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Supporting a CRServo motor

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This commit is contained in:
Eric Ratliff
2026-02-06 05:34:41 -06:00
parent 30c0d828b7
commit 8e57d01b23
7 changed files with 250 additions and 14 deletions
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6
build.gradle.kts
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@@ -14,7 +14,8 @@ java {
// Exclude FTC hardware files from PC compilation (they need Android SDK)
tasks.withType<JavaCompile> {
exclude("**/FtcMotor.java")
exclude("**/FtcDCMotor.java")
exclude("**/FtcCRServo.java")
exclude("**/FtcPotentiometer.java")
exclude("**/opmodes/ChuteOpMode.java")
}
@@ -24,7 +25,8 @@ tasks.javadoc {
include("**/subsystems/chute/**")
// But exclude FTC hardware files (they need Android SDK)
exclude("**/FtcMotor.java")
exclude("**/FtcDCMotor.java")
exclude("**/FtcCRServo.java")
exclude("**/FtcPotentiometer.java")
exclude("**/opmodes/**")

27
src/main/java/org/firstinspires/ftc/teamcode/opmodes/ChuteOpMode.java
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@@ -2,19 +2,23 @@ package org.firstinspires.ftc.teamcode.opmodes;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.AnalogInput;
import org.firstinspires.ftc.teamcode.subsystems.chute.Chute;
import org.firstinspires.ftc.teamcode.subsystems.chute.FtcMotor;
import org.firstinspires.ftc.teamcode.subsystems.chute.FtcCRServo;
import org.firstinspires.ftc.teamcode.subsystems.chute.FtcDCMotor;
import org.firstinspires.ftc.teamcode.subsystems.chute.FtcPotentiometer;
import org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController;
import org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor;
/**
* Example OpMode demonstrating chute control with real hardware.
* Supports either a DcMotor or CRServo as the actuator.
*
* Hardware Config:
* - Motor: "chute_motor" (DcMotor)
* - Motor: "chute_motor" (DcMotor) OR "chute_servo" (CRServo)
* - Potentiometer: "chute_pot" (AnalogInput)
*/
@TeleOp(name = "Chute Control")
@@ -22,6 +26,9 @@ public class ChuteOpMode extends LinearOpMode {
private Chute chute;
// Set to true to use a CRServo instead of a DcMotor
private static final boolean USE_SERVO = false;
// Pot configuration - change this if your pot has different range
private static final double POT_WRAP_AMOUNT = 2 * Math.PI;
@@ -35,14 +42,20 @@ public class ChuteOpMode extends LinearOpMode {
@Override
public void runOpMode() {
// Get hardware from config
DcMotor chuteMotor = hardwareMap.get(DcMotor.class, "chute_motor");
AnalogInput chutePot = hardwareMap.get(AnalogInput.class, "chute_pot");
// Create hardware adapters
FtcMotor motor = new FtcMotor(chuteMotor);
FtcPotentiometer pot = new FtcPotentiometer(chutePot, POT_WRAP_AMOUNT);
// Create chute controller with real hardware
// Create motor adapter — either DcMotor or CRServo
MockMotor motor;
if (USE_SERVO) {
CRServo chuteServo = hardwareMap.get(CRServo.class, "chute_servo");
motor = new FtcCRServo(chuteServo);
} else {
DcMotor chuteMotor = hardwareMap.get(DcMotor.class, "chute_motor");
motor = new FtcDCMotor(chuteMotor);
}
// Create chute controller with whichever actuator was selected
ChuteController controller = new ChuteController(motor, pot, MAX);
chute = new Chute(controller, motor, pot);

