Updated op modes to work with new 2.x FTC SDK software.

FIRST-Tech-Challenge · Sep 8, 2016 · 3da211e · 3da211e
1 parent 07cfe41
commit 3da211e
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Showing 16 changed files with 103 additions and 47 deletions.
diff --git a/opModes/PushBotAuto.java b/opModes/PushBotAuto.java
@@ -1,16 +1,17 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotAuto
 //
+
 /**
  * Provide a basic autonomous operational mode that uses the left and right
  * drive motors and associated encoders implemented using a state machine for
  * the Push Bot.
  *
  * @author SSI Robotics
- * @version 2015-08-01-06-01
+ * @version 2016-09-05-06-01
  */
 public class PushBotAuto extends PushBotTelemetry
 

diff --git a/opModes/PushBotAutoSensors.java b/opModes/PushBotAutoSensors.java
@@ -1,17 +1,18 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotAutoSensors
 //
+
 /**
  * Provide a basic autonomous operational mode that uses the left and right
  * drive motors and associated encoders, the left arm motor and associated touch
  * sensor, IR seeker V3 and optical distance sensor implemented using a state
  * machine for the Push Bot.
  *
  * @author SSI Robotics
- * @version 2015-08-13-19-48
+ * @version 2016-09-05-19-48
  */
 public class PushBotAutoSensors extends PushBotTelemetrySensors
 

diff --git a/opModes/PushBotDriveTouch.java b/opModes/PushBotDriveTouch.java
@@ -1,6 +1,7 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.TouchSensor;
 
@@ -10,6 +11,9 @@
  * will run its motors unless a touch sensor
  * is pressed.
  */
+@TeleOp(name = "PushBotDriveTouch", group = "pushbot")
+//@Disabled
+// comment out the above line if you want this op mode to be enabled.
 public class PushBotDriveTouch extends LinearOpMode {
     DcMotor leftMotor;
     DcMotor rightMotor;
@@ -42,9 +46,10 @@ public void runOpMode() throws InterruptedException {
             }
 
             telemetry.addData("isPressed", String.valueOf(touchSensor.isPressed()));
+            telemetry.update();
+
+            idle();
 
-            // Wait for a hardware cycle to allow other processes to run
-            waitOneFullHardwareCycle();
         }
 
     }

diff --git a/opModes/PushBotHardware.java b/opModes/PushBotHardware.java
@@ -1,9 +1,8 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.ftccommon.DbgLog;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorController;
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.Range;
 
@@ -20,7 +19,7 @@
  * calls to methods will fail, but will not cause the application to crash.
  *
  * @author SSI Robotics
- * @version 2015-08-13-20-04
+ * @version 2016-09-05-20-04
  */
 public class PushBotHardware extends OpMode
 
@@ -391,7 +390,7 @@ public void run_using_left_drive_encoder ()
         if (v_motor_left_drive != null)
         {
             v_motor_left_drive.setMode
-                ( DcMotorController.RunMode.RUN_USING_ENCODERS
+                ( DcMotor.RunMode.RUN_USING_ENCODER
                 );
         }
 
@@ -410,7 +409,7 @@ public void run_using_right_drive_encoder ()
         if (v_motor_right_drive != null)
         {
             v_motor_right_drive.setMode
-                ( DcMotorController.RunMode.RUN_USING_ENCODERS
+                ( DcMotor.RunMode.RUN_USING_ENCODER
                 );
         }
 
@@ -447,10 +446,10 @@ public void run_without_left_drive_encoder ()
         if (v_motor_left_drive != null)
         {
             if (v_motor_left_drive.getMode () ==
-                DcMotorController.RunMode.RESET_ENCODERS)
+                DcMotor.RunMode.STOP_AND_RESET_ENCODER)
             {
                 v_motor_left_drive.setMode
-                    ( DcMotorController.RunMode.RUN_WITHOUT_ENCODERS
+                    ( DcMotor.RunMode.RUN_WITHOUT_ENCODER
                     );
             }
         }
@@ -470,10 +469,10 @@ public void run_without_right_drive_encoder ()
         if (v_motor_right_drive != null)
         {
             if (v_motor_right_drive.getMode () ==
-                DcMotorController.RunMode.RESET_ENCODERS)
+                DcMotor.RunMode.STOP_AND_RESET_ENCODER)
             {
                 v_motor_right_drive.setMode
-                    ( DcMotorController.RunMode.RUN_WITHOUT_ENCODERS
+                    ( DcMotor.RunMode.RUN_WITHOUT_ENCODER
                     );
             }
         }
@@ -511,7 +510,7 @@ public void reset_left_drive_encoder ()
         if (v_motor_left_drive != null)
         {
             v_motor_left_drive.setMode
-                ( DcMotorController.RunMode.RESET_ENCODERS
+                ( DcMotor.RunMode.STOP_AND_RESET_ENCODER
                 );
         }
 
