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7 Commits
30c0d828b7
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master
| Author | SHA1 | Date | |
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8d26c4ea1f | ||
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32323e7abc | ||
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4274814216 | ||
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f9b99c781e | ||
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160a8b9563 | ||
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8087f31b05 | ||
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8e57d01b23 |
@@ -14,7 +14,8 @@ java {
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// Exclude FTC hardware files from PC compilation (they need Android SDK)
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tasks.withType<JavaCompile> {
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exclude("**/FtcMotor.java")
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exclude("**/FtcDCMotor.java")
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exclude("**/FtcCRServo.java")
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exclude("**/FtcPotentiometer.java")
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exclude("**/opmodes/ChuteOpMode.java")
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}
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@@ -24,7 +25,8 @@ tasks.javadoc {
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include("**/subsystems/chute/**")
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// But exclude FTC hardware files (they need Android SDK)
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exclude("**/FtcMotor.java")
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exclude("**/FtcDCMotor.java")
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exclude("**/FtcCRServo.java")
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exclude("**/FtcPotentiometer.java")
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exclude("**/opmodes/**")
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@@ -50,7 +52,10 @@ tasks.register<Copy>("deployToSDK") {
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val sdkDir = "/home/eric/.weevil/ftc-sdk"
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from("src/main/java") {
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include("robot/**/*.java")
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include("org/firstinspires/ftc/teamcode/**/*.java")
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exclude("**/mock/MockCRServo.java")
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exclude("**/mock/MockDCMotor.java")
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exclude("**/mock/MockPotentiometer.java")
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}
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into(layout.projectDirectory.dir("$sdkDir/TeamCode/src/main/java"))
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@@ -61,14 +61,6 @@ loadScripts(document, 'script');</script>
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<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
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<div class="block">Simple chute controller with homing and position control.</div>
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</div>
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<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></div>
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<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
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<div class="block">Simple mock motor.</div>
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</div>
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<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></div>
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<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
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<div class="block">Simple mock potentiometer with configurable wraparound.</div>
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</div>
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</div>
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</div>
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</main>
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@@ -68,7 +68,7 @@ loadScripts(document, 'script');</script>
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<dd>
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<div class="block">Creates chute with mock hardware and custom pot wraparound.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)" class="member-name-link">Chute(ChuteController, MockMotor, MockPotentiometer)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)" class="member-name-link">Chute(ChuteController, MockMotor, MockPotentiometer)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
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<dd>
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<div class="block">Creates chute with real FTC hardware adapters.</div>
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</dd>
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@@ -76,7 +76,7 @@ loadScripts(document, 'script');</script>
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<dd>
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<div class="block">Simple chute controller with homing and position control.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)" class="member-name-link">ChuteController(MockMotor, MockPotentiometer, double)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)" class="member-name-link">ChuteController(MockMotor, MockPotentiometer, double)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
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<dd>
