autonright.java

/*
Copyright 2025 

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
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including without limitation the rights to use, copy, modify, merge, publish, distribute,
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furnished to do so, subject to the following conditions:

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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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*/
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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 contains a minimal example of a Linear "OpMode". An OpMode is a 'program' that runs
 * in either the autonomous or the TeleOp period of an FTC match. The names of OpModes appear on
 * the menu of the FTC Driver Station. When an selection is made from the menu, the corresponding
 * OpMode class is instantiated on the Robot Controller and executed.
 *
 * Remove the @Disabled annotation on the next line or two (if present) to add this OpMode to the
 * Driver Station OpMode list, or add a @Disabled annotation to prevent this OpMode from being
 * added to the Driver Station.
 */
@Autonomous

public class AutonRight extends LinearOpMode {
    private DcMotor frontleftDrive = null;
    private DcMotor backleftDrive = null;
    private DcMotor frontrightDrive = null;
    private DcMotor backrightDrive = null;
    
    Servo wrist = null;
    Servo claw = null;
    private DcMotor leftArm;  
    private DcMotor rightArm;
    
    IMU imu;
    
    double kp = 0.8;
    double ki = 0.5;
    double kd = 0.1;
    double integralSum = 0;
    double previousPropError = 0;
    private ElapsedTime runtime = new ElapsedTime();
    
    static final double HD_COUNTS_PER_REV = 28;
    static final double DRIVE_GEAR_REDUCTION = 12;
    static final double WHEEL_CIRCUMFERENCE_MM = 90 * Math.PI;
    static final double DRIVE_COUNTS_PER_MM = (HD_COUNTS_PER_REV * DRIVE_GEAR_REDUCTION) /  WHEEL_CIRCUMFERENCE_MM;
    static final double DRIVE_COUNTS_PER_IN = DRIVE_COUNTS_PER_MM * 25.4;

    @Override
    public void runOpMode() {
        //frontleftDrive = hardwareMap.get(DcMotor.class, "rearleft");
        //frontrightDrive = hardwareMap.get(DcMotor.class, "rearright");
        //backleftDrive = hardwareMap.get(DcMotor.class, "frontright");
        //backrightDrive = hardwareMap.get(DcMotor.class, "frontleft");

        frontrightDrive = hardwareMap.get(DcMotor.class, "frontright");
        frontleftDrive = hardwareMap.get(DcMotor.class, "frontleft");
        backrightDrive = hardwareMap.get(DcMotor.class, "rearright");
        backleftDrive = hardwareMap.get(DcMotor.class, "rearleft");
        
        wrist = hardwareMap.get(Servo.class, "servo2");
        claw = hardwareMap.get(Servo.class, "servo3");
        imu = hardwareMap.get(IMU.class, "imu");
 
        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;

        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);

        imu.initialize(new IMU.Parameters(orientationOnRobot));
       
        frontleftDrive.setDirection(DcMotor.Direction.FORWARD);
        frontrightDrive.setDirection(DcMotor.Direction.REVERSE);
        backleftDrive.setDirection(DcMotor.Direction.FORWARD);
        backrightDrive.setDirection(DcMotor.Direction.REVERSE);

        frontleftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        frontrightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        backleftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        backrightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        frontleftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        frontrightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        backleftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        backrightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        frontleftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        frontrightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        backleftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        backrightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        leftArm = hardwareMap.get(DcMotor.class, "motor3");
        rightArm = hardwareMap.get(DcMotor.class, "motor4");

        leftArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        rightArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        leftArm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        rightArm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        leftArm.setDirection(DcMotor.Direction.FORWARD);
        rightArm.setDirection(DcMotor.Direction.REVERSE);

        waitForStart();
        runtime.reset();
        imu.resetYaw();

        drive(60, 45, 0.2);
    }

    private void drive(double distance, double heading, double power) {
        int target = (int)(distance * DRIVE_COUNTS_PER_IN);

        frontleftDrive.setTargetPosition(target + frontleftDrive.getCurrentPosition());
        frontrightDrive.setTargetPosition(target + frontrightDrive.getCurrentPosition());
        backleftDrive.setTargetPosition(target + backleftDrive.getCurrentPosition());
        backrightDrive.setTargetPosition(target + backrightDrive.getCurrentPosition());
    
        frontleftDrive.setMode(DcMotorEx.RunMode.RUN_TO_POSITION);
        frontrightDrive.setMode(DcMotorEx.RunMode.RUN_TO_POSITION);
        backleftDrive.setMode(DcMotorEx.RunMode.RUN_TO_POSITION);
        backrightDrive.setMode(DcMotorEx.RunMode.RUN_TO_POSITION);
        
        frontleftDrive.setPower(power);
        frontrightDrive.setPower(power);
        backleftDrive.setPower(power);
        backrightDrive.setPower(power);
        
        while (opModeIsActive() || frontleftDrive.isBusy() || frontrightDrive.isBusy() || backleftDrive.isBusy() || backrightDrive.isBusy()){
            
            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
            double headingCorrection = PIDcontroller(heading, orientation.getYaw(AngleUnit.DEGREES));
            telemetry.addData("Current Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
            telemetry.addData("Target Heading ", heading);
            telemetry.addData("Position: ", frontleftDrive.getCurrentPosition());
            telemetry.addData("Target ", target);
            telemetry.addData("Inches ", distance);

            // Normalize speeds if either one exceeds +/- 1.0;
            double max = Math.max(Math.abs(power), Math.abs(headingCorrection));
            if (max > 1.0)
            {
                power /= max;
                headingCorrection /= max;
            }
        
            frontleftDrive.setPower((power + headingCorrection) * 0.3);
            frontrightDrive.setPower((power - headingCorrection) * 0.3);
            backleftDrive.setPower((power + headingCorrection) * 0.3);
            backrightDrive.setPower((power - headingCorrection) * 0.3);
            
            telemetry.addData("power: ", frontleftDrive.getPower());
            telemetry.addData("power: ", frontrightDrive.getPower()); 
            telemetry.addData("power: ", backleftDrive.getPower());
            telemetry.addData("power: ", backrightDrive.getPower());
            telemetry.update();
            
        }

    }
    
    public double PIDcontroller(double targetHeading, double currentHeading) {

        double propError = angleWrap(targetHeading - currentHeading);

        integralSum += propError * runtime.seconds();

        double derivativeError = (propError - previousPropError)/runtime.time();
        runtime.reset();

        previousPropError = propError;

        propError *= kp;
        integralSum *= ki;
        derivativeError *= kd;

        double output = propError + integralSum + derivativeError;
        
        telemetry.addData("error: ", output);

        return output;
    }
    

    public double angleWrap(double degrees) {

        while (degrees > 360) {
            degrees -= 360;
        }
        while (degrees <= -360) {
            degrees += 360;
        }
    
        return degrees;
    }

}