Announcement

Collapse
No announcement yet.

Help! Strafing during teleop

Collapse
X
Collapse
 
  • Page of 1
  • Filter
  • Time
  • Show
Clear All
new posts
Previous template Next
  • #1

    Help! Strafing during teleop

    We are trying to strafe during teleop and it works its just not smooth or accurate. Our autonomous works great, it seems like during teleop its at half power and jerky. I am attaching our code, hardware first then our teleop.

    package org.firstinspires.ftc.teamcode;

    import com.qualcomm.robotcore.hardware.DcMotor;
    import com.qualcomm.robotcore.hardware.DcMotorEx;
    import com.qualcomm.robotcore.hardware.HardwareMap;
    import com.qualcomm.robotcore.hardware.Servo;
    import com.qualcomm.robotcore.util.ElapsedTime;


    public class HardwarePushbot
    {

    //Motors
    public DcMotor left1 = null;
    public DcMotor left2 = null;
    public DcMotor right1 = null;
    public DcMotor right2 = null;

    public DcMotor intake = null;
    public DcMotorEx shooter = null;
    public DcMotor lift = null;

    public Servo leftHand = null;
    public Servo rightHand = null;

    /* local OpMode members. */
    HardwareMap hwMap = null;
    private ElapsedTime period = new ElapsedTime();

    /* Constructor */
    public HardwarePushbot(){

    }

    /* Initialize standard Hardware interfaces */
    public void init(HardwareMap ahwMap) {
    // Save reference to Hardware map
    hwMap = ahwMap;

    // Define and Initialize Motors
    left1 = hwMap.get(DcMotor.class, "left1");
    left2 = hwMap.get(DcMotor.class, "left2");
    right1 = hwMap.get(DcMotor.class, "right1");
    right2 = hwMap.get(DcMotor.class, "right2");

    shooter = hwMap.get(DcMotorEx.class, "shooter");
    intake = hwMap.get(DcMotor.class, "intake");
    lift = hwMap.get(DcMotor.class, "lift");

    //Set motor direction

    left1.setDirection(DcMotor.Direction.REVERSE);
    left2.setDirection(DcMotor.Direction.REVERSE);

    right1.setDirection(DcMotor.Direction.FORWARD);
    right2.setDirection(DcMotor.Direction.FORWARD);

    intake.setDirection(DcMotor.Direction.REVERSE);
    shooter.setDirection(DcMotor.Direction.FORWARD);
    lift.setDirection(DcMotor.Direction.FORWARD);

    // Define and Initialize Servos

    leftHand = hwMap.get (Servo.class,"leftHand");
    rightHand = hwMap.get (Servo.class,"rightHand");

    // Set all motors to zero power

    left1.setPower(0);
    left2.setPower(0);
    right1.setPower(0);
    right2.setPower(0);
    intake.setPower(0);
    shooter.setPower(0);
    lift.setPower(0);

    // Set all motors to run without encoders.
    // May want to use RUN_USING_ENCODERS if encoders are installed.
    left1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER) ;
    left2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER) ;
    right1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER );
    right2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER );
    intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER );
    lift.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

    // set the drive motors to brake when zero power is applied

    left1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavi or.BRAKE);
    left2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavi or.BRAKE);
    right1.setZeroPowerBehavior(DcMotor.ZeroPowerBehav ior.BRAKE);
    right2.setZeroPowerBehavior(DcMotor.ZeroPowerBehav ior.BRAKE);

    //set the shooter motor to run using encoders to use velocity instead of motor power

    shooter.setMode(DcMotor.RunMode.RUN_USING_ENCODER) ;


    }
    }

    package org.firstinspires.ftc.teamcode;

    import com.qualcomm.robotcore.hardware.DcMotor;
    import com.qualcomm.robotcore.hardware.DcMotorEx;
    import com.qualcomm.robotcore.hardware.HardwareMap;
    import com.qualcomm.robotcore.hardware.Servo;
    import com.qualcomm.robotcore.util.ElapsedTime;


    public class HardwarePushbot
    {

    //Motors
    public DcMotor left1 = null;
    public DcMotor left2 = null;
    public DcMotor right1 = null;
    public DcMotor right2 = null;

    public DcMotor intake = null;
    public DcMotorEx shooter = null;
    public DcMotor lift = null;

    public Servo leftHand = null;
    public Servo rightHand = null;

    /* local OpMode members. */
    HardwareMap hwMap = null;
    private ElapsedTime period = new ElapsedTime();

    /* Constructor */
    public HardwarePushbot(){

    }

    /* Initialize standard Hardware interfaces */
    public void init(HardwareMap ahwMap) {
    // Save reference to Hardware map
    hwMap = ahwMap;

    // Define and Initialize Motors
    left1 = hwMap.get(DcMotor.class, "left1");
    left2 = hwMap.get(DcMotor.class, "left2");
    right1 = hwMap.get(DcMotor.class, "right1");
    right2 = hwMap.get(DcMotor.class, "right2");

    shooter = hwMap.get(DcMotorEx.class, "shooter");
    intake = hwMap.get(DcMotor.class, "intake");
    lift = hwMap.get(DcMotor.class, "lift");

    //Set motor direction

    left1.setDirection(DcMotor.Direction.REVERSE);
    left2.setDirection(DcMotor.Direction.REVERSE);

    right1.setDirection(DcMotor.Direction.FORWARD);
    right2.setDirection(DcMotor.Direction.FORWARD);

    intake.setDirection(DcMotor.Direction.REVERSE);
    shooter.setDirection(DcMotor.Direction.FORWARD);
    lift.setDirection(DcMotor.Direction.FORWARD);