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<div class="block">Create a new chute controller.</div>
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</dd>
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@@ -104,22 +104,14 @@ loadScripts(document, 'script');</script>
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<dd>
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<div class="block">Get current position of chute.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#getPosition()" class="member-name-link">getPosition()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#getPot()" class="member-name-link">getPot()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
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<dd>
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<div class="block">Gets potentiometer instance for testing.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#getPower()" class="member-name-link">getPower()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#getVoltage()" class="member-name-link">getVoltage()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#getWrapAmount()" class="member-name-link">getWrapAmount()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
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<dd>
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<div class="block">Get the pot wraparound amount.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#getWrapAmount()" class="member-name-link">getWrapAmount()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
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<dd> </dd>
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</dl>
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<h2 class="title" id="I:H">H</h2>
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<dl class="index">
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@@ -157,24 +149,6 @@ loadScripts(document, 'script');</script>
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</dl>
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<h2 class="title" id="I:M">M</h2>
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<dl class="index">
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a> - Class in <a href="org/firstinspires/ftc/teamcode/subsystems/chute/package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></dt>
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<dd>
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<div class="block">Simple mock motor.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#%3Cinit%3E()" class="member-name-link">MockMotor()</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a> - Class in <a href="org/firstinspires/ftc/teamcode/subsystems/chute/package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></dt>
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<dd>
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<div class="block">Simple mock potentiometer with configurable wraparound.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#%3Cinit%3E()" class="member-name-link">MockPotentiometer()</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
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<dd>
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<div class="block">Create potentiometer with default 2pi wraparound.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#%3Cinit%3E(double)" class="member-name-link">MockPotentiometer(double)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
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<dd>
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<div class="block">Create potentiometer with custom wraparound amount.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#moveToPosition(double)" class="member-name-link">moveToPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
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<dd>
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<div class="block">Move to target position.</div>
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@@ -187,12 +161,6 @@ loadScripts(document, 'script');</script>
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</dl>
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<h2 class="title" id="I:S">S</h2>
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<dl class="index">
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#setPosition(double)" class="member-name-link">setPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#setPosition(double)" class="member-name-link">setPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#setPower(double)" class="member-name-link">setPower(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#setTargetPosition(double)" class="member-name-link">setTargetPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
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<dd>
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<div class="block">Commands chute to move to target position.</div>
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@@ -216,10 +184,6 @@ loadScripts(document, 'script');</script>
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<dd>
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<div class="block">Update controller state - call this every loop iteration.</div>
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</dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#update(double)" class="member-name-link">update(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#updatePosition(double)" class="member-name-link">updatePosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
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<dd> </dd>
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<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#usage-with-real-hardware-heading" class="search-tag-link">Usage with Real Hardware</a> - Search tag in class org.firstinspires.ftc.teamcode.subsystems.chute.Chute</dt>
