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+ *rename* Loq => SharedResource because the multithreading parallels are kinda cringe idk + Add a bunch of `@JvmField` and `@JvmOverloads` annotations + Add RobotConfiguration abstract class + MotorPowers: normalization, operator functions + SharedResource and Scheduler panic()s (cleanup functions) + Deprecate RobotLocks.kt object + Delete commented code in Task.kt + Claw now takes lock as constructor argument
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115 changes: 74 additions & 41 deletions
115
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/NeoRobot1.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,50 +1,83 @@ | ||
| package org.firstinspires.ftc.teamcode.configurations; | ||
| package org.firstinspires.ftc.teamcode.configurations | ||
|
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| import com.qualcomm.robotcore.hardware.DcMotor; | ||
| import com.qualcomm.robotcore.hardware.DcMotorSimple; | ||
| import com.qualcomm.robotcore.hardware.HardwareMap; | ||
| import com.qualcomm.robotcore.hardware.DcMotor | ||
| import com.qualcomm.robotcore.hardware.DcMotorSimple | ||
| import com.qualcomm.robotcore.hardware.HardwareMap | ||
| import com.qualcomm.robotcore.hardware.Servo | ||
| import dev.aether.collaborative_multitasking.SharedResource | ||
| import org.firstinspires.ftc.teamcode.utility.MotorSet | ||
| import org.firstinspires.ftc.teamcode.utility.typedGet | ||
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| import org.firstinspires.ftc.teamcode.utility.MotorSet; | ||
| class NeoRobot1(map: HardwareMap) : RobotConfiguration() { | ||
| @JvmField | ||
| var frontLeft // 0 | ||
| : DcMotor = map.typedGet("frontLeft") | ||
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| public class NeoRobot1 { | ||
| public DcMotor frontLeft; // 0 | ||
| public DcMotor frontRight; // 1 | ||
| public DcMotor backLeft; // 2 | ||
| public DcMotor backRight; // 3 | ||
| @JvmField | ||
| var frontRight // 1 | ||
| : DcMotor = map.typedGet("frontRight") | ||
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| public DcMotor slideLeft; // 0 | ||
| public DcMotor slideRight; // 1 | ||
| @JvmField | ||
| var backLeft // 2 | ||
| : DcMotor = map.typedGet("backLeft") | ||
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| private static void reverse(DcMotor target) { | ||
| target.setDirection(DcMotorSimple.Direction.REVERSE); | ||
| } | ||
| private static void brake(DcMotor ...targets) { | ||
| for (DcMotor target : targets ) target.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); | ||
| } | ||
| @JvmField | ||
| var backRight // 3 | ||
| : DcMotor = map.typedGet("backRight") | ||
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| @JvmField | ||
| var liftLeftB // 0 | ||
| : DcMotor = map.typedGet("slideLeft") | ||
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| @JvmField | ||
| var liftRightB // 1 | ||
| : DcMotor = map.typedGet("slideRight") | ||
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| @JvmField | ||
| var clawGrabB | ||
| : Servo = map.typedGet("clawGrab") | ||
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| public NeoRobot1(HardwareMap map) { | ||
| frontLeft = map.get(DcMotor.class, "frontLeft"); | ||
| reverse(frontLeft); | ||
| frontRight = map.get(DcMotor.class, "frontRight"); | ||
| backLeft = map.get(DcMotor.class, "backLeft"); | ||
| reverse(backLeft); | ||
| backRight = map.get(DcMotor.class, "backRight"); | ||
| brake(frontLeft, frontRight, backLeft, backRight); | ||
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| slideLeft = map.get(DcMotor.class, "slideLeft"); | ||
| slideLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| slideLeft.setTargetPosition(0); | ||
| slideLeft.setPower(1); | ||
| slideLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| slideRight = map.get(DcMotor.class, "slideRight"); | ||
| slideRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| slideRight.setTargetPosition(0); | ||
| slideRight.setPower(1); | ||
| slideRight.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| reverse(slideRight); | ||
| @JvmField | ||
| var clawRotateB | ||
| : Servo = map.typedGet("clawRotate") | ||
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| override val driveMotors: MotorSet = MotorSet(frontLeft, frontRight, backLeft, backRight) | ||
| override val driveMotorLock: SharedResource | ||
| get() = SharedResource("driveMotors") { | ||
