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.util.Range;
+
+
+/**
+ Tinoco's starting working code, I named the robot Cleopatra.
+ */
+
+@TeleOp(name="Basic: Linear OpMode for 1019-2020 Season", group="Linear Opmode")
+//@Disabled
+public class Cleopatra12820TeleOp extends LinearOpMode {
+
+
+    // public static final double INCREMENT=0.01;     // amount to slew servo each CYCLE_MS cycle
+    public static final int CYCLE_MS = 50;     // period of each cycle
+    public static final double MID_SERVO = 0.5;
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    double position = MID_SERVO;// Start at halfway position
+
+    DcMotor backMotorLeft = null;
+    DcMotor backMotorRight = null;
+    DcMotor frontMotorLeft = null;
+    DcMotor frontMotorRight = null;
+    DcMotor armElbow = null;
+    DcMotor armWrist = null;
+    Servo claw = null;
+    Servo gripperLeft=null;
+    Servo gripperRight=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).*/
+
+
+
+        backMotorLeft = hardwareMap.get(DcMotor.class, "backMotorLeft");
+        backMotorRight = hardwareMap.get(DcMotor.class, "backMotorRight");
+        frontMotorLeft = hardwareMap.get(DcMotor.class, "frontMotorLeft");
+        frontMotorRight = hardwareMap.get(DcMotor.class, "frontMotorRight");
+        armElbow = hardwareMap.get(DcMotor.class, "armElbow");
+        armWrist = hardwareMap.get(DcMotor.class, "armWrist");
+
+        claw = hardwareMap.get(Servo.class, "claw");
+        gripperLeft = hardwareMap.get(Servo.class, "gripperLeft");
+        gripperRight = hardwareMap.get(Servo.class, "gripperRight");
+
+
+
+
+        // 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
+        armElbow.setDirection(DcMotor.Direction.FORWARD);
+        armWrist.setDirection(DcMotor.Direction.REVERSE);
+
+        backMotorLeft.setDirection(DcMotor.Direction.FORWARD);
+        backMotorRight.setDirection(DcMotor.Direction.REVERSE);
+        frontMotorLeft.setDirection(DcMotor.Direction.REVERSE);     //I CHANGED THIS ONE ALSO
+        frontMotorRight.setDirection(DcMotor.Direction.FORWARD);   //THIS IS THE ONE I CHANGED
+
+        claw.setDirection(Servo.Direction.FORWARD);
+        gripperRight.setDirection(Servo.Direction.FORWARD);
+        gripperLeft.setDirection(Servo.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 Speed = -gamepad1.left_stick_y;
+            double Turn = gamepad1.left_stick_x;
+            double Strafe = gamepad1.right_stick_x;
+
+
+            //telemetry.addData("Right Servo position", intakeServoRight.getPosition());
+            //telemetry.update();
+
+/*
+      Front Left= +Speed + Turn - Strafe      Front Right= +Speed - Turn + Strafe
+      Back Left  = +Speed + Turn + Strafe      Back Right = +Speed - Turn - Strafe
+*/
+            double numFl = Range.clip((+Speed + Turn - Strafe), -1, +1);
+            double numBl = Range.clip((+Speed + Turn + Strafe), -1, 1);
+            double numFr = Range.clip((+Speed - Turn + Strafe), -1, +1);
+            double numBr = Range.clip((+Speed - Turn - Strafe), -1, 1);
+            double armElbowPower = Range.clip(0.5*gamepad2.left_stick_y, -1, 1);
+            double armWristPower = Range.clip(2 *gamepad2.right_stick_y, -1, 1);
+
+            armWrist.setPower(armWristPower);
+            armElbow.setPower(armElbowPower);
+            frontMotorLeft.setPower(numFl);
+            if (backMotorLeft != null)
+                backMotorLeft.setPower(numBl);
+
+            frontMotorRight.setPower(numFr);
+            if (backMotorRight != null)
+                backMotorRight.setPower(numBr);
+
+
+
+                //Use gamepad2 left & right Bumpers to open and close the claw
+                if (gamepad2.right_bumper) {
+                    claw.setPosition(-1);
+                } else if (gamepad2.left_bumper) {
+                    claw.setPosition(1);
+                }
+
+                if(gamepad2.x){
+                    gripperRight.setPosition(-1);
+                    gripperLeft.setPosition(-1);
+                }else if(gamepad2.y){
+                    gripperRight.setPosition(1);
+                    gripperLeft.setPosition(1);
+
+                }
+                sleep(CYCLE_MS);
+                idle();
+
+                // Show the elapsed game time and wheel power.
+                telemetry.addData("Status", "Run Time: " + runtime.toString());
+                //telemetry.addData("Motors", "left (%.2f), right (%.2f)", intakeLeftPower, intakeRightPower);
+                telemetry.update();
+            }
+        }
+    }
+

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

@@ -0,0 +1,151 @@
+/* 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.teamcode;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+/**
+ * This is NOT an opmode.
+ *
+ * This class can be used to define all the specific hardware for a single robot.
+ * In this case that robot is a Pushbot.
