public void rotatePB(double pow, int deg) throws InterruptedException {
double power = pow;
double angleTo = deg;
double error;
double inte = 0;
double inteNoE = 0;
double der;
double currentAngle = sensor.getGyroYaw();
double previousError = angleTo - currentAngle;
opMode.telemetry.addData("Current Angle", currentAngle + "");
opMode.telemetry.addData("Angle To", angleTo + "");
opMode.telemetry.update();
opMode.resetStartTime();
currentAngle = 0;
while (Math.abs(currentAngle) < Math.abs(angleTo) - 2) {
currentAngle = sensor.getGyroYaw();
error = Math.abs(angleTo) - Math.abs(currentAngle);
opMode.telemetry.addData("error", error);
power = (pow * (error) * .005) + .1; // update p values
inte = ((opMode.getRuntime()) * error * .0025); // update inte value
inteNoE = ((opMode.getRuntime()) * .05);
der = (error - previousError) / opMode.getRuntime() * 0; // update der value
power = power + inteNoE + der;
if (angleTo > 0) power *= -1;
Range.clip(power, -1, 1);
startMotors(-power, power);
opMode.telemetry.addData("PID", power);
// opMode.telemetry.addData("integral", inte);
opMode.telemetry.addData("integral without error", inteNoE);
opMode.telemetry.addData("angle", currentAngle);
opMode.telemetry.update();
previousError = error;
opMode.idle();
}
stopMotors();
opMode.telemetry.addData("finished", "done");
opMode.telemetry.update();
}
@Override
public void waitOneFullHardwareCycle() throws InterruptedException {
if (isAllianceColorSet())
telemetry.addData("alliance color", getAllianceColor().toString().toLowerCase());
robotController.loop();
super.waitOneFullHardwareCycle();
}
public void moveForwardToWall(double pow, int timeout) throws InterruptedException {
double angle = Math.abs(sensor.getGyroYaw());
double startAngle = angle;
double power = pow;
ElapsedTime time = new ElapsedTime();
time.startTime();
while (Math.abs(angle - startAngle) < 10 && time.milliseconds() < timeout) {
angle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.addData("LeftPower", motorBL.getPower());
opMode.telemetry.addData("RightPower", motorBR.getPower());
opMode.telemetry.update();
if (angle < startAngle - 1) {
startMotors((power * .75), power);
} else if (angle > startAngle + 1) {
startMotors(power, (power * .75));
} else {
startMotors(power, power);
}
opMode.idle();
}
stopMotors();
angleError = sensor.getGyroYaw();
opMode.telemetry.update();
}
public void moveFowardToLine(double ri, double le, int timeout) throws InterruptedException {
double angle;
double startAngle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.update();
setNullValue();
ElapsedTime time = new ElapsedTime();
time.startTime();
while (!sensor.isLeftLine() && time.milliseconds() < timeout) {
angle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.addData("LeftPower", motorBL.getPower());
opMode.telemetry.addData("RightPower", motorBR.getPower());
opMode.telemetry.update();
// if(angle < startAngle - 2) {
// startMotors((power * .75), power);
// } else if(angle > startAngle + 2) {
// startMotors(power, (power * .75));
// } else {
// startMotors(power, power);
// }
startMotors(ri, le);
opMode.idle();
}
stopMotors();
opMode.telemetry.update();
angleError = sensor.getGyroYaw();
}
public void rotatePZeroRev(double pow) throws InterruptedException {
double power = pow;
double angleTo = 0;
double error;
double inte = 0;
double inteNoE = 0;
double der;
double currentAngle = sensor.getGyroYaw();
double previousError = angleTo - currentAngle;
opMode.telemetry.addData("Current Angle", currentAngle + "");
opMode.telemetry.addData("Angle To", angleTo + "");
opMode.telemetry.update();
opMode.resetStartTime();
while (Math.abs(currentAngle) > 2) {
currentAngle = sensor.getGyroYaw();
error = Math.abs(Math.abs(angleTo) - Math.abs(currentAngle));
opMode.telemetry.addData("error", error);
power = (pow * (error) * .02) + .125; // update p values
inte = ((opMode.getRuntime()) * error * .0020); // update inte value
inteNoE = ((opMode.getRuntime()) * .075);
der = (error - previousError) / opMode.getRuntime() * 0; // update der value
power = power + inteNoE - der;
power *= 1; // -1 is right