@@ -530,7 +529,7 @@ public void reset_right_drive_encoder ()
         if (v_motor_right_drive != null)
         {
             v_motor_right_drive.setMode
-                ( DcMotorController.RunMode.RESET_ENCODERS
+                ( DcMotor.RunMode.STOP_AND_RESET_ENCODER
                 );
         }
 

diff --git a/opModes/PushBotHardwareSensors.java b/opModes/PushBotHardwareSensors.java
@@ -1,4 +1,4 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.ftccommon.DbgLog;
 import com.qualcomm.robotcore.hardware.IrSeekerSensor;
@@ -20,7 +20,7 @@
  * calls to methods will fail, but will not cause the application to crash.
  *
  * @author SSI Robotics
- * @version 2015-08-13-20-04
+ * @version 2016-09-05-20-04
  */
 public class PushBotHardwareSensors extends PushBotTelemetry
 

diff --git a/opModes/PushBotIrEvent.java b/opModes/PushBotIrEvent.java
@@ -1,4 +1,4 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
@@ -9,7 +9,7 @@
  * IR seeker implemented using a state machine for the Push Bot.
  *
  * @author SSI Robotics
- * @version 2015-08-16-08-41
+ * @version 2016-09-05-08-41
  */
 public class PushBotIrEvent extends PushBotTelemetrySensors
 

diff --git a/opModes/PushBotIrSeek.java b/opModes/PushBotIrSeek.java
@@ -1,8 +1,7 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.IrSeekerSensor;
 import com.qualcomm.robotcore.util.Range;
@@ -12,12 +11,16 @@
  * An example linear op mode where the pushbot
  * will track an IR beacon.
  */
+@TeleOp(name = "PushBotIrSeek", group = "pushbot")
+//@Disabled
+// comment out the above line if you want this op mode to be enabled.
 public class PushBotIrSeek extends LinearOpMode {
     final static double kBaseSpeed = 0.15;  // Higher values will cause the robot to move faster
 
     final static double kMinimumStrength = 0.08; // Higher values will cause the robot to follow closer
     final static double kMaximumStrength = 0.60; // Lower values will cause the robot to stop sooner
 
+    //IrSeekerSensor irSeeker;
     IrSeekerSensor irSeeker;
     DcMotor leftMotor;
     DcMotor rightMotor;
@@ -48,8 +51,9 @@ public void runOpMode() throws InterruptedException {
             telemetry.addData("Seeker", irSeeker.toString());
             telemetry.addData("Speed", " Left=" + leftMotor.getPower() + " Right=" + rightMotor.getPower());
 
-            //Wait one hardware cycle to avoid taxing the processor
-            waitOneFullHardwareCycle();
+            telemetry.update();
+
+            idle();
         }
 
     }

diff --git a/opModes/PushBotManual.java b/opModes/PushBotManual.java
@@ -1,9 +1,12 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotManual
 //
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 /**
  * Provide a basic manual operational mode that uses the left and right
  * drive motors, left arm motor, servo motors and gamepad input from two
@@ -12,6 +15,9 @@
  * @author SSI Robotics
  * @version 2015-08-01-06-01
  */
+@TeleOp(name="PushBotManual", group = "pushbot")
+//@Disabled
+// comment out the above line if you want this op mode to be enabled.
 public class PushBotManual extends PushBotTelemetry
 
 {

diff --git a/opModes/PushBotManual1.java b/opModes/PushBotManual1.java
@@ -1,9 +1,13 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotManual
 //
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 /**
  * Provide a basic manual operational mode that uses the left and right
  * drive motors, left arm motor, servo motors and gamepad input from only one
@@ -12,6 +16,8 @@
  * @author SSI Robotics
  * @version 2015-09-05-20-12
  */
+@TeleOp(name="PushBotManual", group = "pushbot")
+@Disabled
 public class PushBotManual1 extends PushBotTelemetry
 
 {

diff --git a/opModes/PushBotManualSensors.java b/opModes/PushBotManualSensors.java
@@ -1,9 +1,13 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotManualSensors
 //
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 /**
  * Provide a basic manual operational mode that uses the left and right
  * drive motors, left arm motor, servo motors and gamepad input from two
@@ -14,6 +18,9 @@
  * @author SSI Robotics
  * @version 2015-08-25-14-40
  */
+@TeleOp(name = "PushBotManualSensors", group = "pushbot")
+@Disabled
+// comment out the above line if you want this op mode to be enabled.
 public class PushBotManualSensors extends PushBotTelemetrySensors
 
 {

diff --git a/opModes/PushBotOdsDetectEvent.java b/opModes/PushBotOdsDetectEvent.java
@@ -1,9 +1,13 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotOdsDetectEvent
 //
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 /**
  * Provide a basic autonomous operational mode that demonstrates the use of an
  * optical distance sensor to detect a line implemented using a state machine
@@ -12,6 +16,9 @@
  * @author SSI Robotics
  * @version 2015-08-30-11-45
  */
+@TeleOp(name = "PushBotOdsDetectEvent", group = "pushbot")
+@Disabled
+// comment out the above line if you want this op mode to be enabled.
 public class PushBotOdsDetectEvent extends PushBotTelemetrySensors
 
 {

diff --git a/opModes/PushBotOdsFollowEvent.java b/opModes/PushBotOdsFollowEvent.java
@@ -1,9 +1,13 @@
-package com.qualcomm.ftcrobotcontroller.opmodes;
+package org.firstinspires.ftc.teamcode;
 
 //------------------------------------------------------------------------------
 //
 // PushBotOdsFollowEvent
 //
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 /**
  * Provide a basic autonomous operational mode that demonstrates the use of an
  * optical distance sensor to follow a line implemented using a state machine
@@ -12,6 +16,9 @@
  * @author SSI Robotics
  * @version 2015-08-30-11-45
  */
+@TeleOp(name = "PushBotOdsFollowEvent", group = "pushbot")
+@Disabled
+// comment out the above line if you want this op mode to be enabled.
 public class PushBotOdsFollowEvent extends PushBotTelemetrySensors
 
 {