Package com.crossbotics.ftchelper.finders

Class PieceTunerOpMode

java.lang.Object
com.qualcomm.robotcore.eventloop.opmode.OpMode
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
com.crossbotics.ftchelper.finders.FinderOpMode
com.crossbotics.ftchelper.finders.PieceTunerOpMode
public abstract class PieceTunerOpMode extends FinderOpMode
The Piece Tuner: shows what each PieceSensor of your robot reads, and measures the numbers it needs. Hold each kind of piece in front of the sensor (where it really sits on the robot), press A, and copy the lines it writes into Tunables.java. 
 Gamepad 1:
   D-pad up/down    = choose the sensor
   D-pad left/right = choose what is in front of it: a kind, or EMPTY (nothing)
   A                = measure it (20 readings, about half a second: hold the piece still)
   B                = forget this sensor's measurements
 Help: GUIDE (or hold START 1 s).

Measure EMPTY too: it sets nearMm (or a camera's minSaturation), the line between "a piece is there" and "nothing". Nothing moves in this tuner.

In your TeamCode, next to Robot.java: 


 @TeleOp(name = "Piece Tuner", group = "Finders")
 public class PieceTuner extends PieceTunerOpMode {
     @Override protected RobotDefinition robot() { return new Robot(); }
 }
Docs: docs/modules/finders.md. Guide: docs/modules/robot.md (section "Pieces and PieceSensor")

  • 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 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
    PieceTunerOpMode()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    protected void
    bind(ControllerBindings c)
    Binds gamepad 1 buttons.
    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).
    final void
    requestOpModeStop()
     
    protected abstract RobotDefinition
    robot()
    Your robot in five files: return new Robot(); (it needs a Pieces or a PieceSensor line).
    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, pause, 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

    • 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

    • PieceTunerOpMode

      public PieceTunerOpMode()

  • Method Details

    • robot

      protected abstract RobotDefinition robot()
      Your robot in five files: return new Robot(); (it needs a Pieces or a PieceSensor line).

    • 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

    • 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

    • showInit

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

    • 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()