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<dd>Section</dd>
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</dl>
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@@ -1 +1 @@
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memberSearchIndex = [{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(ChuteController, MockMotor, MockPotentiometer)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double)","u":"%3Cinit%3E(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"ChuteController(MockMotor, MockPotentiometer, double)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getHomeVoltage()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getMotor()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPot()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"getPower()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"getVoltage()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getWrapAmount()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"getWrapAmount()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isAtTarget()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"MockMotor()","u":"%3Cinit%3E()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"MockPotentiometer()","u":"%3Cinit%3E()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"MockPotentiometer(double)","u":"%3Cinit%3E(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"moveToPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"setPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"setPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"setPower(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"setTargetPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"updatePosition(double)"}];updateSearchResults();
|
||||
memberSearchIndex = [{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(ChuteController, MockMotor, MockPotentiometer)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double)","u":"%3Cinit%3E(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"ChuteController(MockMotor, MockPotentiometer, double)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getHomeVoltage()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getMotor()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPot()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getWrapAmount()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isAtTarget()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"moveToPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"setTargetPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"update(double)"}];updateSearchResults();
|
||||
@@ -111,7 +111,14 @@ loadScripts(document, 'script');</script>
|
||||
|
||||
<h2 id="usage-with-real-hardware-heading">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 (drop-in replacement):
|
||||
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);
|
||||
@@ -130,7 +137,19 @@ loadScripts(document, 'script');</script>
|
||||
<dd>
|
||||
<ul class="tag-list-long">
|
||||
<li><a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute"><code>ChuteController</code></a></li>
|
||||
<li><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute"><code>MockPotentiometer</code></a></li>
|
||||
<li>
|
||||
<details class="invalid-tag">
|
||||
<summary>invalid reference</summary>
|
||||
<pre><code>FtcDCMotor</code></pre>
|
||||
</details>
|
||||
</li>
|
||||
<li>
|
||||
<details class="invalid-tag">
|
||||
<summary>invalid reference</summary>
|
||||
<pre><code>FtcCRServo</code></pre>
|
||||
</details>
|
||||
</li>
|
||||
<li><code>MockPotentiometer</code></li>
|
||||
<li>
|
||||
<details class="invalid-tag">
|
||||
<summary>invalid reference</summary>
|
||||
@@ -160,9 +179,9 @@ loadScripts(document, 'script');</script>
|
||||
<div class="col-last odd-row-color">
|
||||
<div class="block">Creates chute with mock hardware and custom pot wraparound.</div>
|
||||
</div>
|
||||
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)" class="member-name-link">Chute</a><wbr>(<a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a> controller,
|
||||
<a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a> motor,
|
||||
<a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a> pot)</code></div>
|
||||
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)" class="member-name-link">Chute</a><wbr>(<a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a> controller,
|
||||
org.firstinspires.ftc.teamcode.mock.MockMotor motor,
|
||||
org.firstinspires.ftc.teamcode.mock.MockPotentiometer pot)</code></div>
|
||||
<div class="col-last even-row-color">
|
||||
<div class="block">Creates chute with real FTC hardware adapters.</div>
|
||||
</div>
|
||||
@@ -180,7 +199,7 @@ loadScripts(document, 'script');</script>
|
||||
<div class="table-header col-first">Modifier and Type</div>
|
||||
<div class="table-header col-second">Method</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></code></div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>org.firstinspires.ftc.teamcode.mock.MockMotor</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets motor instance for testing.</div>
|
||||
@@ -190,7 +209,7 @@ loadScripts(document, 'script');</script>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets current position of chute.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></code></div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>org.firstinspires.ftc.teamcode.mock.MockPotentiometer</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPot()" class="member-name-link">getPot</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets potentiometer instance for testing.</div>
|
||||
@@ -274,17 +293,17 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="<init>(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)">
|
||||
<section class="detail" id="<init>(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)">
|
||||
