nexus-workshops/ftc-chute-controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Pot range is now dynamic

Browse Source
This commit is contained in:
Eric Ratliff
2026-02-04 00:17:18 -06:00
parent b97838252f
commit 840b901506
6 changed files with 110 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/main/java/org/firstinspires/ftc/teamcode/opmodes/ChuteOpMode.java
View File

@@ -22,6 +22,9 @@ public class ChuteOpMode extends LinearOpMode {
private Chute chute;
// Pot configuration - change this if your pot has different range
private static final double POT_WRAP_AMOUNT = 2 * Math.PI;
// Position presets (in radians)
private static final double HOME = 0.0;
private static final double LOW = Math.PI;
@@ -37,13 +40,14 @@ public class ChuteOpMode extends LinearOpMode {
// Create hardware adapters
FtcMotor motor = new FtcMotor(chuteMotor);
FtcPotentiometer pot = new FtcPotentiometer(chutePot);
FtcPotentiometer pot = new FtcPotentiometer(chutePot, POT_WRAP_AMOUNT);
// Create chute controller with real hardware
ChuteController controller = new ChuteController(motor, pot, MAX);
chute = new Chute(controller, motor, pot);
telemetry.addLine("Chute initialized");
telemetry.addData("Pot wrap", "%.2f rad", POT_WRAP_AMOUNT);
telemetry.addLine("Press A to home");
telemetry.update();

14
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/Chute.java
View File

@@ -9,11 +9,21 @@ public class Chute {
private final MockPotentiometer pot;
/**
* Create chute with mock hardware (for testing).
* Create chute with mock hardware (for testing) - default 2pi wraparound.
* @param maxExtension Maximum extension in radians
*/
public Chute(double maxExtension) {
this(maxExtension, 2 * Math.PI);
}
/**
* Create chute with mock hardware (for testing) - custom wraparound.
* @param maxExtension Maximum extension in radians
* @param wrapAmount Potentiometer wrap amount in radians
*/
public Chute(double maxExtension, double wrapAmount) {
this.motor = new MockMotor();
this.pot = new MockPotentiometer();
this.pot = new MockPotentiometer(wrapAmount);
this.controller = new ChuteController(motor, pot, maxExtension);
}

23
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.java
View File

@@ -7,6 +7,7 @@ public class ChuteController {
private final MockMotor motor;
private final MockPotentiometer pot;
private final double maxExtension;
private final double wrapAmount;
private boolean homed = false;
private boolean homing = false;
@@ -32,6 +33,7 @@ public class ChuteController {
this.motor = motor;
this.pot = pot;
this.maxExtension = maxExtension;
this.wrapAmount = pot.getWrapAmount();
}
/**
@@ -129,13 +131,14 @@ public class ChuteController {
double delta = voltage - lastVoltage;
// Detect wraps and accumulate to unwrapped voltage
if (Math.abs(delta) > Math.PI) {
// Threshold is half the wrap amount
if (Math.abs(delta) > wrapAmount / 2) {
if (delta < 0) {
// Forward wrap: voltage dropped, add back 2pi
unwrappedVoltage += (delta + 2 * Math.PI);
// Forward wrap: voltage dropped, add back wrap amount
unwrappedVoltage += (delta + wrapAmount);
} else {
// Backward wrap: voltage jumped, subtract 2pi
unwrappedVoltage += (delta - 2 * Math.PI);
// Backward wrap: voltage jumped, subtract wrap amount
unwrappedVoltage += (delta - wrapAmount);
}
} else {
// Normal movement
@@ -185,12 +188,20 @@ public class ChuteController {
/**
* Get the home voltage reference captured during homing.
* @return Home voltage in range [0, 2pi]
* @return Home voltage in range [0, wrapAmount]
*/
public double getHomeVoltage() {
return homeVoltage;
}
/**
* Get the pot wraparound amount.
* @return Wrap amount in radians
*/
public double getWrapAmount() {
return wrapAmount;
}
/**
* Emergency stop - immediately stops motor and cancels movement.
*/

17
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/FtcPotentiometer.java
View File