    // Define and Initialize Servos

    leftHand = hwMap.get (Servo.class,"leftHand");
    rightHand = hwMap.get (Servo.class,"rightHand");

    // Set all motors to zero power

    left1.setPower(0);
    left2.setPower(0);
    right1.setPower(0);
    right2.setPower(0);
    intake.setPower(0);
    shooter.setPower(0);
    lift.setPower(0);

    // Set all motors to run without encoders.
    // May want to use RUN_USING_ENCODERS if encoders are installed.
    left1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER) ;
    left2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER) ;
    right1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER );
    right2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER );
    intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER );
    lift.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

    // set the drive motors to brake when zero power is applied

    left1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavi or.BRAKE);
    left2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavi or.BRAKE);
    right1.setZeroPowerBehavior(DcMotor.ZeroPowerBehav ior.BRAKE);
    right2.setZeroPowerBehavior(DcMotor.ZeroPowerBehav ior.BRAKE);

    //set the shooter motor to run using encoders to use velocity instead of motor power

    shooter.setMode(DcMotor.RunMode.RUN_USING_ENCODER) ;


    }
    }

    Here is our teleop:

    package org.firstinspires.ftc.teamcode;

    import com.qualcomm.robotcore.eventloop.opmode.Disabled;
    import com.qualcomm.robotcore.eventloop.opmode.OpMode;
    import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
    import com.qualcomm.robotcore.util.Range;


    @TeleOp(name="Bruh_Fast", group="Pushbot")

    public class Bruh_Fast extends OpMode{

    /* Declare OpMode members. */
    HardwarePushbot robot = new HardwarePushbot();
    @Override
    public void init() {

    robot.init(hardwareMap);

    telemetry.addData("Say", "Hello Driver");
    }

    @Override
    public void init_loop() {
    }
    @Override
    public void start() {
    }
    @Override
    public void loop() {
    double left;
    double right;
    double intake;
    double shooter;
    double lift;

    // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
    left = -gamepad1.left_stick_y * .8;
    right = -gamepad1.right_stick_y * .8;

    //intake is run using gamepad 2 left stick
    intake = -gamepad2.left_stick_y;

    robot.left1.setPower(left);
    robot.left2.setPower(left);
    robot.right1.setPower(right);
    robot.right2.setPower(right);
    robot.intake.setPower(intake);

    // Use gamepad 1 B to strafe right

    if (gamepad1.b)
    {robot.left1.setPower(.8);
    robot.left2.setPower(-.8);
    robot.right1.setPower(-.8);
    robot.right2.setPower(.8);}

    //use gamepad 1 x to strafe left

    if (gamepad1.x)
    {robot.left1.setPower(-.8);
    robot.left2.setPower(.8);
    robot.right1.setPower(.8);
    robot.right2.setPower(-.8); }


    //Gamepad 2 buttons y and a control the linear lift

    if (gamepad2.y)
    {robot.lift.setPower(.8);
    }

    else if (gamepad2.a)
    {robot.lift.setPower(-.8);
    }

    else
    {robot.lift.setPower(0);
    }

    //Gamepad 1 right bumper shoots at the high goal

    if(gamepad1.right_bumper)
    {robot.shooter.setPower(.7);}

    //Gamepad 1 left bumper shoots at the power shots

    else if (gamepad1.left_bumper)
    {robot.shooter.setPower(.65);}

    else
    {robot.shooter.setPower(0);}

    telemetry.addData("left", "%.2f", left);
    telemetry.addData("right", "%.2f", right);


    /* Servos */

    // Servo Hands Grab Wobble Goal

    // gamepad 2 b button closes both hands

    if(gamepad2.b){
    robot.leftHand.setPosition(.85);
    robot.rightHand.setPosition(.15);
    }
    //gamepad 2 button x opens both hands

    else if (gamepad2.x){
    robot.leftHand.setPosition(.2);
    robot.rightHand.setPosition(.8);}

    // gamepad 2 left bumper closes the left hand only

    if(gamepad2.left_bumper){
    robot.leftHand.setPosition(.85);}

    //gamepad 2 right bumper closes the right hand only

    if (gamepad2.right_bumper){
    robot.rightHand.setPosition(.15);}
    }

    /*
    * Code to run ONCE after the driver hits STOP
    */
    @Override
    public void stop() {
    }
    }
    Tags: None
  • #2
    loop -
    {
    Joysticks at home, turn off motors,
    gamepad.b true, turn on motors to strafe,
    }
    on, off, on, off, etc.

    Maybe put the joysticks in an if that when either strafe button is true, do not update the variables from the joysticks.

    Comment

    • #3
      3805Mentor What would that look like?

      Comment

      • #4

        if ( !gamepad1.b && !gamepad2.x) {
        left = -gamepad1.left_stick_y * .8;
        right = -gamepad1.right_stick_y * .8;
        robot.left1.setPower(left);
        robot.left2.setPower(left);
        robot.right1.setPower(right);
        robot.right2.setPower(right);
        }

        Comment

        Previous template Next
        Working...
        X

        We process personal data about users of our site, through the use of cookies and other technologies, to deliver our services, personalize advertising, and to analyze site activity. We may share certain information about our users with our advertising and analytics partners. For additional details, refer to our Privacy Policy.

        By clicking "I AGREE" below, you agree to our Privacy Policy and our personal data processing and cookie practices as described therein. You also acknowledge that this forum may be hosted outside your country and you consent to the collection, storage, and processing of your data in the country where this forum is hosted.

        I Agree