+ * See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples.
+ *
+ * This hardware class assumes the following device names have been configured on the robot:
+ * Note:  All names are lower case and some have single spaces between words.
+ *
+ * Motor channel:  Left  drive motor:        "left_drive"
+ * Motor channel:  Right drive motor:        "right_drive"
+ * Motor channel:  Manipulator drive motor:  "left_arm"
+ * Servo channel:  Servo to open left claw:  "left_hand"
+ * Servo channel:  Servo to open right claw: "right_hand"
+ */
+public class CleopatraHardware
+{
+    /* Public OpMode members. */
+    public DcMotor intakeMotorLeft=null;
+    public DcMotor intakeMotorRight=null;
+    public DcMotor backMotorLeft=null;
+    public DcMotor backMotorRight=null;
+    public DcMotor frontMotorLeft=null;
+    public DcMotor frontMotorRight=null;
+    public DcMotor armElbow=null;
+    public DcMotor armWrist=null;
+    public Servo intakeServoRight=null;
+    public Servo intakeServoLeft=null;
+    public Servo claw=null;
+    public Servo rotator=null;
+
+    public static final double MID_SERVO       =  0.5 ;
+    public static final double ARM_UP_POWER    =  0.45 ;
+    public static final double ARM_DOWN_POWER  = -0.45 ;
+    public static final double ELBOW_UP_POWER    =  0.45 ;
+    public static final double ELBOW_DOWN_POWER  = -0.45 ;
+
+    /* local OpMode members. */
+    HardwareMap hwMap           =  null;
+    private ElapsedTime period  = new ElapsedTime();
+
+    /* Constructor */
+    public CleopatraHardware(){
+
+    }
+
+    /* Initialize standard Hardware interfaces */
+    public void init(HardwareMap ahwMap) {
+        // Save reference to Hardware map
+        hwMap = ahwMap;
+
+        // Define and Initialize Motors
+        intakeMotorLeft  = hwMap.get(DcMotor.class, "intakeMotorLeft");
+        intakeMotorRight = hwMap.get(DcMotor.class, "intakeMotorRight");
+        backMotorLeft   = hwMap.get(DcMotor.class, "backMotorLeft");
+        backMotorRight = hwMap.get(DcMotor.class, "backMotorRight");
+        frontMotorLeft = hwMap.get(DcMotor.class, "frontMotorLeft");
+        frontMotorRight = hwMap.get(DcMotor.class, "frontMotorRight");
+        armElbow = hwMap.get(DcMotor.class,"armElbow");
+        armWrist = hwMap.get(DcMotor.class, "armWrist");
+        intakeServoRight = hwMap.get(Servo.class, "intakeServoRight");
+        intakeServoLeft = hwMap.get(Servo.class, "intakeServoLeft");
+        claw = hwMap.get(Servo.class, "claw");
+        rotator=hwMap.get(Servo.class, "rotator");
+
+
+        armElbow.setDirection(DcMotor.Direction.FORWARD);
+        armWrist.setDirection(DcMotor.Direction.REVERSE);
+        intakeMotorLeft.setDirection(DcMotor.Direction.REVERSE);
+        intakeMotorRight.setDirection(DcMotor.Direction.FORWARD);
+        backMotorLeft.setDirection(DcMotor.Direction.FORWARD);
+        backMotorRight.setDirection(DcMotor.Direction.REVERSE);
+        frontMotorLeft.setDirection(DcMotor.Direction.FORWARD);
+        frontMotorRight.setDirection(DcMotor.Direction.REVERSE);
+        claw.setDirection(Servo.Direction.FORWARD);
+        intakeServoRight.setDirection(Servo.Direction.FORWARD);
+        intakeServoLeft.setDirection(Servo.Direction.REVERSE);
+        rotator.setDirection(Servo.Direction.FORWARD);
+
+        // Set all motors to zero power
+
+        armElbow.setPower(0);
+        armWrist.setPower(0);
+        intakeMotorLeft.setPower(0);
+        intakeMotorRight.setPower(0);
+        backMotorLeft.setPower(0);
+        backMotorRight.setPower(0);
+        frontMotorLeft.setPower(0);
+        frontMotorRight.setPower(0);
+
+
+        // Set all motors to run without encoders.
+        // May want to use RUN_USING_ENCODERS if encoders are installed.
+        armElbow.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        armWrist.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        intakeMotorLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        intakeMotorRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        backMotorLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        backMotorRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        frontMotorLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        frontMotorRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        // Define and initialize ALL installed servos.
+        claw  = hwMap.get(Servo.class, "claw");
+        intakeServoLeft = hwMap.get(Servo.class, "intakeServoLeft");
+        intakeServoRight= hwMap.get(Servo.class, "intakeServoRight");
+        rotator=hwMap.get(Servo.class, "rotator");
+        claw.setPosition(MID_SERVO);
+        intakeServoLeft.setPosition(MID_SERVO);
+        intakeServoRight.setPosition(MID_SERVO);
+        rotator.setPosition(MID_SERVO);
+    }
+ }
+