Merge pull request #2 from CapitalRobotics/drive_base

Initial structure and implementation of Mecanum drive base

Author: blarghmatey

TeamCode/build.gradle

@@ -16,7 +16,7 @@ apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
 
 android {
-    namespace = 'org.firstinspires.ftc.teamcode'
+    namespace = 'org.mrpsvt.capital_robotics'
 
     packagingOptions {
         jniLibs.useLegacyPackaging true

TeamCode/src/main/java/org/mrpsvt/capital_robotics/ArtifactIntake.java

@@ -0,0 +1,4 @@
+package org.mrpsvt.capital_robotics;
+
+public class ArtifactIntake {
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/ArtifactLauncher.java

@@ -0,0 +1,4 @@
+package org.mrpsvt.capital_robotics;
+
+public class ArtifactLauncher {
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/control/ControlConstants.java

@@ -0,0 +1,6 @@
+package org.mrpsvt.capital_robotics.control;
+
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class ControlConstants {
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/control/ControlMap.java

@@ -0,0 +1,9 @@
+package org.mrpsvt.capital_robotics.control;
+
+import com.seattlesolvers.solverslib.gamepad.GamepadEx;
+
+public class ControlMap {
+
+    public GamepadEx driver1;
+    public GamepadEx driver2;
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/robot_core/DriveBase.java

@@ -0,0 +1,44 @@
+package org.mrpsvt.capital_robotics.robot_core;
+import org.mrpsvt.capital_robotics.robot_core.DriveConstants;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.seattlesolvers.solverslib.drivebase.MecanumDrive;
+import com.seattlesolvers.solverslib.hardware.RevIMU;
+import com.seattlesolvers.solverslib.hardware.motors.Motor;
+
+
+public class DriveBase {
+    HardwareMap hardwareMap;
+    Motor frontLeft;
+    Motor frontRight;
+    Motor backLeft;
+    Motor backRight;
+
+    public MecanumDrive mecanum;
+    public RevIMU imu;
+
+    public DriveBase(HardwareMap hardwareMap) {
+        this.hardwareMap = hardwareMap;
+        this.mecanum = initDriveBase();
+        this.imu = initIMU();
+    }
+
+    public MecanumDrive initDriveBase() {
+        DriveConstants constants = new DriveConstants();
+        frontLeft = new Motor(hardwareMap, constants.frontLeftMotorName);
+        frontRight = new Motor(hardwareMap, constants.frontRightMotorName);
+        backLeft = new Motor(hardwareMap, constants.backLeftMotorName);
+        backRight = new Motor(hardwareMap, constants.backRightMotorName);
+
+        mecanum = new MecanumDrive(frontLeft, frontRight, backLeft, backRight);
+        return mecanum;
+    }
+
+    public RevIMU initIMU() {
+        RevIMU imu = new RevIMU(hardwareMap);
+        imu.init();
+        return imu;
+    }
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/robot_core/DriveConstants.java

@@ -0,0 +1,19 @@
+package org.mrpsvt.capital_robotics.robot_core;
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class DriveConstants {
+    public static String ROBOT_CENTRIC = "robot_centric";
+    public static String FIELD_CENTRIC = "field_centric";
+
+    public float strafeSpeed = 1.0f;
+    public float forwardSpeed = 1.0f;
+    public float turnSpeed = 1.0f;
+
+    public final String frontLeftMotorName = "fl";
+    public final String frontRightMotorName = "fr";
+    public final String backLeftMotorName = "bl";
+    public final String backRightMotorName = "br";
+
+    public final String robotDriveMode = ROBOT_CENTRIC;
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/teleop/DefaultOpmode.java

@@ -0,0 +1,48 @@
+package org.mrpsvt.capital_robotics.teleop;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.seattlesolvers.solverslib.drivebase.MecanumDrive;
+import com.seattlesolvers.solverslib.hardware.RevIMU;
+
+import org.mrpsvt.capital_robotics.control.ControlMap;
+import org.mrpsvt.capital_robotics.robot_core.DriveBase;
+import org.mrpsvt.capital_robotics.robot_core.DriveConstants;
+
+import java.util.Objects;
+
+@TeleOp(name = "Default Opmode", group = "TeleOp")
+public class DefaultOpmode extends OpMode {
+    private ControlMap controls;
+    private MecanumDrive drive;
+    private DriveConstants driveConstants;
+    private RevIMU imu; // Assuming you have an IMU class for field-centric driving
+
+    @Override
+    public void init() {
+        DriveBase driveBase = new DriveBase(hardwareMap);
+        controls = new ControlMap();
+        drive = driveBase.mecanum;
+        imu = driveBase.imu;
+        driveConstants = new DriveConstants();
+    }
+
+    @Override
+    public void loop() {
+        if (Objects.equals(driveConstants.robotDriveMode, DriveConstants.ROBOT_CENTRIC)) {
+            drive.driveRobotCentric(
+                controls.driver1.getLeftY() * driveConstants.forwardSpeed,
+                controls.driver1.getLeftX() * driveConstants.strafeSpeed,
+                controls.driver1.getRightX() * driveConstants.turnSpeed
+            );
+        } else if (Objects.equals(driveConstants.robotDriveMode, DriveConstants.FIELD_CENTRIC)) {
+            drive.driveFieldCentric(
+                controls.driver1.getLeftY() * driveConstants.forwardSpeed,
+                controls.driver1.getLeftX() * driveConstants.strafeSpeed,
+                controls.driver1.getRightX() * driveConstants.turnSpeed,
+                    imu.getRotation2d().getDegrees()  // IMU heading would go here
+            );
+        }
+    }
+}

renovate.json

@@ -0,0 +1,6 @@
+{
+  "$schema": "https://docs.renovatebot.com/renovate-schema.json",
+  "extends": [
+    "config:recommended"
+  ]
+}