| driveMotors.setAll( | ||
| 0.0 | ||
| ) | ||
| } | ||
| override val clawGrab: Servo get() = clawGrabB | ||
| override val clawRotate: Servo get() = clawRotateB | ||
| override val clawLock: SharedResource = SharedResource("claw") | ||
| override val liftLeft: DcMotor get() = liftLeftB | ||
| override val liftRight: DcMotor get() = liftRightB | ||
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| init { | ||
| setReverse(frontLeft) | ||
| setReverse(backLeft) | ||
| enableBrakes(frontLeft, frontRight, backLeft, backRight) | ||
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| liftLeftB.mode = DcMotor.RunMode.STOP_AND_RESET_ENCODER | ||
| liftLeftB.targetPosition = 0 | ||
| liftLeftB.power = 1.0 | ||
| liftLeftB.mode = DcMotor.RunMode.RUN_TO_POSITION | ||
| liftRightB.mode = DcMotor.RunMode.STOP_AND_RESET_ENCODER | ||
| liftRightB.targetPosition = 0 | ||
| liftRightB.power = 1.0 | ||
| liftRightB.mode = DcMotor.RunMode.RUN_TO_POSITION | ||
| setReverse(liftRightB) | ||
| } | ||
|
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| public MotorSet getMotorSet() { | ||
| return new MotorSet(frontLeft, frontRight, backLeft, backRight); | ||
| companion object { | ||
| private fun setReverse(target: DcMotor) { | ||
| target.direction = DcMotorSimple.Direction.REVERSE | ||
| } | ||
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| private fun enableBrakes(vararg targets: DcMotor) { | ||
| for (target in targets) target.zeroPowerBehavior = DcMotor.ZeroPowerBehavior.BRAKE | ||
| } | ||
| } | ||
| } | ||
| } |
30 changes: 30 additions & 0 deletions
30
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotConfiguration.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| package org.firstinspires.ftc.teamcode.configurations | ||
|
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| import com.qualcomm.robotcore.hardware.DcMotor | ||
| import com.qualcomm.robotcore.hardware.HardwareMap | ||
| import com.qualcomm.robotcore.hardware.Servo | ||
| import dev.aether.collaborative_multitasking.SharedResource | ||
| import org.firstinspires.ftc.teamcode.utility.MotorSet | ||
|
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| abstract class RobotConfiguration { | ||
| companion object { | ||
| @JvmStatic | ||
| fun currentConfiguration(): (HardwareMap) -> RobotConfiguration = ::NeoRobot1 | ||
| } | ||
|
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| protected abstract val driveMotors: MotorSet? | ||
| fun driveMotors(): MotorSet = driveMotors ?: throw NullPointerException("Robot configuration has no drive motors but they were requested") | ||
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| abstract val driveMotorLock: SharedResource | ||
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| protected abstract val clawGrab: Servo? | ||
| fun clawGrab(): Servo = clawGrab ?: throw NullPointerException("Robot configuration has no claw grab servo but it was requested") | ||
| protected abstract val clawRotate: Servo? | ||
| fun clawRotate(): Servo = clawRotate ?: throw NullPointerException("Robot configuration has no claw rotate servo but it was requested") | ||
| abstract val clawLock: SharedResource | ||
|
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| protected abstract val liftLeft: DcMotor? | ||
| fun liftLeft(): DcMotor = liftLeft ?: throw NullPointerException("Robot configuration has no left lift motor but it was requested") | ||
| protected abstract val liftRight: DcMotor? | ||
| fun liftRight(): DcMotor = liftRight ?: throw NullPointerException("Robot configuration has no right lift motor but it was requested") | ||
| } |
8 changes: 3 additions & 5 deletions
8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/RobotLocks.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,8 @@ | ||
| package org.firstinspires.ftc.teamcode.configurations | ||
|
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| import dev.aether.collaborative_multitasking.Loq | ||
| import dev.aether.collaborative_multitasking.SharedResource | ||
|
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| object RobotLocks { | ||
| val driveMotors = Loq("driveMotors") | ||
| val liftLeft = Loq("driveMotors") | ||
| val liftRight = Loq("driveMotors") | ||
| val claw = Loq("claw") | ||
| @Deprecated("Use a RobotConfiguration's locks for panic support.") | ||
| val driveMotors = SharedResource("driveMotors") | ||
| } |
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