From 4ec31064d9cf155089bc0d821b835e739ee8b401 Mon Sep 17 00:00:00 2001 From: niktomic Date: Wed, 2 Oct 2024 20:58:28 -0400 Subject: [PATCH 1/3] nick --- .../teamcode/opmode/NickAndTrumanTeleOp.java | 4 ++++ .../teamcode/opmode/TrumanLearnsTeleOP.java | 19 +++++++++++++++---- build.gradle | 2 +- gradle.properties | 3 +++ gradle/wrapper/gradle-wrapper.properties | 2 +- 5 files changed, 24 insertions(+), 6 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java new file mode 100644 index 00000000..b926cba1 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java @@ -0,0 +1,4 @@ +package org.firstinspires.ftc.teamcode.opmode; + +public class NickAndTrumanTeleOp { +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java index 3e475774..a58b76e8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java @@ -18,6 +18,7 @@ public class TrumanLearnsTeleOP extends LinearOpMode { @Override public void runOpMode() throws InterruptedException { float ly; + float MaxSpeed= 0.8F; float lx; float rx; float ry; @@ -37,10 +38,20 @@ public void runOpMode() throws InterruptedException { rx=gamepad1.right_stick_x; ry=gamepad1.right_stick_y; - topLeftMotor.setPower(ly); - bottomLeftMotor.setPower(lx); - topRightMotor.setPower(rx); - bottomRightMotor.setPower(rx); + lx= (float) (lx*MaxSpeed); + if(gamepad1.left_bumper){ + MaxSpeed= (float) (MaxSpeed+0.1); + + } + if (gamepad1.right_bumper){ + MaxSpeed= (float) (MaxSpeed-0.1) + } + + topLeftMotor.setPower(lx); + bottomLeftMotor.setPower(lx); + topRightMotor.setPower(lx); + bottomRightMotor.setPower(lx); + } } } diff --git a/build.gradle b/build.gradle index 0d47563c..c6ce2ee1 100644 --- a/build.gradle +++ b/build.gradle @@ -11,7 +11,7 @@ buildscript { } dependencies { // Note for FTC Teams: Do not modify this yourself. - classpath 'com.android.tools.build:gradle:7.2.0' + classpath 'com.android.tools.build:gradle:8.6.1' classpath 'org.jetbrains.kotlin:kotlin-gradle-plugin:1.7.20' } } diff --git a/gradle.properties b/gradle.properties index 1d70af5a..43938558 100644 --- a/gradle.properties +++ b/gradle.properties @@ -11,3 +11,6 @@ org.gradle.caching=true # Allow Gradle to use up to 1 GB of RAM org.gradle.jvmargs=-Xmx1024M +android.defaults.buildfeatures.buildconfig=true +android.nonTransitiveRClass=false +android.nonFinalResIds=false diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index aa991fce..48c0a02c 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,5 +1,5 @@ distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-8.7-bin.zip zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists From 6f1f199ac6b200c11e5f10511c70a278016ee31c Mon Sep 17 00:00:00 2001 From: niktomic Date: Mon, 7 Oct 2024 20:46:50 -0400 Subject: [PATCH 2/3] dog servos work right, nickteleop added --- .../ftc/teamcode/drive/tuning/NickTeleOp.java | 63 +++++++++++++++++++ .../ftc/teamcode/opmode/LearningTeleOp.java | 51 ++++++++------- .../teamcode/opmode/TrumanLearnsTeleOP.java | 2 +- 3 files changed, 94 insertions(+), 22 deletions(-) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java new file mode 100644 index 00000000..0f6f6aba --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java @@ -0,0 +1,63 @@ +package org.firstinspires.ftc.teamcode.drive.tuning; + +import com.acmerobotics.dashboard.config.Config; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.CRServo; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorSimple; + +@Config +@TeleOp +public class NickTeleOp extends LinearOpMode { + + + private DcMotor leftFrontMotor; + private DcMotor rightFrontMotor; + private DcMotor leftBackMotor; + private DcMotor rightBackMotor; + private CRServo Grabber; + private CRServo tail; + + @Override + public void runOpMode() throws InterruptedException { + + leftFrontMotor = hardwareMap.get(DcMotor.class, "left_front_left_dw"); + rightFrontMotor = hardwareMap.get(DcMotor.class, "right_front"); + leftBackMotor = hardwareMap.get(DcMotor.class, "left_back"); + rightBackMotor = hardwareMap.get(DcMotor.class, "right_back_right_dw"); + Grabber = hardwareMap.get(CRServo.class, "Grabber"); + tail = hardwareMap.get(CRServo.class, "servo"); + + + waitForStart(); + while (opModeIsActive()) { + leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE); + leftBackMotor.setDirection(DcMotorSimple.Direction.REVERSE); + double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed! + double x = gamepad1.left_stick_x; + double rx = gamepad1.right_stick_x; + + leftFrontMotor.setPower(y + x + rx); + leftBackMotor.setPower(y - x + rx); + rightFrontMotor.setPower(y - x - rx); + rightBackMotor.setPower(y + x - rx); + + if (gamepad1.left_bumper) { + tail.setPower(1.0); + } else if (gamepad1.right_bumper) { + tail.setPower(-1.0); + } else { + tail.setPower(0.0); + + if (gamepad1.left_trigger > 0.5) { + Grabber.setPower(1.0); + } else if (gamepad1.right_trigger > 0.5) { + Grabber.setPower(-1.0); + } else { + Grabber.setPower(0.0); + } + } + } + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java index 865a4c59..086eef35 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java @@ -13,14 +13,12 @@ public class LearningTeleOp extends LinearOpMode { - - - private DcMotor leftFrontMotor; private DcMotor rightFrontMotor; private DcMotor leftBackMotor; private DcMotor rightBackMotor; private CRServo Grabber; + private CRServo tail; @Override public void runOpMode() throws InterruptedException { @@ -30,26 +28,37 @@ public void runOpMode() throws InterruptedException { leftBackMotor = hardwareMap.get(DcMotor.class, "left_back"); rightBackMotor = hardwareMap.get(DcMotor.class, "right_back_right_dw"); Grabber = hardwareMap.get(CRServo.class, "Grabber"); + tail = hardwareMap.get(CRServo.class, "servo"); + waitForStart(); - while(opModeIsActive()) { - leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE); - leftBackMotor.setDirection(DcMotorSimple.Direction.REVERSE); - double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed! - double x = gamepad1.left_stick_x; - double rx = gamepad1.right_stick_x; - - leftFrontMotor.setPower(y + x + rx); - leftBackMotor.setPower(y - x + rx); - rightFrontMotor.setPower(y - x - rx); - rightBackMotor.setPower(y + x - rx);} - if (gamepad1.left_bumper){ - Grabber.setPower(1.0);} - else if(gamepad1.right_bumper){ - Grabber.setPower(-1.0);} - else { - Grabber.setPower(0.0); + while (opModeIsActive()) { + leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE); + leftBackMotor.setDirection(DcMotorSimple.Direction.REVERSE); + double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed! + double x = gamepad1.left_stick_x; + double rx = gamepad1.right_stick_x; + + leftFrontMotor.setPower(y + x + rx); + leftBackMotor.setPower(y - x + rx); + rightFrontMotor.setPower(y - x - rx); + rightBackMotor.setPower(y + x - rx); + + if (gamepad1.left_bumper) { + tail.setPower(1.0); + } else if (gamepad1.right_bumper) { + tail.setPower(-1.0); + } else { + tail.setPower(0.0); + + if (gamepad1.left_trigger > 0.5) { + Grabber.setPower(1.0); + } else if (gamepad1.right_trigger > 0.5) { + Grabber.setPower(-1.0); + } else { + Grabber.setPower(0.0); + } } } } - +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java index a58b76e8..cca9f0e3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java @@ -44,7 +44,7 @@ public void runOpMode() throws InterruptedException { } if (gamepad1.right_bumper){ - MaxSpeed= (float) (MaxSpeed-0.1) + MaxSpeed= (float) (MaxSpeed-0.1); } topLeftMotor.setPower(lx); From 391987cc9c873272642fc5558d66d121b39d80fb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nick=20Tomic=20=F0=9F=A4=93?= Date: Wed, 9 Oct 2024 20:57:27 -0400 Subject: [PATCH 3/3] dog servos work right --- .../firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java | 3 +-- .../org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java | 1 + 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java index 0f6f6aba..b50e0640 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java @@ -12,7 +12,6 @@ public class NickTeleOp extends LinearOpMode { - private DcMotor leftFrontMotor; private DcMotor rightFrontMotor; private DcMotor leftBackMotor; private DcMotor rightBackMotor; @@ -22,7 +21,7 @@ public class NickTeleOp extends LinearOpMode { @Override public void runOpMode() throws InterruptedException { - leftFrontMotor = hardwareMap.get(DcMotor.class, "left_front_left_dw"); + DcMotor leftFrontMotor = hardwareMap.get(DcMotor.class, "left_front_left_dw"); rightFrontMotor = hardwareMap.get(DcMotor.class, "right_front"); leftBackMotor = hardwareMap.get(DcMotor.class, "left_back"); rightBackMotor = hardwareMap.get(DcMotor.class, "right_back_right_dw"); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java index 086eef35..1feb6215 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java @@ -57,6 +57,7 @@ public void runOpMode() throws InterruptedException { Grabber.setPower(-1.0); } else { Grabber.setPower(0.0); + } } }