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Pole recognition! 🎉
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...rg/firstinspires/ftc/robotcontroller/external/samples/ConceptExploringIMUOrientation.java
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| /* | ||
| Copyright (c) 2022 REV Robotics, FIRST | ||
| All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without modification, | ||
| are permitted (subject to the limitations in the disclaimer below) provided that | ||
| the following conditions are met: | ||
| Redistributions of source code must retain the above copyright notice, this list | ||
| of conditions and the following disclaimer. | ||
| Redistributions in binary form must reproduce the above copyright notice, this | ||
| list of conditions and the following disclaimer in the documentation and/or | ||
| other materials provided with the distribution. | ||
| Neither the name of REV Robotics nor the names of its contributors may be used to | ||
| endorse or promote products derived from this software without specific prior | ||
| written permission. | ||
| NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS | ||
| LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, | ||
| THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE | ||
| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR | ||
| TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF | ||
| THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
|
|
||
| import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.hardware.IMU; | ||
|
|
||
| import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; | ||
|
|
||
| /** | ||
| * This file demonstrates the impact of setting the IMU orientation correctly or incorrectly. This | ||
| * code assumes there is an IMU configured with the name "imu". | ||
| * <p> | ||
| * Note: This OpMode is more of a tool than a code sample. The User Interface portion of this code | ||
| * goes beyond simply showing how to interface to the IMU.<br> | ||
| * For a minimal example of interfacing to an IMU, please see the SensorIMUOrthogonal or SensorIMUNonOrthogonal sample OpModes. | ||
| * <p> | ||
| * This sample enables you to re-specify the Hub Mounting orientation dynamically by using gamepad controls. | ||
| * While doing so, the sample will display how Pitch, Roll and Yaw angles change as the hub is moved. | ||
| * <p> | ||
| * The gamepad controls let you change the two parameters that specify how the Control/Expansion Hub is mounted. <br> | ||
| * The first parameter specifies which direction the printed logo on the Hub is pointing. <br> | ||
| * The second parameter specifies which direction the USB connector on the Hub is pointing. <br> | ||
| * All directions are relative to the robot, and left/right is as viewed from behind the robot. | ||
| * <p> | ||
| * How will you know if you have chosen the correct Orientation? With the correct orientation | ||
| * parameters selected, pitch/roll/yaw should act as follows: | ||
| * <p> | ||
| * Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br> | ||
| * Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br> | ||
| * Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br> | ||
| * <p> | ||
| * The Yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller) | ||
| * <p> | ||
| * The rotational velocities should follow the change in corresponding axes. | ||
| */ | ||
|
|
||
| @TeleOp(name="Concept: IMU Orientation", group="Concept") | ||
| @Disabled | ||
| public class ConceptExploringIMUOrientation extends LinearOpMode { | ||
| static RevHubOrientationOnRobot.LogoFacingDirection[] logoFacingDirections | ||
| = RevHubOrientationOnRobot.LogoFacingDirection.values(); | ||
| static RevHubOrientationOnRobot.UsbFacingDirection[] usbFacingDirections | ||
| = RevHubOrientationOnRobot.UsbFacingDirection.values(); | ||
| static int LAST_DIRECTION = logoFacingDirections.length - 1; | ||
| static float TRIGGER_THRESHOLD = 0.2f; | ||
|
|
||
| IMU imu; | ||
| int logoFacingDirectionPosition; | ||
| int usbFacingDirectionPosition; | ||
| boolean orientationIsValid = true; | ||
|
|
||
| @Override public void runOpMode() throws InterruptedException { | ||
| imu = hardwareMap.get(IMU.class, "imu"); | ||
| logoFacingDirectionPosition = 0; // Up | ||
| usbFacingDirectionPosition = 2; // Forward | ||
|
|
||
| updateOrientation(); | ||
|
|
||
| boolean justChangedLogoDirection = false; | ||
| boolean justChangedUsbDirection = false; | ||
|
|
||
| // Loop until stop requested | ||
| while (!isStopRequested()) { | ||
|
|
||
| // Check to see if Yaw reset is requested (Y button) | ||
| if (gamepad1.y) { | ||
| telemetry.addData("Yaw", "Resetting\n"); | ||
| imu.resetYaw(); | ||
| } else { | ||
| telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset.\n"); | ||
| } | ||
|
|
||
| // Check to see if new Logo Direction is requested | ||
| if (gamepad1.left_bumper || gamepad1.right_bumper) { | ||
| if (!justChangedLogoDirection) { | ||
| justChangedLogoDirection = true; | ||
| if (gamepad1.left_bumper) { | ||
| logoFacingDirectionPosition--; | ||
| if (logoFacingDirectionPosition < 0) { | ||
| logoFacingDirectionPosition = LAST_DIRECTION; | ||
| } | ||
| } else { | ||
| logoFacingDirectionPosition++; | ||
| if (logoFacingDirectionPosition > LAST_DIRECTION) { | ||
| logoFacingDirectionPosition = 0; | ||
| } | ||
| } | ||
| updateOrientation(); | ||
| } | ||
| } else { | ||
| justChangedLogoDirection = false; | ||
| } | ||
|
|
||
| // Check to see if new USB Direction is requested | ||
| if (gamepad1.left_trigger > TRIGGER_THRESHOLD || gamepad1.right_trigger > TRIGGER_THRESHOLD) { | ||
| if (!justChangedUsbDirection) { | ||
| justChangedUsbDirection = true; | ||
| if (gamepad1.left_trigger > TRIGGER_THRESHOLD) { | ||
| usbFacingDirectionPosition--; | ||
| if (usbFacingDirectionPosition < 0) { | ||
| usbFacingDirectionPosition = LAST_DIRECTION; | ||
| } | ||
| } else { | ||
| usbFacingDirectionPosition++; | ||
| if (usbFacingDirectionPosition > LAST_DIRECTION) { | ||
| usbFacingDirectionPosition = 0; | ||
| } | ||
| } | ||
| updateOrientation(); | ||
| } | ||
| } else { | ||
| justChangedUsbDirection = false; | ||
| } | ||
|
|
||
| // Display User instructions and IMU data | ||
| telemetry.addData("logo Direction (set with bumpers)", logoFacingDirections[logoFacingDirectionPosition]); | ||
| telemetry.addData("usb Direction (set with triggers)", usbFacingDirections[usbFacingDirectionPosition] + "\n"); | ||
|
|
||
| if (orientationIsValid) { | ||
| YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles(); | ||
| AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES); | ||
|
|
||
| telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES)); | ||
| telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES)); | ||
| telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES)); | ||
| telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate); | ||
| telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate); | ||
| telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate); | ||
| } else { | ||
| telemetry.addData("Error", "Selected orientation on robot is invalid"); | ||
| } | ||
|
|
||
| telemetry.update(); | ||
| } | ||
| } | ||
|
|
||
| // apply any requested orientation changes. | ||
| void updateOrientation() { | ||
| RevHubOrientationOnRobot.LogoFacingDirection logo = logoFacingDirections[logoFacingDirectionPosition]; | ||
| RevHubOrientationOnRobot.UsbFacingDirection usb = usbFacingDirections[usbFacingDirectionPosition]; | ||
| try { | ||
| RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logo, usb); | ||
| imu.initialize(new IMU.Parameters(orientationOnRobot)); | ||
| orientationIsValid = true; | ||
| } catch (IllegalArgumentException e) { | ||
| orientationIsValid = false; | ||
| } | ||
| } | ||
| } |
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