Package org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.opmode

Class LocalizationTest

java.lang.Object
com.qualcomm.robotcore.eventloop.opmode.OpMode
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.opmode.LocalizationTest
@TeleOp(group="drive") public class LocalizationTest extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
This is a simple teleop routine for testing localization. Drive the robot around like a normal teleop routine and make sure the robot's estimated pose matches the robot's actual pose (slight errors are not out of the ordinary, especially with sudden drive motions). The goal of this exercise is to ascertain whether the localizer has been configured properly (note: the pure encoder localizer heading may be significantly off if the track width has not been tuned).

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad1
     
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad2
     
    com.qualcomm.robotcore.hardware.HardwareMap
    hardwareMap
     
    static final int
    MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED
     
    int
    msStuckDetectStop
    Deprecated.
    org.firstinspires.ftc.robotcore.external.Telemetry
    telemetry
     

    Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

    msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, time

  • Constructor Summary

    Constructors
    Constructor
    Description
    LocalizationTest()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    requestOpModeStop()
     
    void
    runOpMode()
     

    Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

    idle, init, init_loop, isStarted, isStopRequested, loop, opModeInInit, opModeIsActive, sleep, start, stop, waitForStart

    Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

    getRuntime, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, resetRuntime, terminateOpModeNow, updateTelemetry

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED

      public static final int MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED
      See Also:

    • gamepad1

      public volatile com.qualcomm.robotcore.hardware.Gamepad gamepad1

    • gamepad2

      public volatile com.qualcomm.robotcore.hardware.Gamepad gamepad2

    • telemetry

      public org.firstinspires.ftc.robotcore.external.Telemetry telemetry

    • hardwareMap

      public volatile com.qualcomm.robotcore.hardware.HardwareMap hardwareMap

    • msStuckDetectStop

      @Deprecated public int msStuckDetectStop
      Deprecated.

  • Constructor Details

    • LocalizationTest

      public LocalizationTest()

  • Method Details

    • runOpMode

      public void runOpMode() throws InterruptedException
      Specified by:
      runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
      Throws:
      InterruptedException

    • requestOpModeStop

      public final void requestOpModeStop()