<h3>Chute</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">Chute</span><wbr><span class="parameters">(<a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a> controller,
|
||||
<a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a> motor,
|
||||
<a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a> pot)</span></div>
|
||||
org.firstinspires.ftc.teamcode.mock.MockMotor motor,
|
||||
org.firstinspires.ftc.teamcode.mock.MockPotentiometer pot)</span></div>
|
||||
<div class="block">Creates chute with real FTC hardware adapters.
|
||||
Use this constructor in actual FTC OpModes with hardware from hardwareMap.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>controller</code> - Pre-configured controller with real hardware</dd>
|
||||
<dd><code>motor</code> - FtcMotor adapter wrapping DcMotor</dd>
|
||||
<dd><code>motor</code> - Motor adapter (FtcDCMotor or FtcCRServo)</dd>
|
||||
<dd><code>pot</code> - FtcPotentiometer adapter wrapping AnalogInput</dd>
|
||||
<dt>See Also:</dt>
|
||||
<dd>
|
||||
@@ -292,7 +311,13 @@ loadScripts(document, 'script');</script>
|
||||
<li>
|
||||
<details class="invalid-tag">
|
||||
<summary>invalid reference</summary>
|
||||
<pre><code>FtcMotor</code></pre>
|
||||
<pre><code>FtcDCMotor</code></pre>
|
||||
</details>
|
||||
</li>
|
||||
<li>
|
||||
<details class="invalid-tag">
|
||||
<summary>invalid reference</summary>
|
||||
<pre><code>FtcCRServo</code></pre>
|
||||
</details>
|
||||
</li>
|
||||
<li>
|
||||
@@ -401,7 +426,7 @@ loadScripts(document, 'script');</script>
|
||||
<li>
|
||||
<section class="detail" id="getMotor()">
|
||||
<h3>getMotor</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></span> <span class="element-name">getMotor</span>()</div>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">org.firstinspires.ftc.teamcode.mock.MockMotor</span> <span class="element-name">getMotor</span>()</div>
|
||||
<div class="block">Gets motor instance for testing.</div>
|
||||
<dl class="notes">
|
||||
<dt>Returns:</dt>
|
||||
@@ -412,7 +437,7 @@ loadScripts(document, 'script');</script>
|
||||
<li>
|
||||
<section class="detail" id="getPot()">
|
||||
<h3>getPot</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></span> <span class="element-name">getPot</span>()</div>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">org.firstinspires.ftc.teamcode.mock.MockPotentiometer</span> <span class="element-name">getPot</span>()</div>
|
||||
<div class="block">Gets potentiometer instance for testing.</div>
|
||||
<dl class="notes">
|
||||
<dt>Returns:</dt>
|
||||
|
||||
@@ -102,8 +102,8 @@ loadScripts(document, 'script');</script>
|
||||
<div class="summary-table two-column-summary">
|
||||
<div class="table-header col-first">Constructor</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)" class="member-name-link">ChuteController</a><wbr>(<a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a> motor,
|
||||
<a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a> pot,
|
||||
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)" class="member-name-link">ChuteController</a><wbr>(org.firstinspires.ftc.teamcode.mock.MockMotor motor,
|
||||
org.firstinspires.ftc.teamcode.mock.MockPotentiometer pot,
|
||||
double maxExtension)</code></div>
|
||||
<div class="col-last even-row-color">
|
||||
<div class="block">Create a new chute controller.</div>
|
||||
@@ -185,10 +185,10 @@ loadScripts(document, 'script');</script>
|
||||
<h2>Constructor Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="<init>(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)">
|
||||
<section class="detail" id="<init>(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)">
|
||||
<h3>ChuteController</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">ChuteController</span><wbr><span class="parameters">(<a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a> motor,
|
||||
<a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a> pot,
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">ChuteController</span><wbr><span class="parameters">(org.firstinspires.ftc.teamcode.mock.MockMotor motor,
|
||||
org.firstinspires.ftc.teamcode.mock.MockPotentiometer pot,
|
||||
double maxExtension)</span></div>
|
||||
<div class="block">Create a new chute controller.</div>
|
||||
<dl class="notes">
|
||||
|
||||
@@ -1,207 +0,0 @@
|
||||
<!DOCTYPE HTML>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (21) -->
|
||||
<title>MockMotor (FtcRobotController API)</title>
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
||||
<meta name="description" content="declaration: package: org.firstinspires.ftc.teamcode.subsystems.chute, class: MockMotor">
|
||||
<meta name="generator" content="javadoc/ClassWriterImpl">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../script-dir/jquery-ui.min.css" title="Style">
|
||||
<script type="text/javascript" src="../../../../../../script.js"></script>
|
||||
<script type="text/javascript" src="../../../../../../script-dir/jquery-3.7.1.min.js"></script>
|
||||
<script type="text/javascript" src="../../../../../../script-dir/jquery-ui.min.js"></script>
|
||||
</head>
|
||||
<body class="class-declaration-page">
|
||||
<script type="text/javascript">var pathtoroot = "../../../../../../";
|
||||
loadScripts(document, 'script');</script>
|
||||
<noscript>
|
||||
<div>JavaScript is disabled on your browser.</div>
|
||||
</noscript>
|
||||
<div class="flex-box">
|
||||
<header role="banner" class="flex-header">
|
||||
<nav role="navigation">
|
||||
<!-- ========= START OF TOP NAVBAR ======= -->
|
||||
<div class="top-nav" id="navbar-top"><button id="navbar-toggle-button" aria-controls="navbar-top" aria-expanded="false" aria-label="Toggle navigation links"><span class="nav-bar-toggle-icon"> </span><span class="nav-bar-toggle-icon"> </span><span class="nav-bar-toggle-icon"> </span></button>
|
||||
<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
|
||||
<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
|
||||
