Package com.crossbotics.ftchelper.finders

Class FlywheelFinderOpMode

java.lang.Object
com.qualcomm.robotcore.eventloop.opmode.OpMode
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
com.crossbotics.ftchelper.finders.FinderOpMode
com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
public abstract class FlywheelFinderOpMode extends FinderOpMode
Finds a flywheel's speed-control numbers. Step 1 measures the top speed at full power and works out starting gains from it. Step 2 holds a speed you choose, so you can fine-tune the main gain (F), feed a piece by hand, and see how fast the wheel gets back to speed after a shot. No code to write: it lists every motor in the robot configuration.

It shows the code for Flywheel and, for the robot in five files, the line for Tunables.java: Tunables.Launcher: kP = 1.17, kI = 0.117, kD = 0, kF = 11.70. 

 Choose:  D-pad up/down = motor, A = use it
 Step 1:  hold A = full power (at most 5 s). Release when the speed stops rising.
 Step 2:  B = hold a speed on/off. D-pad up/down = +/- 100 RPM, right/left = +/- 25 RPM.
          RB / LB = F gain +2% / -2%. Feed a piece by hand: it shows the recovery time.
          X = the wheel spins the wrong way: reverse it (for both steps; adds .reversed())
          BACK = choose another motor
 Help: GUIDE (or hold START 1 s) = a help page with every button; everything pauses.
KEEP HANDS AND LOOSE CLOTHING AWAY from the wheel; wear eye protection. In your TeamCode: @TeleOp(name = "Flywheel Finder", group = "Finders") public class FlywheelFinder extends FlywheelFinderOpMode { }. If the encoder is not on the motor's own shaft at 28 counts per turn, override countsPerRev(). Docs: docs/modules/finders.md. Guide: docs/guides/finders.md

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad1
     
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad2
     
    com.qualcomm.robotcore.hardware.HardwareMap
    hardwareMap
     
    static final double
    MAX_TOP_SPEED_SEC
    The longest full-power run in step 1, seconds.
    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.crossbotics.ftchelper.finders.FinderOpMode

    results, t

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

    blackboard, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, time

  • Constructor Summary

    Constructors
    Constructor
    Description
    FlywheelFinderOpMode()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    protected void
    bind(ControllerBindings c)
    Binds gamepad 1 buttons.
    protected double
    countsPerRev()
    Encoder counts per ONE turn of the flywheel.
    protected String
    finderName()
    The finder's name, e.g.
    protected String[]
    helpLines()
    The help page: every button and the steps, a line each (at most 13 lines, about 50 characters each, to fit on the Driver Station).
    protected void
    pause()
    Stops what moves, while the help page is open (the finder's buttons pause then).
    final void
    requestOpModeStop()
     
    protected void
    setup()
    Sets up the hardware, in INIT.
    protected void
    show(RobotTelemetry t)
    The finder's own screen lines, every loop.
    protected void
    showInit(RobotTelemetry t)
    What INIT shows (the controls, a safety note).
    protected void
    step()
    Runs once every loop after the buttons: moves things, measures.
    protected void
    stopAll()
    Stops every motor and servo it moves.

    Methods inherited from class com.crossbotics.ftchelper.finders.FinderOpMode

    helpKeyDown, inputsReady, openHelp, runOpMode

    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

    • MAX_TOP_SPEED_SEC

      public static final double MAX_TOP_SPEED_SEC
      The longest full-power run in step 1, seconds.
      See Also:

    • 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

    • FlywheelFinderOpMode

      public FlywheelFinderOpMode()

  • Method Details

    • countsPerRev

      protected double countsPerRev()
      Encoder counts per ONE turn of the flywheel. Default 28: a goBILDA or REV motor's own encoder, with the wheel on the motor shaft (1:1). Geared? Multiply by the gear ratio.

    • finderName

      protected String finderName()
      Description copied from class: FinderOpMode
      The finder's name, e.g. "Servo finder".
      Specified by:
      finderName in class FinderOpMode

    • setup

      protected void setup()
      Description copied from class: FinderOpMode
      Sets up the hardware, in INIT. Nothing may move here.
      Specified by:
      setup in class FinderOpMode

    • showInit

      protected void showInit(RobotTelemetry t)
      Description copied from class: FinderOpMode
      What INIT shows (the controls, a safety note).
      Overrides:
      showInit in class FinderOpMode

    • bind

      protected void bind(ControllerBindings c)
      Description copied from class: FinderOpMode
      Binds gamepad 1 buttons. Actions must be quick: never wait.
      Specified by:
      bind in class FinderOpMode

    • step

      protected void step()
      Description copied from class: FinderOpMode
      Runs once every loop after the buttons: moves things, measures. Never waits.
      Specified by:
      step in class FinderOpMode

    • show

      protected void show(RobotTelemetry t)
      Description copied from class: FinderOpMode
      The finder's own screen lines, every loop.
      Specified by:
      show in class FinderOpMode

    • helpLines

      protected String[] helpLines()
      Description copied from class: FinderOpMode
      The help page: every button and the steps, a line each (at most 13 lines, about 50 characters each, to fit on the Driver Station). GUIDE (or START held 1 s) shows it, in INIT or while running. Default: a page that says there is no help yet.
      Overrides:
      helpLines in class FinderOpMode

    • pause

      protected void pause()
      Description copied from class: FinderOpMode
      Stops what moves, while the help page is open (the finder's buttons pause then). Default: FinderOpMode.stopAll(). A finder overrides it when stopAll() also closes something (a camera) that must keep working.
      Overrides:
      pause in class FinderOpMode

    • stopAll

      protected void stopAll()
      Description copied from class: FinderOpMode
      Stops every motor and servo it moves. Called at the end, always.
      Specified by:
      stopAll in class FinderOpMode

    • requestOpModeStop

      public final void requestOpModeStop()