Hello all,
Mentor of a rookie team (moving up from 4 years in FLL), and we're kind of stuck.
Our new electronics arrived a couple of days ago, but we had been working on the Android Studio/ZTE phone part for about a month (thanks to all, especially Philbot). The kids built a test platform yesterday, in the legacy configuration with a Matrix motor/servo controller, and the 9.6v battery.
Minor bugs along the way, but managed to edit/download/deploy some code that appears to function on the Driver/Robot station, except they get no response from the motors.
- Everything is powered on, all modules that have lights are lit, and everything appears to be powered on.
- Telemetry shows on both phones, and they see X/Y movement when they move the joysticks.
- Powerpole connections have been tested with a multi-meter to ensure there is power.
In short, everything appears to working, except there is no response from the motors. As bad code tends to throw some kind of error code, I'm leaning toward the Legacy Module not "talking" to the Matrix controller, but as this is our first real shot with the new tech, I could be, and likely am, totally off base. LOL
Any help suggestions are really appreciated as the Captain (our son) is kind of stuck.
For reference (and in hopes someone can take a look), the modified code they are using is below.
While we'd rather figure out what we're doing wrong (for learning purposes), we'd also be interested in seeing anyone's code that actually runs in the Legacy/Matrix configuration.
Thanks, and here's the code:
package com.qualcomm.ftcrobotcontroller.opmodes;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
// import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
/**
* TeleOp Mode
* <p>
* Enables control of the robot via the gamepad
*/
public class RedfishTeleOp extends OpMode {
// position of the claw servo
// double clawPosition;
// amount to change the claw servo position by
// double clawDelta = 0.01;
// position of the wrist servo
// double wristPosition;
// amount to change the wrist servo position by
// double wristDelta = 0.01;
DcMotorController.DeviceMode devMode;
DcMotorController wheelController;
DcMotor motorRight;
DcMotor motorLeft;
// Servo claw;
// Servo wrist;
int numOpLoops = 1;
/*
* Code to run when the op mode is first enabled goes here
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#sta rt()
*/
@Override
public void init() {
motorRight = hardwareMap.dcMotor.get("motor_2");
motorLeft = hardwareMap.dcMotor.get("motor_1");
// claw = hardwareMap.servo.get("servo_6"); // channel 6
// wrist = hardwareMap.servo.get("servo_1"); // channel 1
wheelController = hardwareMap.dcMotorController.get("wheels");
devMode = DcMotorController.DeviceMode.WRITE_ONLY;
motorRight.setDirection(DcMotor.Direction.REVERSE) ;
//motorLeft.setDirection(DcMotor.Direction.REVERSE);
// set the mode
// Nxt devices start up in "write" mode by default, so no need to switch device modes here.
motorLeft.setChannelMode(DcMotorController.RunMode .RUN_WITHOUT_ENCODERS);
motorRight.setChannelMode(DcMotorController.RunMod e.RUN_WITHOUT_ENCODERS);
// wristPosition = 0.6;
// clawPosition = 0.5;
}
/*
* This method will be called repeatedly in a loop
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loo p()
*/
@Override
public void loop() {
// The op mode should only use "write" methods (setPower, setChannelMode, etc) while in
// WRITE_ONLY mode or SWITCHING_TO_WRITE_MODE
if (allowedToWrite()) {
/*
* Gamepad 1
*
* Gamepad 1 controls the motors via the left stick, and it controls the wrist/claw via the a,b,
* x, y buttons
*/
if (gamepad1.dpad_left) {
// Nxt devices start up in "write" mode by default, so no need to switch modes here.
motorLeft.setChannelMode(DcMotorController.RunMode .RUN_WITHOUT_ENCODERS);
motorRight.setChannelMode(DcMotorController.RunMod e.RUN_WITHOUT_ENCODERS);
}
if (gamepad1.dpad_right) {
// Nxt devices start up in "write" mode by default, so no need to switch modes here.
