Package org.firstinspires.ftc.teamcode

Class Coyote

java.lang.Object
com.qualcomm.robotcore.eventloop.opmode.OpMode
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
org.firstinspires.ftc.teamcode.Coyote
public class Coyote extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
COYOTE - Control Of Your Own Trajectory Estimation

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    com.qualcomm.robotcore.hardware.DcMotorEx
    backLeft
     
    com.qualcomm.robotcore.hardware.DcMotorEx
    backRight
     
    com.qualcomm.robotcore.hardware.DcMotorEx
    deadLeft
     
    com.qualcomm.robotcore.hardware.DcMotorEx
    deadPerp
     
    com.qualcomm.robotcore.hardware.DcMotorEx
    deadRight
     
    com.qualcomm.robotcore.hardware.DcMotorEx
    frontLeft
     
    com.qualcomm.robotcore.hardware.DcMotorEx
    frontRight
     
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad1
     
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad2
     
    com.qualcomm.robotcore.hardware.HardwareMap
    hardwareMap
     
    com.qualcomm.robotcore.hardware.IMU
    imu
     
    double
    inPerTick
    Ins per Tick for your robots encoders.
    static final int
    MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED
     
    int
    msStuckDetectStop
    Deprecated.
    org.firstinspires.ftc.robotcore.external.Telemetry
    telemetry
     

    Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

    msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, time

  • Constructor Summary

    Constructors
    Constructor
    Description
    Coyote()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    protected double
    deceleration(boolean slow, double rotX, double rotY, double angleDiff)
     
    boolean
    driveToPointAsync(org.firstinspires.ftc.teamcode.Pose target, boolean slowDown)
    Starts sending the robot in the direction of the target.
    protected void
    Forward()
     
    protected void
    imuAngle()
     
    protected void
    initialize(org.firstinspires.ftc.teamcode.Pose inputPose)
    Initiliazes the robot.
    protected void
    motorsStop()
     
    double
    positiveWrap(double theta)
     
    final void
    requestOpModeStop()
     
    void
    runOpMode()
     
    void
    setPower(com.qualcomm.robotcore.hardware.DcMotor motor, double targetPower)
    Sets the desired motor to a certain power or a power closer to the motors current power to accelerate slower and prevent slippage.

    Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

    idle, init, init_loop, isStarted, isStopRequested, loop, opModeInInit, opModeIsActive, sleep, start, stop, waitForStart

    Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

    getRuntime, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, resetRuntime, terminateOpModeNow, updateTelemetry

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • inPerTick

      public double inPerTick
      Ins per Tick for your robots encoders.

    • frontLeft

      public com.qualcomm.robotcore.hardware.DcMotorEx frontLeft

    • backLeft

      public com.qualcomm.robotcore.hardware.DcMotorEx backLeft

    • frontRight

      public com.qualcomm.robotcore.hardware.DcMotorEx frontRight

    • backRight

      public com.qualcomm.robotcore.hardware.DcMotorEx backRight

    • imu

      public com.qualcomm.robotcore.hardware.IMU imu

    • deadPerp

      public com.qualcomm.robotcore.hardware.DcMotorEx deadPerp

    • deadLeft

      public com.qualcomm.robotcore.hardware.DcMotorEx deadLeft

    • deadRight

      public com.qualcomm.robotcore.hardware.DcMotorEx deadRight

    • MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED

      public static final int MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED
      See Also:

    • gamepad1

      public volatile com.qualcomm.robotcore.hardware.Gamepad gamepad1

    • gamepad2

      public volatile com.qualcomm.robotcore.hardware.Gamepad gamepad2

    • telemetry

      public org.firstinspires.ftc.robotcore.external.Telemetry telemetry

    • hardwareMap

      public volatile com.qualcomm.robotcore.hardware.HardwareMap hardwareMap

    • msStuckDetectStop

      @Deprecated public int msStuckDetectStop
      Deprecated.

  • Constructor Details

    • Coyote

      public Coyote()

  • Method Details

    • setPower

      public void setPower(com.qualcomm.robotcore.hardware.DcMotor motor, double targetPower)
      Sets the desired motor to a certain power or a power closer to the motors current power to accelerate slower and prevent slippage.
      Parameters:
      motor - the motor to set the power of.
      targetPower - the power to try and get the motor to.

    • driveToPointAsync

      public boolean driveToPointAsync(org.firstinspires.ftc.teamcode.Pose target, boolean slowDown)
      Starts sending the robot in the direction of the target.
      Parameters:
      target - Position for the robot to go to.
      slowDown - Whether the robot should slowdown.
      Returns:
      whether the robot has reached its destination

    • motorsStop

      protected void motorsStop()

    • deceleration

      protected double deceleration(boolean slow, double rotX, double rotY, double angleDiff)

    • positiveWrap

      public double positiveWrap(double theta)

    • initialize

      protected void initialize(org.firstinspires.ftc.teamcode.Pose inputPose)
      Initiliazes the robot.
      Parameters:
      inputPose - Starting position for the robot

    • imuAngle

      protected void imuAngle()

    • Forward

      protected void Forward()

    • runOpMode

      public void runOpMode()
      Specified by:
      runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

    • requestOpModeStop

      public final void requestOpModeStop()