Merge pull request #2 from rh-robotics/JackR-AddingRR

Adding Road Runner and Meep Meep

FtcRobotController/build.gradle

@@ -14,7 +14,7 @@ android {
         buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
     }
 
-    compileSdkVersion 29
+    compileSdkVersion 30
 
     compileOptions {
         sourceCompatibility JavaVersion.VERSION_1_8

MeepMeepTesting/.gitignore

@@ -0,0 +1 @@
+/build

MeepMeepTesting/build.gradle

@@ -0,0 +1,17 @@
+plugins {
+    id 'java-library'
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_21
+    targetCompatibility = JavaVersion.VERSION_21
+}
+
+repositories {
+    maven { url = 'https://jitpack.io' }
+    maven { url = 'https://maven.brott.dev/' }
+}
+
+dependencies {
+    implementation 'com.github.rh-robotics:MeepMeep:v1.0.0'
+}

MeepMeepTesting/src/main/java/com/example/meepmeeptesting/MeepMeepTesting.java

@@ -0,0 +1,34 @@
+package com.example.meepmeeptesting;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+
+import org.rowlandhall.meepmeep.MeepMeep;
+import org.rowlandhall.meepmeep.roadrunner.DefaultBotBuilder;
+import org.rowlandhall.meepmeep.roadrunner.entity.RoadRunnerBotEntity;
+
+public class MeepMeepTesting {
+    public static void main(String[] args) {
+        MeepMeep meepMeep = new MeepMeep(800);
+
+        RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
+                // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
+                .followTrajectorySequence(drive -> drive.trajectorySequenceBuilder(new Pose2d(0, 0, 0))
+                        .forward(30)
+                        .turn(Math.toRadians(90))
+                        .forward(30)
+                        .turn(Math.toRadians(90))
+                        .forward(30)
+                        .turn(Math.toRadians(90))
+                        .forward(30)
+                        .turn(Math.toRadians(90))
+                        .build());
+
+
+        meepMeep.setBackground(MeepMeep.Background.FIELD_INTOTHEDEEP_JUICE_DARK)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start();
+    }
+}

TeamCode/build.gradle

@@ -71,4 +71,7 @@ dependencies {
     implementation 'org.apache.commons:commons-math3:3.6.1'
     implementation 'org.ftclib.ftclib:core:2.0.1'
     implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+    implementation 'com.acmerobotics.roadrunner:core:0.5.5'
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/roadrunner/drive/DriveConstants.java

@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+
+/*
+ * Constants shared between multiple drive types.
+ *
+ * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final
+ * fields may also be edited through the dashboard (connect to the robot's WiFi network and
+ * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you
+ * adjust them in the dashboard; **config variable changes don't persist between app restarts**.
+ *
+ * These are not the only parameters; some are located in the localizer classes, drive base classes,
+ * and op modes themselves.
+ */
+@Config
+public class DriveConstants {
+
+    /*
+     * These are motor constants that should be listed online for your motors.
+     */
+    public static final double TICKS_PER_REV = 384.5;
+    public static final double MAX_RPM = 435;
+
+    /*
+     * Set RUN_USING_ENCODER to true to enable built-in hub velocity control using drive encoders.
+     * Set this flag to false if drive encoders are not present and an alternative localization
+     * method is in use (e.g., tracking wheels).
+     *
+     * If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients
+     * from DriveVelocityPIDTuner.
+     */
+    public static final boolean RUN_USING_ENCODER = false;
+    public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0, 0, 0,
+            getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV));
+
+    /*
+     * These are physical constants that can be determined from your robot (including the track
+     * width; it will be tune empirically later although a rough estimate is important). Users are
+     * free to chose whichever linear distance unit they would like so long as it is consistently
+     * used. The default values were selected with inches in mind. Road runner uses radians for
+     * angular distances although most angular parameters are wrapped in Math.toRadians() for
+     * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO.
+     */
+    public static double WHEEL_RADIUS = 2; // in
+    public static double GEAR_RATIO = 1; // output (wheel) speed / input (motor) speed
+    public static double TRACK_WIDTH = 13.39; // in
+
+    /*
+     * These are the feedforward parameters used to model the drive motor behavior. If you are using
+     * the built-in velocity PID, *these values are fine as is*. However, if you do not have drive
+     * motor encoders or have elected not to use them for velocity control, these values should be
+     * empirically tuned.
+     */
+    public static double kV = 0.0155; // 1.0 / rpmToVelocity(MAX_RPM);
+    public static double kA = 0.003;
+    public static double kStatic = 0;
+
+    /*
+     * These values are used to generate the trajectories for you robot. To ensure proper operation,
+     * the constraints should never exceed ~80% of the robot's actual capabilities. While Road
+     * Runner is designed to enable faster autonomous motion, it is a good idea for testing to start
+     * small and gradually increase them later after everything is working. All distance units are
+     * inches.
+     */
+    public static double MAX_VEL = 30;
+    public static double MAX_ACCEL = 30;
+    public static double MAX_ANG_VEL = 6.217;
+    public static double MAX_ANG_ACCEL = Math.toRadians(180);
+
+    /*
+     * Adjust the orientations here to match your robot. See the FTC SDK documentation for details.
+     */
+    public static RevHubOrientationOnRobot.LogoFacingDirection LOGO_FACING_DIR =
+            RevHubOrientationOnRobot.LogoFacingDirection.UP;
+    public static RevHubOrientationOnRobot.UsbFacingDirection USB_FACING_DIR =
+            RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+
+
+    public static double encoderTicksToInches(double ticks) {
+        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;
+    }
+
+    public static double rpmToVelocity(double rpm) {
+        return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0;
+    }
+
+    public static double getMotorVelocityF(double ticksPerSecond) {
+        // see https://docs.google.com/document/d/1tyWrXDfMidwYyP_5H4mZyVgaEswhOC35gvdmP-V-5hA/edit#heading=h.61g9ixenznbx
+        return 32767 / ticksPerSecond;
+    }
+}