<li><a href="package-summary.html">Package</a></li>
|
||||
<li class="nav-bar-cell1-rev">Class</li>
|
||||
<li><a href="package-tree.html">Tree</a></li>
|
||||
<li><a href="../../../../../../index-all.html">Index</a></li>
|
||||
<li><a href="../../../../../../help-doc.html#class">Help</a></li>
|
||||
</ul>
|
||||
<ul class="sub-nav-list-small">
|
||||
<li>
|
||||
<p>Summary:</p>
|
||||
<ul>
|
||||
<li>Nested</li>
|
||||
<li>Field</li>
|
||||
<li><a href="#constructor-summary">Constr</a></li>
|
||||
<li><a href="#method-summary">Method</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li>
|
||||
<p>Detail:</p>
|
||||
<ul>
|
||||
<li>Field</li>
|
||||
<li><a href="#constructor-detail">Constr</a></li>
|
||||
<li><a href="#method-detail">Method</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="sub-nav">
|
||||
<div id="navbar-sub-list">
|
||||
<ul class="sub-nav-list">
|
||||
<li>Summary: </li>
|
||||
<li>Nested | </li>
|
||||
<li>Field | </li>
|
||||
<li><a href="#constructor-summary">Constr</a> | </li>
|
||||
<li><a href="#method-summary">Method</a></li>
|
||||
</ul>
|
||||
<ul class="sub-nav-list">
|
||||
<li>Detail: </li>
|
||||
<li>Field | </li>
|
||||
<li><a href="#constructor-detail">Constr</a> | </li>
|
||||
<li><a href="#method-detail">Method</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="nav-list-search"><a href="../../../../../../search.html">SEARCH</a>
|
||||
<input type="text" id="search-input" disabled placeholder="Search">
|
||||
<input type="reset" id="reset-button" disabled value="reset">
|
||||
</div>
|
||||
</div>
|
||||
<!-- ========= END OF TOP NAVBAR ========= -->
|
||||
<span class="skip-nav" id="skip-navbar-top"></span></nav>
|
||||
</header>
|
||||
<div class="flex-content">
|
||||
<main role="main">
|
||||
<!-- ======== START OF CLASS DATA ======== -->
|
||||
<div class="header">
|
||||
<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></div>
|
||||
<h1 title="Class MockMotor" class="title">Class MockMotor</h1>
|
||||
</div>
|
||||
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
|
||||
<div class="inheritance">org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor</div>
|
||||
</div>
|
||||
<section class="class-description" id="class-description">
|
||||
<hr>
|
||||
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MockMotor</span>
|
||||
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
|
||||
<div class="block">Simple mock motor.</div>
|
||||
</section>
|
||||
<section class="summary">
|
||||
<ul class="summary-list">
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<li>
|
||||
<section class="constructor-summary" id="constructor-summary">
|
||||
<h2>Constructor Summary</h2>
|
||||
<div class="caption"><span>Constructors</span></div>
|
||||
<div class="summary-table two-column-summary">
|
||||
<div class="table-header col-first">Constructor</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">MockMotor</a>()</code></div>
|
||||
<div class="col-last even-row-color"> </div>
|
||||
</div>
|
||||
</section>
|
||||
</li>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<li>
|
||||
<section class="method-summary" id="method-summary">
|
||||
<h2>Method Summary</h2>
|
||||
<div id="method-summary-table">
|
||||
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
|
||||
<div id="method-summary-table.tabpanel" role="tabpanel" aria-labelledby="method-summary-table-tab0">
|
||||
<div class="summary-table three-column-summary">
|
||||
<div class="table-header col-first">Modifier and Type</div>
|
||||
<div class="table-header col-second">Method</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPower()" class="member-name-link">getPower</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double pos)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPower(double)" class="member-name-link">setPower</a><wbr>(double power)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#update(double)" class="member-name-link">update</a><wbr>(double dt)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="inherited-list">
|
||||
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section class="details">
|
||||
<ul class="details-list">
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<li>
|
||||
<section class="constructor-details" id="constructor-detail">
|
||||
<h2>Constructor Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="<init>()">
|
||||
<h3>MockMotor</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">MockMotor</span>()</div>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<li>
|
||||
<section class="method-details" id="method-detail">
|
||||
<h2>Method Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="setPower(double)">
|
||||
<h3>setPower</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setPower</span><wbr><span class="parameters">(double power)</span></div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="getPower()">
|
||||
<h3>getPower</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getPower</span>()</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="update(double)">
|
||||
<h3>update</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">update</span><wbr><span class="parameters">(double dt)</span></div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="getPosition()">
|
||||
<h3>getPosition</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getPosition</span>()</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setPosition(double)">
|
||||
<h3>setPosition</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setPosition</span><wbr><span class="parameters">(double pos)</span></div>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= END OF CLASS DATA ========= -->
|
||||
</main>
|
||||
</div>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,216 +0,0 @@
|
||||
<!DOCTYPE HTML>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (21) -->
|
||||
<title>MockPotentiometer (FtcRobotController API)</title>