14
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/Chute.java
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@@ -22,7 +22,14 @@ package org.firstinspires.ftc.teamcode.subsystems.chute;
*
* <h2>Usage with Real Hardware</h2>
* <pre>
* FtcMotor motor = new FtcMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
* // With a DcMotor:
* FtcDCMotor motor = new FtcDCMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
* FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
* ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
* Chute chute = new Chute(controller, motor, pot);
*
* // With a CRServo:
* FtcCRServo motor = new FtcCRServo(hardwareMap.get(CRServo.class, "chute_servo"));
* FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
* ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
* Chute chute = new Chute(controller, motor, pot);
@@ -38,6 +45,7 @@ package org.firstinspires.ftc.teamcode.subsystems.chute;
* </ul>
*
* @see ChuteController
* @see FtcCRServo
* @see MockPotentiometer
* @see FtcPotentiometer
*/
@@ -74,9 +82,9 @@ public class Chute {
* Use this constructor in actual FTC OpModes with hardware from hardwareMap.
*
* @param controller Pre-configured controller with real hardware
* @param motor FtcMotor adapter wrapping DcMotor
* @param motor FtcDCMotor adapter wrapping DcMotor
* @param pot FtcPotentiometer adapter wrapping AnalogInput
* @see FtcMotor
* @see FtcDCMotor
* @see FtcPotentiometer
*/
public Chute(ChuteController controller, MockMotor motor, MockPotentiometer pot) {

45
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/FtcCRServo.java Normal file
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@@ -0,0 +1,45 @@
package org.firstinspires.ftc.teamcode.subsystems.chute;
import com.qualcomm.robotcore.hardware.CRServo;
/**
* Adapter that wraps a real FTC CRServo and makes it look like a MockMotor.
* Drop-in replacement for FtcDCMotor when the chute is driven by a continuous
* rotation servo instead of a DC motor.
*
* <p>CRServo has no encoder, zero-power behavior, or run mode—just power
* control—so this adapter is simpler than {@link FtcDCMotor}.
*
* <h2>Usage</h2>
* <pre>
* CRServo servo = hardwareMap.get(CRServo.class, "chute_servo");
* FtcCRServo motor = new FtcCRServo(servo);
* ChuteController controller = new ChuteController(motor, pot, maxExtension);
* </pre>
*
* @see FtcDCMotor
*/
public class FtcCRServo extends MockMotor {
private final CRServo servo;
/**
* Create servo adapter.
* @param servo The real FTC CRServo from hardwareMap
*/
public FtcCRServo(CRServo servo) {
super();
this.servo = servo;
}
@Override
public void setPower(double power) {
super.setPower(power); // Track power in parent
servo.setPower(power); // Send to real servo
}
@Override
public void update(double dt) {
// Real servo updates itself — still call parent for mock position tracking
super.update(dt);
}
}

4
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/FtcMotor.java → src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/FtcDCMotor.java
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@@ -6,14 +6,14 @@ import com.qualcomm.robotcore.hardware.DcMotor;
* Adapter that wraps a real FTC DcMotor and makes it look like a MockMotor.
* Use this to connect the chute controller to actual hardware.
*/
public class FtcMotor extends MockMotor {
public class FtcDCMotor extends MockMotor {
private final DcMotor motor;
/**
* Create motor adapter.
* @param motor The real FTC motor from hardwareMap
*/
public FtcMotor(DcMotor motor) {
public FtcDCMotor(DcMotor motor) {
super();
this.motor = motor;

34
src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/MockCRServo.java Normal file
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@@ -0,0 +1,34 @@
package org.firstinspires.ftc.teamcode.subsystems.chute;
/**
* Mock continuous rotation servo for testing.
* Mirrors the override pattern of {@link FtcCRServo} without requiring the FTC SDK.
*
* <p>Extends MockMotor and overrides {@code setPower()} to track commanded values,
* letting tests verify that ChuteController correctly routes through a subclassed motor.
*/
public class MockCRServo extends MockMotor {
private double lastCommandedPower = 0.0;
private int setPowerCallCount = 0;
@Override
public void setPower(double power) {
lastCommandedPower = power;
setPowerCallCount++;
super.setPower(power);
}
/**
* @return The most recent power value passed to setPower
*/
public double getLastCommandedPower() {
return lastCommandedPower;
}
/**
* @return Total number of times setPower has been called
*/
public int getSetPowerCallCount() {
return setPowerCallCount;
}
}

