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

Class TrackingWheelForwardOffsetTuner

java.lang.Object
com.qualcomm.robotcore.eventloop.opmode.OpMode
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.opmode.TrackingWheelForwardOffsetTuner
@Autonomous(group="drive") public class TrackingWheelForwardOffsetTuner extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
This routine determines the effective forward offset for the lateral tracking wheel. The procedure executes a point turn at a given angle for a certain number of trials, along with a specified delay in milliseconds. The purpose of this is to track the change in the y position during the turn. The offset, or distance, of the lateral tracking wheel from the center or rotation allows the wheel to spin during a point turn, leading to an incorrect measurement for the y position. This creates an arc around around the center of rotation with an arc length of change in y and a radius equal to the forward offset. We can compute this offset by calculating (change in y position) / (change in heading) which returns the radius if the angle (change in heading) is in radians. This is based on the arc length formula of length = theta * radius.

To run this routine, simply adjust the desired angle and specify the number of trials and the desired delay. Then, run the procedure. Once it finishes, it will print the average of all the calculated forward offsets derived from the calculation. This calculated forward offset is then added onto the current forward offset to produce an overall estimate for the forward offset. You can run this procedure as many times as necessary until a satisfactory result is produced.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static double
    ANGLE
     
    static int
    DELAY
     
    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.
    static int
    NUM_TRIALS
     
    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
    TrackingWheelForwardOffsetTuner()
     

  • 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

    • ANGLE

      public static double ANGLE

    • NUM_TRIALS

      public static int NUM_TRIALS

    • DELAY

      public static int DELAY

    • 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

    • TrackingWheelForwardOffsetTuner

      public TrackingWheelForwardOffsetTuner()

  • 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()