FTC Legacy Module

[FTC 7037]

Our team is having problems with getting the legacy module to power the motors. We have checked all of the ports on the legacy module for problems and we have switched out the motors and the and the motor controllers. Using experimentation we have determined that we can read and write to the motor controller and we can read encoder values from the motor but we cannot set the motor power. Below is a copy of our test 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.TouchSensor;

public class testTeleop extends OpMode {
    DcMotor Test;
    DcMotorController.DeviceMode devMode;
    DcMotorController Testcontroller;
    TouchSensor touch;
    @Override
    public void init() {
        Test = hardwareMap.dcMotor.get("test");
        Test.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
        Testcontroller = hardwareMap.dcMotorController.get("testcon");
        Testcontroller.setMotorControllerDeviceMode(devMode.WRITE_ONLY);
        touch = hardwareMap.touchSensor.get("touchey");
    }
    @Override
    public void loop() {
        //Test.setPower(1.0);
        //Testcontroller.setMotorPower(2, 1.0);
        /*
        if(gamepad2.dpad_down){
            telemetry.addData("Controller mode", Testcontroller.getMotorChannelMode(2));
        }
        if(gamepad2.dpad_up){
            Testcontroller.setMotorChannelMode(2, DcMotorController.RunMode.RUN_TO_POSITION);
        }
        if(gamepad2.dpad_right){
            Testcontroller.setMotorControllerDeviceMode(devMode.READ_ONLY);
        }
        */
        //telemetry.addData("From motor", Test.getCurrentPosition());
        //telemetry.addData("From Controller", Testcontroller.getMotorCurrentPosition(2));

        if(gamepad2.dpad_up){
            Test.setPower(1.0);
            Testcontroller.setMotorPower(1, 1.0);
            Testcontroller.setMotorPower(2, 1.0);
            telemetry.addData("Going up?", "nope");
        }
        else if(gamepad2.dpad_down) {
            Test.setPower(-1.0);
            Testcontroller.setMotorPower(1, -1.0);
            Testcontroller.setMotorPower(2, -1.0);
            telemetry.addData("Going down?", "nope");
        }
        else{
            Test.setPower(0.0);
            Testcontroller.setMotorPower(1, 0.0);
            Testcontroller.setMotorPower(2, 0.0);
            telemetry.addData("Not moving?", "no problem");
        }

        if(touch.isPressed()){//For checking the ports on the legacy control module
            telemetry.addData("Touch sensor is ", "pressed");
        }
        else if(!touch.isPressed()){
            telemetry.addData("Touch sensor is ", "not pressed");
        }
        else{
            telemetry.addData("How the hell did a touch sensor pass a third value?", "I know right?");
        }
    }
}

Thanks in advance from Team 7037.

[tomy]

Refer to the NXTtelop Op mode. Here is a copy of it:

/* Copyright (c) 2014, 2015 Qualcomm Technologies Inc

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 Qualcomm Technologies Inc 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 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.util.Range;

/**
 * TeleOp Mode
 * <p>
 * Enables control of the robot via the gamepad
 */
public class NxtTeleOp extends OpMode {


  DcMotorController.DeviceMode devMode;
  DcMotorController wheelController;
  DcMotor motorRight;
  DcMotor motorLeft;


  int numOpLoops = 1;

  /*
   * Code to run when the op mode is first enabled goes here
   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#init()
   */
  @Override
  public void init() {
    motorRight = hardwareMap.dcMotor.get("motorRight");
    motorLeft = hardwareMap.dcMotor.get("motorLeft");

    wheelController = hardwareMap.dcMotorController.get("wheels");
  }

  /*
   * Code that runs repeatedly when the op mode is first enabled goes here
   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#init_loop()
   */
  @Override
  public void init_loop() {

    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.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
    motorRight.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);


  }

  /*
   * This method will be called repeatedly in a loop
   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
   */
  @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.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
        motorRight.setMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
      }
      if (gamepad1.dpad_right) {
        // Nxt devices start up in "write" mode by default, so no need to switch modes here.
        motorLeft.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
        motorRight.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
      }

      // tank drive
      // note that if y equal -1 then joystick is pushed all of the way forward.
      float left = -gamepad1.left_stick_y;
      float right = -gamepad1.right_stick_y;

      // clip the right/left values so that the values never exceed +/- 1
      right = Range.clip(right, -1, 1);
      left = Range.clip(left, -1, 1);

      // scale the joystick value to make it easier to control
      // the robot more precisely at slower speeds.
      right = (float)scaleInput(right);
      left =  (float)scaleInput(left);

      // write the values to the motors
      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(DcMotorController.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.getMode().toString());


      // Only needed on Nxt devices, but not on USB devices
      wheelController.setMotorControllerDeviceMode(DcMotorController.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);
  }

  double scaleInput(double dVal)  {
    double[] scaleArray = { 0.0, 0.05, 0.09, 0.10, 0.12, 0.15, 0.18, 0.24,
            0.30, 0.36, 0.43, 0.50, 0.60, 0.72, 0.85, 1.00, 1.00 };

    // get the corresponding index for the scaleInput array.
    int index = (int) (dVal * 16.0);

    // index should be positive.
    if (index < 0) {
      index = -index;
    }

    // index cannot exceed size of array minus 1.
    if (index > 16) {
      index = 16;
    }

    // get value from the array.
    double dScale = 0.0;
    if (dVal < 0) {
      dScale = -scaleArray[index];
    } else {
      dScale = scaleArray[index];
    }

    // return scaled value.
    return dScale;
  }
}

[FTC 7037]

I have looked though the NXTteleop opmode and also setup our robots config files to match the Requirements of the NXT opmode and run that on our robot. It didn't work :\.

[tomy]

Can you post your code? Also is there power to the legacy module? If the phone is plugged in the legacy module would have a light on it.

[FTC 7037]

I posted my code in the original question. Yes the legacy module is plugged in and getting power.

[tomy]

If you are using the Tetrix Motor controllers through the Legacy module your problem is you can't read from them. The Tetrix motors can only read or write they can't do both at the same time. The above example code has a loop that switches it from read and write mode. If you are trying to read data in write mode it will not allow you to. Are you getting errors on your phone?

[TheBaconator3]

I am aware of the Read/Write problems with the old tetrix controllers. The Read write setting is only happening if a specific button is pressed. I am not getting any errors in android studios or on the phones.

[tomy]

Are you using the new Modern Robotics electronics or the old Tetrix motor controllers?

[TheBaconator3]

We are using a mixture. We have are using the modern robotics servo controller but we don't have enough of the new motor controllers for all of our motors.

[tomy]

Have you tried redoing the config file on the phone?

Also you might want to move this topic to the FTC Forum they might be able to help more:

http://ftcforum.usfirst.org/forum.php

[TheBaconator3]

I have tried redoing the config on the phone.
I have also registered an account on the FTC forums and intend on taking up this line of inquiry when that account gets approved.