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1">
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
||||
<meta name="description" content="declaration: package: org.firstinspires.ftc.teamcode.subsystems.chute, class: MockPotentiometer">
|
||||
<meta name="generator" content="javadoc/ClassWriterImpl">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../script-dir/jquery-ui.min.css" title="Style">
|
||||
<script type="text/javascript" src="../../../../../../script.js"></script>
|
||||
<script type="text/javascript" src="../../../../../../script-dir/jquery-3.7.1.min.js"></script>
|
||||
<script type="text/javascript" src="../../../../../../script-dir/jquery-ui.min.js"></script>
|
||||
</head>
|
||||
<body class="class-declaration-page">
|
||||
<script type="text/javascript">var pathtoroot = "../../../../../../";
|
||||
loadScripts(document, 'script');</script>
|
||||
<noscript>
|
||||
<div>JavaScript is disabled on your browser.</div>
|
||||
</noscript>
|
||||
<div class="flex-box">
|
||||
<header role="banner" class="flex-header">
|
||||
<nav role="navigation">
|
||||
<!-- ========= START OF TOP NAVBAR ======= -->
|
||||
<div class="top-nav" id="navbar-top"><button id="navbar-toggle-button" aria-controls="navbar-top" aria-expanded="false" aria-label="Toggle navigation links"><span class="nav-bar-toggle-icon"> </span><span class="nav-bar-toggle-icon"> </span><span class="nav-bar-toggle-icon"> </span></button>
|
||||
<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
|
||||
<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
|
||||
<li><a href="package-summary.html">Package</a></li>
|
||||
<li class="nav-bar-cell1-rev">Class</li>
|
||||
<li><a href="package-tree.html">Tree</a></li>
|
||||
<li><a href="../../../../../../index-all.html">Index</a></li>
|
||||
<li><a href="../../../../../../help-doc.html#class">Help</a></li>
|
||||
</ul>
|
||||
<ul class="sub-nav-list-small">
|
||||
<li>
|
||||
<p>Summary:</p>
|
||||
<ul>
|
||||
<li>Nested</li>
|
||||
<li>Field</li>
|
||||
<li><a href="#constructor-summary">Constr</a></li>
|
||||
<li><a href="#method-summary">Method</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li>
|
||||
<p>Detail:</p>
|
||||
<ul>
|
||||
<li>Field</li>
|
||||
<li><a href="#constructor-detail">Constr</a></li>
|
||||
<li><a href="#method-detail">Method</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="sub-nav">
|
||||
<div id="navbar-sub-list">
|
||||
<ul class="sub-nav-list">
|
||||
<li>Summary: </li>
|
||||
<li>Nested | </li>
|
||||
<li>Field | </li>
|
||||
<li><a href="#constructor-summary">Constr</a> | </li>
|
||||
<li><a href="#method-summary">Method</a></li>
|
||||
</ul>
|
||||
<ul class="sub-nav-list">
|
||||
<li>Detail: </li>
|
||||
<li>Field | </li>
|
||||
<li><a href="#constructor-detail">Constr</a> | </li>
|
||||
<li><a href="#method-detail">Method</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="nav-list-search"><a href="../../../../../../search.html">SEARCH</a>
|
||||
<input type="text" id="search-input" disabled placeholder="Search">
|
||||
<input type="reset" id="reset-button" disabled value="reset">
|
||||
</div>
|
||||
</div>
|
||||
<!-- ========= END OF TOP NAVBAR ========= -->
|
||||
<span class="skip-nav" id="skip-navbar-top"></span></nav>
|
||||
</header>
|
||||
<div class="flex-content">
|
||||
<main role="main">
|
||||
<!-- ======== START OF CLASS DATA ======== -->
|
||||
<div class="header">
|
||||
<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></div>
|
||||
<h1 title="Class MockPotentiometer" class="title">Class MockPotentiometer</h1>
|
||||
</div>
|
||||
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
|
||||
<div class="inheritance">org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer</div>
|
||||
</div>
|
||||
<section class="class-description" id="class-description">
|
||||
<hr>
|
||||
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MockPotentiometer</span>
|
||||
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
|
||||
<div class="block">Simple mock potentiometer with configurable wraparound.</div>
|
||||
</section>
|
||||
<section class="summary">
|
||||
<ul class="summary-list">
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<li>
|
||||
<section class="constructor-summary" id="constructor-summary">
|
||||
<h2>Constructor Summary</h2>
|
||||
<div class="caption"><span>Constructors</span></div>
|
||||
<div class="summary-table two-column-summary">
|
||||
<div class="table-header col-first">Constructor</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">MockPotentiometer</a>()</code></div>
|
||||
<div class="col-last even-row-color">
|
||||
<div class="block">Create potentiometer with default 2pi wraparound.</div>
|
||||
</div>
|
||||
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double)" class="member-name-link">MockPotentiometer</a><wbr>(double wrapAmount)</code></div>
|
||||
<div class="col-last odd-row-color">
|
||||
<div class="block">Create potentiometer with custom wraparound amount.</div>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</li>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<li>
|
||||
<section class="method-summary" id="method-summary">
|
||||
<h2>Method Summary</h2>
|
||||
<div id="method-summary-table">
|
||||
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
|
||||
<div id="method-summary-table.tabpanel" role="tabpanel" aria-labelledby="method-summary-table-tab0">
|
||||
<div class="summary-table three-column-summary">
|
||||
<div class="table-header col-first">Modifier and Type</div>
|
||||
<div class="table-header col-second">Method</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVoltage()" class="member-name-link">getVoltage</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getWrapAmount()" class="member-name-link">getWrapAmount</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double pos)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updatePosition(double)" class="member-name-link">updatePosition</a><wbr>(double delta)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"> </div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="inherited-list">