Range.clip(power, -1, 1);
startMotors(-power, power);
opMode.telemetry.addData("PID", power);
// opMode.telemetry.addData("integral", inte);
opMode.telemetry.addData("integral without error", inteNoE);
opMode.telemetry.addData("angle", currentAngle);
opMode.telemetry.update();
previousError = error;
opMode.idle();
}
opMode.telemetry.update();
stopMotors();
}
public void moveForwardUntilZero(double pow, double timeout) throws InterruptedException {
double angle = sensor.getGyroYaw();
ElapsedTime time = new ElapsedTime();
time.startTime();
while (Math.abs(angle) > 2 && time.milliseconds() < timeout) {
startMotors(-.3, -.5);
opMode.telemetry.addData("current", "zeroout");
opMode.telemetry.update();
opMode.idle();
}
stopMotors();
}
public void moveForwardToWallEnc(double pow, int timeout) throws InterruptedException {
double angle = Math.abs(sensor.getGyroYaw());
double startAngle = angle;
double power = pow;
int tick = 1;
resetEncoders();
int startEncoder = Math.abs(motorFL.getCurrentPosition());
int endEncoder;
ElapsedTime time = new ElapsedTime();
time.startTime();
while (Math.abs(angle - startAngle) < 10 && time.milliseconds() < timeout) {
angle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.addData("LeftPower", motorBL.getPower());
opMode.telemetry.addData("RightPower", motorBR.getPower());
opMode.telemetry.update();
if (time.milliseconds() > 250 * tick) {
endEncoder = Math.abs(motorFL.getCurrentPosition());
if (startEncoder + 250 < endEncoder) {
break;
}
}
if (angle < startAngle - 1) {
startMotors((power * .75), power);
} else if (angle > startAngle + 1) {
startMotors(power, (power * .75));
} else {
startMotors(power, power);
}
opMode.idle();
}
stopMotors();
angleError = sensor.getGyroYaw();
opMode.telemetry.update();
}
public void resetEncoders() throws InterruptedException {
motorBL.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorBR.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorFR.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorFL.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorBL.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
motorBR.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
motorFR.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
motorFL.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
}
@Override
public void waitForStart() throws InterruptedException {
super.waitForStart();
this.loop();
}
public void moveBackward(double pow, int encoderVal, int timeout) throws InterruptedException {
// sensor.resetGyro();
double angle;
double startAngle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.update();
double error;
double power;
motorBL.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorBR.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorFR.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorFL.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
opMode.idle();
motorBL.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
motorBR.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
motorFR.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
motorFL.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
opMode.idle();
setNullValue();
nullValue = 0;
ElapsedTime time = new ElapsedTime();
time.startTime();
int currentEncoder = getEncoderAvg() - nullValue;
while (encoderVal > currentEncoder && time.milliseconds() < timeout) {
opMode.telemetry.update();
angle = Math.abs(sensor.getGyroYaw());
currentEncoder = getEncoderAvg() - nullValue;
error = (double) (encoderVal - currentEncoder) / encoderVal;
power = (pow * error) - .25;
Range.clip(power, -1, 1);
opMode.telemetry.addData("Power", power);
opMode.telemetry.addData("LeftPower", motorBL.getPower());
opMode.telemetry.addData("RightPower", motorBR.getPower());
opMode.telemetry.update();
if (angle < startAngle - 2) {
startMotors((power), (power * .75));
} else if (angle > startAngle + 2) {
startMotors((power * .75), (power));
} else {
startMotors(power, power);
}
startMotors(power, power);
opMode.idle();
}
stopMotors();
opMode.telemetry.update();
angleError = sensor.getGyroYaw();
}
