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修复 roadrunner 的软件包错误，顺便测试基于AndriodStudio的PullRequest #10

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merged 3 commits into from
Oct 20, 2024
Merged

修复 roadrunner 的软件包错误，顺便测试基于AndriodStudio的PullRequest #10

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f00ab22
settings.gradle 修复
6-BennyLi-9 Oct 20, 2024
08c7823
對 roadrunner 的錯誤進行修復，咋又變成繁體字了？？？
6-BennyLi-9 Oct 20, 2024
afdc852
Merge branch 'refs/heads/main' into ric-beta
6-BennyLi-9 Oct 20, 2024
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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/DriveCommandMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

import com.acmerobotics.roadrunner.PoseVelocity2dDual;
import com.acmerobotics.roadrunner.Time;
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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/MecanumCommandMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

public final class MecanumCommandMessage {
public long timestamp;
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2 changes: 1 addition & 1 deletion ...runnerCores/src/main/java/org/roadrunner/core/messages/MecanumLocalizerInputsMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;

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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/PoseMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

import com.acmerobotics.roadrunner.Pose2d;

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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankCommandMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

public final class TankCommandMessage {
public long timestamp;
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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/TankLocalizerInputsMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;

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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/ThreeDeadWheelInputsMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;

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2 changes: 1 addition & 1 deletion roadrunnerCores/src/main/java/org/roadrunner/core/messages/TwoDeadWheelInputsMessage.java
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package org.firstinspires.ftc.teamcode.roadrunner.messages;
package org.roadrunner.core.messages;

import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;

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8 changes: 4 additions & 4 deletions roadrunnerCores/src/main/java/org/roadrunner/core/tuning/LocalizationTest.java
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package org.firstinspires.ftc.teamcode.roadrunner.tuning;
package org.roadrunner.core.tuning;

import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
Expand All @@ -8,9 +8,9 @@
import com.acmerobotics.roadrunner.Vector2d;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.teamcode.roadrunner.Drawing;
import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
import org.roadrunner.core.Drawing;
import org.roadrunner.core.MecanumDrive;
import org.roadrunner.core.TankDrive;

public class LocalizationTest extends LinearOpMode {
@Override
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66 changes: 39 additions & 27 deletions roadrunnerCores/src/main/java/org/roadrunner/core/tuning/ManualFeedbackTuner.java
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@@ -1,31 +1,23 @@
package org.firstinspires.ftc.teamcode.roadrunner.tuning;
package org.roadrunner.core.tuning;

import androidx.annotation.NonNull;

import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
import org.roadrunner.core.MecanumDrive;
import org.roadrunner.core.TankDrive;
import org.roadrunner.core.ThreeDeadWheelLocalizer;
import org.roadrunner.core.TwoDeadWheelLocalizer;

public final class ManualFeedbackTuner extends LinearOpMode {
public static double DISTANCE = 64;

@Override
public void runOpMode() throws InterruptedException {
if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));

if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
MecanumDrive drive = getMecanumDrive();
waitForStart();

while (opModeIsActive()) {
Expand All @@ -36,17 +28,7 @@ public void runOpMode() throws InterruptedException {
.build());
}
} else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));

if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
TankDrive drive = getTankDrive();
waitForStart();

while (opModeIsActive()) {
Expand All @@ -60,4 +42,34 @@ public void runOpMode() throws InterruptedException {
throw new RuntimeException();
}
}

private @NonNull MecanumDrive getMecanumDrive() {
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));

if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
return drive;
}

private @NonNull TankDrive getTankDrive() {
TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));

if (drive.localizer instanceof TwoDeadWheelLocalizer) {
if (TwoDeadWheelLocalizer.PARAMS.perpXTicks == 0 && TwoDeadWheelLocalizer.PARAMS.parYTicks == 0) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
} else if (drive.localizer instanceof ThreeDeadWheelLocalizer) {
if (ThreeDeadWheelLocalizer.PARAMS.perpXTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par0YTicks == 0 && ThreeDeadWheelLocalizer.PARAMS.par1YTicks == 1) {
throw new RuntimeException("Odometry wheel locations not set! Run AngularRampLogger to tune them.");
}
}
return drive;
}
}
6 changes: 3 additions & 3 deletions roadrunnerCores/src/main/java/org/roadrunner/core/tuning/SplineTest.java
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@@ -1,12 +1,12 @@
package org.firstinspires.ftc.teamcode.roadrunner.tuning;
package org.roadrunner.core.tuning;

import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.Vector2d;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
import org.roadrunner.core.MecanumDrive;
import org.roadrunner.core.TankDrive;

public final class SplineTest extends LinearOpMode {
@Override
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10 changes: 5 additions & 5 deletions roadrunnerCores/src/main/java/org/roadrunner/core/tuning/TuningOpModes.java
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package org.firstinspires.ftc.teamcode.roadrunner.tuning;
package org.roadrunner.core.tuning;

import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.reflection.ReflectionConfig;
Expand All @@ -22,10 +22,10 @@
import com.qualcomm.robotcore.eventloop.opmode.OpModeRegistrar;

import org.firstinspires.ftc.robotcore.internal.opmode.OpModeMeta;
import org.firstinspires.ftc.teamcode.roadrunner.MecanumDrive;
import org.firstinspires.ftc.teamcode.roadrunner.TankDrive;
import org.firstinspires.ftc.teamcode.roadrunner.ThreeDeadWheelLocalizer;
import org.firstinspires.ftc.teamcode.roadrunner.TwoDeadWheelLocalizer;
import org.roadrunner.core.MecanumDrive;
import org.roadrunner.core.TankDrive;
import org.roadrunner.core.ThreeDeadWheelLocalizer;
import org.roadrunner.core.TwoDeadWheelLocalizer;

import java.util.ArrayList;
import java.util.Arrays;
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1 change: 1 addition & 0 deletions settings.gradle
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include ':FtcRobotController'
include ':TeamCode'
include ':roadrunnerCores'
include ':FtcTeamCodeSample'
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