|
||||
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section class="details">
|
||||
<ul class="details-list">
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<li>
|
||||
<section class="constructor-details" id="constructor-detail">
|
||||
<h2>Constructor Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="<init>()">
|
||||
<h3>MockPotentiometer</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">MockPotentiometer</span>()</div>
|
||||
<div class="block">Create potentiometer with default 2pi wraparound.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="<init>(double)">
|
||||
<h3>MockPotentiometer</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">MockPotentiometer</span><wbr><span class="parameters">(double wrapAmount)</span></div>
|
||||
<div class="block">Create potentiometer with custom wraparound amount.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>wrapAmount</code> - Voltage at which pot wraps back to 0</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<li>
|
||||
<section class="method-details" id="method-detail">
|
||||
<h2>Method Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="getVoltage()">
|
||||
<h3>getVoltage</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getVoltage</span>()</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setPosition(double)">
|
||||
<h3>setPosition</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setPosition</span><wbr><span class="parameters">(double pos)</span></div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="updatePosition(double)">
|
||||
<h3>updatePosition</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">updatePosition</span><wbr><span class="parameters">(double delta)</span></div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="getWrapAmount()">
|
||||
<h3>getWrapAmount</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getWrapAmount</span>()</div>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= END OF CLASS DATA ========= -->
|
||||
</main>
|
||||
</div>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@@ -83,14 +83,6 @@ loadScripts(document, 'script');</script>
|
||||
<div class="col-last odd-row-color class-summary class-summary-tab2">
|
||||
<div class="block">Simple chute controller with homing and position control.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></div>
|
||||
<div class="col-last even-row-color class-summary class-summary-tab2">
|
||||
<div class="block">Simple mock motor.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></div>
|
||||
<div class="col-last odd-row-color class-summary class-summary-tab2">
|
||||
<div class="block">Simple mock potentiometer with configurable wraparound.</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
|
||||
@@ -55,8 +55,6 @@ loadScripts(document, 'script');</script>
|
||||
<ul>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="Chute.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></li>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="ChuteController.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></li>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="MockMotor.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></li>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="MockPotentiometer.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
@@ -59,8 +59,6 @@ loadScripts(document, 'script');</script>
|
||||
<ul>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></li>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></li>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></li>
|
||||
<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
@@ -1 +1 @@
|
||||
typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"Chute"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"ChuteController"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"MockMotor"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"MockPotentiometer"}];updateSearchResults();
|
||||
typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"Chute"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"ChuteController"}];updateSearchResults();
|
||||
Binary file not shown.
@@ -0,0 +1,45 @@
|
||||
package org.firstinspires.ftc.teamcode.hardware;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.CRServo;
|
||||
|
||||
/**
|
||||
* Adapter that wraps a real FTC CRServo and makes it look like a MockCRServo.
|
||||
* 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 MockCRServo {
|
||||
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);
|
||||
}
|
||||
}
|
||||
@@ -1,19 +1,21 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
package org.firstinspires.ftc.teamcode.hardware;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.DcMotor;
|
||||
|
||||
/**
|
||||
* Adapter that wraps a real FTC DcMotor and makes it look like a MockMotor.
|
||||
* Adapter that wraps a real FTC DcMotor and makes it look like a MockDCMotor.
|
||||
* Use this to connect the chute controller to actual hardware.
|
||||
*
|
||||
* @see FtcCRServo
|
||||
*/
|
||||
public class FtcMotor extends MockMotor {
|
||||
public class FtcDCMotor extends MockDCMotor {
|
||||
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;
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
package org.firstinspires.ftc.teamcode.hardware;
|
||||
|
||||
import com.qualcomm.robotcore.hardware.AnalogInput;
|
||||
|
||||
@@ -0,0 +1,37 @@
|
||||
package org.firstinspires.ftc.teamcode.mock;
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*
|
||||
* @see FtcCRServo
|
||||
* @see MockDCMotor
|
||||
*/
|
||||
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;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
package org.firstinspires.ftc.teamcode.mock;
|
||||
|
||||
/**
|
||||
* Mock DC motor for testing.
