Mecanum Drive
Summary Explanation:
1. The `MecanumDriveOpMode` class extends the `LinearOpMode` class, which is the base class for FTC OpModes that operate in a linear fashion.
2. The necessary imports and class variables are declared, including the motors (`frontLeftMotor`, `frontRightMotor`, `rearLeftMotor`, `rearRightMotor`), touch sensor (`touchSensor`), speed multiplier (`speedMultiplier`), and gamepad (`gamepad`).
3. The `runOpMode()` method is the main method that executes when the OpMode is run. It initializes the hardware, waits for the start command, and enters a loop to read gamepad inputs, calculate motor powers, apply motor powers, check the touch sensor state, and update telemetry.
4. The `initializeHardware()` method initializes the hardware components by getting references to the motors and touch sensor from the hardware map. It also sets the motor directions and assigns the gamepad.
5. The `readGamepadInputs()` method reads the gamepad inputs, including the drive, strafe, and rotate values from the left and right sticks. It also checks for the left trigger input to determine the speed multiplier and checks for the A button press to perform an automated turn.
6. The `performAutomatedTurn()` method is called when the A button is pressed. It sets the motor powers to perform the desired automated turn action, such as rotating left at full power.
7. The `calculateMotorPowers()` method calculates the motor powers based on the gamepad inputs and speed multiplier. It uses the mecanum drive equations to determine the individual motor powers for the desired movement.
8. The `setMotorPowers()` method sets the motor powers for all four motors.
9. The `applyMotorPowers()` method applies the motor powers by setting the power values for each motor.
10. The `checkTouchSensor()` method checks the state of the touch sensor. If the touch sensor is pressed, it performs a specific action, such as stopping the robot by setting all motor powers to zero.
11. The telemetry is updated to display the speed multiplier and touch sensor state during runtime.
---code---
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.TouchSensor;
import com.qualcomm.robotcore.util.Range;
import com.qualcomm.robotcore.hardware.Gamepad;
public class MecanumDriveOpMode extends LinearOpMode {
private DcMotor frontLeftMotor;
private DcMotor frontRightMotor;
private DcMotor rearLeftMotor;
private DcMotor rearRightMotor;
private TouchSensor touchSensor;
private double speedMultiplier = 0.5; // Initial speed multiplier
private Gamepad gamepad; // Single gamepad for control
@Override
public void runOpMode() {
initializeHardware();
waitForStart();
while (opModeIsActive()) {
readGamepadInputs();
calculateMotorPowers();
applyMotorPowers();
checkTouchSensor();
telemetry.addData("Speed Multiplier", speedMultiplier);
telemetry.addData("Touch Sensor State", touchSensor.isPressed());
telemetry.update();
}
}
private void initializeHardware() {
frontLeftMotor = hardwareMap.get(DcMotor.class, "front_left_motor");
frontRightMotor = hardwareMap.get(DcMotor.class, "front_right_motor");
rearLeftMotor = hardwareMap.get(DcMotor.class, "rear_left_motor");
rearRightMotor = hardwareMap.get(DcMotor.class, "rear_right_motor");
touchSensor = hardwareMap.get(TouchSensor.class, "touch_sensor");
frontLeftMotor.setDirection(DcMotor.Direction.REVERSE);
frontRightMotor.setDirection(DcMotor.Direction.FORWARD);
rearLeftMotor.setDirection(DcMotor.Direction.REVERSE);
rearRightMotor.setDirection(DcMotor.Direction.FORWARD);
gamepad = gamepad1;
}
private void readGamepadInputs() {
double drive = -gamepad.left_stick_y;
double strafe = gamepad.left_stick_x;
double rotate = gamepad.right_stick_x;
if (gamepad.left_trigger > 0) {
speedMultiplier = 0.5;
} else {
speedMultiplier = 1.0;
}
if (gamepad.a) {
performAutomatedTurn();
}
}
private void performAutomatedTurn() {
// Perform the desired automated turn action
// (e.g., rotate left at full power)
double fullPower = 1.0;
double turnPower = -fullPower;
double frontLeftPower = turnPower;
double frontRightPower = -turnPower;
double rearLeftPower = turnPower;
double rearRightPower = -turnPower;
setMotorPowers(frontLeftPower, frontRightPower, rearLeftPower, rearRightPower);
}
private void calculateMotorPowers() {
double drive = -gamepad.left_stick_y;
double strafe = gamepad.left_stick_x;
double rotate = gamepad.right_stick_x;
double frontLeftPower = Range.clip((drive + strafe + rotate) * speedMultiplier, -1.0, 1.0);
double frontRightPower = Range.clip((drive - strafe - rotate) * speedMultiplier, -1.0, 1.0);
double rearLeftPower = Range.clip((drive - strafe + rotate) * speedMultiplier, -1.0, 1.0);
double rearRightPower = Range.clip((drive + strafe - rotate) *speedMultiplier, -1.0, 1.0);
setMotorPowers(frontLeftPower, frontRightPower, rearLeftPower, rearRightPower);
}
private void setMotorPowers(double frontLeftPower, double frontRightPower, double rearLeftPower, double rearRightPower) {
frontLeftMotor.setPower(frontLeftPower);
frontRightMotor.setPower(frontRightPower);
rearLeftMotor.setPower(rearLeftPower);
rearRightMotor.setPower(rearRightPower);
}
private void applyMotorPowers() {
frontLeftMotor.setPower(frontLeftPower);
frontRightMotor.setPower(frontRightPower);
rearLeftMotor.setPower(rearLeftPower);
rearRightMotor.setPower(rearRightPower);
}
private void checkTouchSensor() {
if (touchSensor.isPressed()) {
// Action to perform when the touch sensor is pressed
// (e.g., stop the robot)
setMotorPowers(0.0, 0.0, 0.0, 0.0);
}
}