134
src/test/java/org/firstinspires/ftc/teamcode/subsystems/chute/ChuteTest.java
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@@ -268,4 +268,138 @@ public class ChuteTest {
assertEquals(3.0, chute.getPot().getWrapAmount(), EPSILON,
"Pot should wrap at 3.0 radians");
}
// ========================================================================
// CRServo adapter tests
//
// FtcCRServo extends MockMotor and overrides setPower() to forward to real
// hardware. MockCRServo replicates that pattern without the FTC SDK,
// proving the full pipeline works when the motor is a subclass.
// ========================================================================
/**
* Verify a subclassed motor homes correctly through ChuteController.
* This is the same scenario as testHoming() but with the override path.
*/
@Test
public void testCRServoHoming() {
MockCRServo servo = new MockCRServo();
MockPotentiometer pot = new MockPotentiometer();
ChuteController controller = new ChuteController(servo, pot, 10.0);
Chute chute = new Chute(controller, servo, pot);
servo.setPosition(0.5);
pot.setPosition(0.5);
chute.home();
assertTrue(servo.getSetPowerCallCount() > 0, "setPower should be called via override");
for (int i = 0; i < 200; i++) {
chute.update(DT);
if (chute.isHomed()) break;
}
assertTrue(chute.isHomed(), "Should home with subclassed motor");
assertEquals(0.0, servo.getPower(), EPSILON, "Motor should be stopped after homing");
assertEquals(0.0, servo.getLastCommandedPower(), EPSILON,
"Override path should also see zero power");
}
/**
* Verify move-to-position works end-to-end through the override path.
*/
@Test
public void testCRServoMoveToPosition() {
MockCRServo servo = new MockCRServo();
MockPotentiometer pot = new MockPotentiometer();
ChuteController controller = new ChuteController(servo, pot, 10.0);
Chute chute = new Chute(controller, servo, pot);
servo.setPosition(0.2);
pot.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");
int callsBefore = servo.getSetPowerCallCount();
chute.setTargetPosition(2.0);
for (int i = 0; i < 1000; i++) {
chute.update(DT);
if (chute.isAtTarget()) break;
}
assertTrue(chute.isAtTarget(), "Should reach target with subclassed motor");
assertTrue(Math.abs(chute.getPosition() - 2.0) < 0.3,
"Position should be close to 2.0, got: " + chute.getPosition());
assertTrue(servo.getSetPowerCallCount() > callsBefore,
"setPower override should have been called during movement");
}
/**
* Verify multi-wrap tracking works through the override path.
* CRServos are common on linear actuators that travel multiple pot rotations.
*/
@Test
public void testCRServoMultipleRotations() {
MockCRServo servo = new MockCRServo();
MockPotentiometer pot = new MockPotentiometer();
ChuteController controller = new ChuteController(servo, pot, 25.0);
Chute chute = new Chute(controller, servo, pot);
servo.setPosition(0.2);
pot.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");
double target = 3.5 * 2 * Math.PI;
chute.setTargetPosition(target);
for (int i = 0; i < 2000; i++) {
chute.update(DT);
if (chute.isAtTarget()) break;
}
assertTrue(chute.getPosition() > 3.0 * 2 * Math.PI,
"Position should be > 3*2pi, got: " + chute.getPosition());
assertTrue(Math.abs(chute.getPosition() - target) < 1.5,
"Position should be near target, expected: " + target + ", got: " + chute.getPosition());
}
/**
* Verify emergency stop propagates through the override path.
*/
@Test
public void testCRServoStop() {
MockCRServo servo = new MockCRServo();
MockPotentiometer pot = new MockPotentiometer();
ChuteController controller = new ChuteController(servo, pot, 10.0);
Chute chute = new Chute(controller, servo, pot);
servo.setPosition(0.1);
pot.setPosition(0.1);
chute.home();
for (int i = 0; i < 200; i++) {
chute.update(DT);
if (chute.isHomed()) break;
}
chute.setTargetPosition(5.0);
for (int i = 0; i < 10; i++) {
chute.update(DT);
}
assertTrue(chute.isMoving(), "Should be moving");
chute.stop();
assertFalse(chute.isMoving(), "Should stop immediately");
assertEquals(0.0, servo.getLastCommandedPower(), EPSILON,
"Override path should see zero power after stop");
}
}