|
||||
* Provides type identity for DC motor-specific code paths while
|
||||
* inheriting all simulation behavior from {@link MockMotor}.
|
||||
*
|
||||
* @see FtcDCMotor
|
||||
* @see MockCRServo
|
||||
*/
|
||||
public class MockDCMotor extends MockMotor {
|
||||
}
|
||||
@@ -1,4 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
package org.firstinspires.ftc.teamcode.mock;
|
||||
|
||||
/**
|
||||
* Simple mock motor.
|
||||
@@ -1,4 +1,4 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
package org.firstinspires.ftc.teamcode.mock;
|
||||
|
||||
/**
|
||||
* Simple mock potentiometer with configurable wraparound.
|
||||
@@ -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.FtcPotentiometer;
|
||||
import org.firstinspires.ftc.teamcode.hardware.FtcCRServo;
|
||||
import org.firstinspires.ftc.teamcode.hardware.FtcDCMotor;
|
||||
import org.firstinspires.ftc.teamcode.hardware.FtcPotentiometer;
|
||||
import org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController;
|
||||
import org.firstinspires.ftc.teamcode.mock.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) {
|
||||
FtcCRServo chuteServo = hardwareMap.get(CRServo.class, "chute_servo");
|
||||
motor = new FtcCRServo(chuteServo);
|
||||
} else {
|
||||
FtcDCMotor 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);
|
||||
|
||||
|
||||
@@ -1,5 +1,9 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.mock.MockMotor;
|
||||
import org.firstinspires.ftc.teamcode.mock.MockDCMotor;
|
||||
import org.firstinspires.ftc.teamcode.mock.MockPotentiometer;
|
||||
|
||||
/**
|
||||
* Main entry point for chute control system.
|
||||
*
|
||||
@@ -22,7 +26,14 @@ 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 (drop-in replacement):
|
||||
* 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 +49,8 @@ package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
* </ul>
|
||||
*
|
||||
* @see ChuteController
|
||||
* @see FtcDCMotor
|
||||
* @see FtcCRServo
|
||||
* @see MockPotentiometer
|
||||
* @see FtcPotentiometer
|
||||
*/
|
||||
@@ -64,7 +77,7 @@ public class Chute {
|
||||
* @param wrapAmount Potentiometer wraparound amount in radians (e.g., pi, 2pi, 4pi)
|
||||
*/
|
||||
public Chute(double maxExtension, double wrapAmount) {
|
||||
this.motor = new MockMotor();
|
||||
this.motor = new MockDCMotor();
|
||||
this.pot = new MockPotentiometer(wrapAmount);
|
||||
this.controller = new ChuteController(motor, pot, maxExtension);
|
||||
}
|
||||
@@ -74,9 +87,10 @@ 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 Motor adapter (FtcDCMotor or FtcCRServo)
|
||||
* @param pot FtcPotentiometer adapter wrapping AnalogInput
|
||||
* @see FtcMotor
|
||||
* @see FtcDCMotor
|
||||
* @see FtcCRServo
|
||||
* @see FtcPotentiometer
|
||||
*/
|
||||
public Chute(ChuteController controller, MockMotor motor, MockPotentiometer pot) {
|
||||
|
||||
@@ -1,5 +1,8 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.mock.MockMotor;
|
||||
import org.firstinspires.ftc.teamcode.mock.MockPotentiometer;
|
||||
|
||||
/**
|
||||
* Simple chute controller with homing and position control.
|
||||
*/
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
package org.firstinspires.ftc.teamcode.subsystems.chute;
|
||||
|
||||
import org.firstinspires.ftc.teamcode.mock.MockCRServo;
|
||||
import org.firstinspires.ftc.teamcode.mock.MockPotentiometer;
|
||||
import org.junit.jupiter.api.Test;
|
||||
import static org.junit.jupiter.api.Assertions.*;
|
||||
|
||||
@@ -268,4 +270,138 @@ public class ChuteTest {
|
||||
assertEquals(3.0, chute.getPot().getWrapAmount(), EPSILON,
|
||||
"Pot should wrap at 3.0 radians");
|
||||
}
|
||||
|
||||
// ========================================================================
|
||||
// CRServo adapter tests
|
||||
//
|
||||
// FtcCRServo extends MockDCMotor 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");
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user