@@ -11,11 +11,20 @@ public class FtcPotentiometer extends MockPotentiometer {
private final double maxVoltage;
/**
* Create potentiometer adapter.
* Create potentiometer adapter with default 2pi wraparound.
* @param pot The real FTC analog input from hardwareMap
*/
public FtcPotentiometer(AnalogInput pot) {
super();
this(pot, 2 * Math.PI);
}
/**
* Create potentiometer adapter with custom wraparound.
* @param pot The real FTC analog input from hardwareMap
* @param wrapAmount Voltage value at which pot wraps (in radians)
*/
public FtcPotentiometer(AnalogInput pot, double wrapAmount) {
super(wrapAmount);
this.pot = pot;
this.maxVoltage = pot.getMaxVoltage(); // Usually 3.3V
}
@@ -25,9 +34,9 @@ public class FtcPotentiometer extends MockPotentiometer {
// Read actual voltage from hardware
double rawVoltage = pot.getVoltage();
// Scale to [0, 2pi] range
// Scale to [0, wrapAmount] range
// Assumes pot uses full voltage range (0 to maxVoltage)
return (rawVoltage / maxVoltage) * 2 * Math.PI;
return (rawVoltage / maxVoltage) * getWrapAmount();
}
@Override

25
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.java
View File

@@ -1,19 +1,32 @@
package org.firstinspires.ftc.teamcode.subsystems.chute;
/**
* Simple mock potentiometer with wraparound at 2pi.
* Simple mock potentiometer with configurable wraparound.
*/
public class MockPotentiometer {
private double position;
private final double wrapAmount;
/**
* Create potentiometer with default 2pi wraparound.
*/
public MockPotentiometer() {
this(2 * Math.PI);
}
/**
* Create potentiometer with custom wraparound amount.
* @param wrapAmount Voltage at which pot wraps back to 0
*/
public MockPotentiometer(double wrapAmount) {
this.position = 0.0;
this.wrapAmount = wrapAmount;
}
public double getVoltage() {
// Wrap to [0, 2pi]
double wrapped = position % (2 * Math.PI);
if (wrapped < 0) wrapped += 2 * Math.PI;
// Wrap to [0, wrapAmount]
double wrapped = position % wrapAmount;
if (wrapped < 0) wrapped += wrapAmount;
return wrapped;
}
@@ -24,4 +37,8 @@ public class MockPotentiometer {
public void updatePosition(double delta) {
this.position += delta;
}
public double getWrapAmount() {
return wrapAmount;
}
}

42
src/test/java/org/firstinspires/ftc/teamcode/subsystems/chute/ChuteTest.java
View File

@@ -105,6 +105,8 @@ public class ChuteTest {
chute.getMotor().setPosition(0.2);
chute.getPot().setPosition(0.2);
chute.home();
// Wait for homing to complete (200 iterations x 0.02s = 4 second timeout)
for (int i = 0; i < 200; i++) {
chute.update(DT);
if (chute.isHomed()) break;
@@ -226,4 +228,44 @@ public class ChuteTest {
assertTrue(downPos < 1.5, "Should move back down");
assertTrue(downPos < upPos, "Down position should be less than up");
}
/**
* Test custom wraparound amount (3.0 radians instead of 2pi).
* Verifies controller correctly handles non-standard pot configurations.
*/
@Test
public void testCustomWrapAmount() {
// Create chute with 3.0 radian wraparound (instead of default 2pi)
Chute chute = new Chute(20.0, 3.0);
// Home
chute.getMotor().setPosition(0.2);
chute.getPot().setPosition(0.2);
chute.home();
for (int i = 0; i < 200; i++) {
chute.update(DT);
if (chute.isHomed()) break;
}
assertTrue(chute.isHomed(), "Should be homed");
// Move to 2.5 wraps (2.5 * 3.0 = 7.5 radians)
double target = 2.5 * 3.0;
chute.setTargetPosition(target);
for (int i = 0; i < 2000; i++) {
chute.update(DT);
if (chute.isAtTarget()) break;
}
// Should track through wraps correctly
assertTrue(chute.getPosition() > 2.0 * 3.0,
"Position should be > 2 wraps (6.0), got: " + chute.getPosition());
assertTrue(Math.abs(chute.getPosition() - target) < 1.0,
"Position should be near target, expected: " + target + ", got: " + chute.getPosition());
// Verify pot actually wraps at 3.0
assertEquals(3.0, chute.getPot().getWrapAmount(), EPSILON,
"Pot should wrap at 3.0 radians");
}
}