org.firstinspires.ftc.teamcode.hardware.slidedrive

Class HardwareSlide

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.hardware.slidedrive.HardwareSlide

public class HardwareSlide
extends Mechanism

HardwareTank is the class that is used to define all of the hardware for a single robot. In this case, the robot is: Rover Ruckus. This class contains autonomous actions involving multiple mechanisms. These actions may be common to more than one routine.

Field Summary

Fields

Modifier and Type	Field and Description
Drivetrain	drivetrain Instance variable containing robot's drivetrain.

Fields inherited from class org.firstinspires.ftc.teamcode.hardware.Mechanism

opMode

Constructor Summary

Constructors

Constructor and Description
HardwareSlide() Default constructor for HardwareMain.
HardwareSlide(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode opMode) Overloaded constructor for HardwareMain.

Method Summary

Modifier and Type	Method and Description
void	alignToWall()
void	driveToCrater()
void	dropMarker() Autonomous action for dropping the marker.
void	findGoldLocation(TensorFlowManager visionManager, TensorFlowManager.TFLocation location) Autonomous action for finding the location of the gold cube.
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes all mechanisms on the robot.
void	land() Autonomous action for landing the robot using the rack and pinion mechanism.
void	samplePID(TensorFlowManager visionManager, TensorFlowManager.TFLocation location) Autonomous action for sampling the gold cube.
void	waitForStart() Waits for opMode's to start.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

drivetrain

public Drivetrain drivetrain

Instance variable containing robot's drivetrain.

Constructor Detail

HardwareSlide

public HardwareSlide()

Default constructor for HardwareMain. Instantiates public mechanism instance variables.

HardwareSlide

public HardwareSlide(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode opMode)

Overloaded constructor for HardwareMain. Calls the default constructor and sets the OpMode context for the robot.

Parameters:

opMode - the LinearOpMode that is currently running

Method Detail

init

public void init(com.qualcomm.robotcore.hardware.HardwareMap hwMap)

Initializes all mechanisms on the robot.

Specified by:

init in class Mechanism

Parameters:

hwMap - robot's hardware map

waitForStart

public void waitForStart()

Waits for opMode's to start. Can perform actions while waiting.

land

public void land()

Autonomous action for landing the robot using the rack and pinion mechanism.

findGoldLocation

public void findGoldLocation(TensorFlowManager visionManager,
                             TensorFlowManager.TFLocation location)

Autonomous action for finding the location of the gold cube. This assumes the vision sensor faces the slide of the robot.

Parameters:

visionManager - VisionManager containing the GoldDetector

location - location holds the TFLocation detected

samplePID

public void samplePID(TensorFlowManager visionManager,
                      TensorFlowManager.TFLocation location)

Autonomous action for sampling the gold cube. Uses the robot's servo arm mechanism to detect gold cube and in a linear slide fashion. This assumes the vision sensor faces the slide of the robot.

Parameters:

visionManager - VisionManager containing the GoldDetector

location - location holds the TFLocation detected

dropMarker

public void dropMarker()

Autonomous action for dropping the marker. Uses the robot's distance sensor to detect the robot's position using the vuforia pictograph. Moves parallel to wall until the edge is reached. // * @param targetCol the cryptobox column that is being targeted (left is 0, center is 1, right is 2) // * @param isAllianceRed whether or not the robot is on the Red Alliance

alignToWall

public void alignToWall()

driveToCrater

public void driveToCrater()