motorLeft.setChannelMode(DcMotorController.RunMode .RUN_USING_ENCODERS);
motorRight.setChannelMode(DcMotorController.RunMod e.RUN_USING_ENCODERS);
}
// throttle: left_stick_y ranges from -1 to 1, where -1 is full up, and 1 is full down
// direction: left_stick_x ranges from -1 to 1, where -1 is full left and 1 is full right
float throttlel = -gamepad1.left_stick_y;
float directionl = gamepad1.left_stick_x;
float left = throttlel - directionl;
// throttle: left_stick_y ranges from -1 to 1, where -1 is full up, and 1 is full down
// direction: left_stick_x ranges from -1 to 1, where -1 is full left and 1 is full right
float throttler = -gamepad1.right_stick_y;
float directionr = gamepad1.right_stick_x;
float right = throttler + directionr;
// clip the right/left values so that the values never exceed +/- 1
right = Range.clip(right, -1, 1);
left = Range.clip(left, -1, 1);
// write the values to the motors
motorRight.setPower(right);
motorLeft.setPower(left);
/*
* Gamepad 2
*
* Gamepad controls the motors via the right trigger as a throttle, left trigger as reverse, and
* the left stick for direction. This type of control is sometimes referred to as race car mode.
*/
// we only want to process gamepad2 if someone is using one of it's analog inputs. If you always
// want to process gamepad2, remove this check
if (gamepad2.atRest() == false) {
// throttle is taken directly from the right trigger, the right trigger ranges in values from
// 0 to 1
throttler = gamepad2.right_trigger;
// if the left trigger is pressed, go in reverse
if (gamepad2.left_trigger != 0.0) {
throttlel = -gamepad2.left_trigger;
}
// assign throttle to the left and right motors
right = throttler;
left = throttlel;
// now we need to apply steering (direction). The left stick ranges from -1 to 1. If it is
// negative we want to slow down the left motor. If it is positive we want to slow down the
// right motor.
if (gamepad2.left_stick_x < 0) {
// negative value, stick is pulled to the left
left = left * (1 + gamepad2.left_stick_x);
}
if (gamepad2.left_stick_x > 0) {
// positive value, stick is pulled to the right
right = right * (1 - gamepad2.left_stick_x);
}
// write the values to the motor. This will over write any values placed while processing gamepad1
motorRight.setPower(right);
motorLeft.setPower(left);
}
}
// To read any values from the NXT controllers, we need to switch into READ_ONLY mode.
// It takes time for the hardware to switch, so you can't switch modes within one loop of the
// op mode. Every 17th loop, this op mode switches to READ_ONLY mode, and gets the current power.
if (numOpLoops % 17 == 0){
// Note: If you are using the NxtDcMotorController, you need to switch into "read" mode
// before doing a read, and into "write" mode before doing a write. This is because
// the NxtDcMotorController is on the I2C interface, and can only do one at a time. If you are
// using the USBDcMotorController, there is no need to switch, because USB can handle reads
// and writes without changing modes. The NxtDcMotorControllers start up in "write" mode.
// This method does nothing on USB devices, but is needed on Nxt devices.
wheelController.setMotorControllerDeviceMode(DcMot orController.DeviceMode.READ_ONLY);
}
// Every 17 loops, switch to read mode so we can read data from the NXT device.
// Only necessary on NXT devices.
if (wheelController.getMotorControllerDeviceMode() == DcMotorController.DeviceMode.READ_ONLY) {
// Update the reads after some loops, when the command has successfully propagated through.
telemetry.addData("Text", "free flow text");
telemetry.addData("left motor", motorLeft.getPower());
telemetry.addData("right motor", motorRight.getPower());
telemetry.addData("RunMode: ", motorLeft.getChannelMode().toString());
// Only needed on Nxt devices, but not on USB devices
wheelController.setMotorControllerDeviceMode(DcMot orController.DeviceMode.WRITE_ONLY);
// Reset the loop
numOpLoops = 0;
}
// Update the current devMode
devMode = wheelController.getMotorControllerDeviceMode();
numOpLoops++;
}
// If the device is in either of these two modes, the op mode is allowed to write to the HW.
private boolean allowedToWrite(){
return (devMode == DcMotorController.DeviceMode.WRITE_ONLY);
}
}