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Program Errors in Teleop Program-Adding Servos

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  • Program Errors in Teleop Program-Adding Servos

    We have come up with this program after attempting to add three servos to the teleop mode:

    /* Copyright (c) 2017 FIRST. All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without modification,
    * are permitted (subject to the limitations in the disclaimer below) provided that
    * the following conditions are met:
    *
    * Redistributions of source code must retain the above copyright notice, this list
    * of conditions and the following disclaimer.
    *
    * Redistributions in binary form must reproduce the above copyright notice, this
    * list of conditions and the following disclaimer in the documentation and/or
    * other materials provided with the distribution.
    *
    * Neither the name of FIRST nor the names of its contributors may be used to endorse or
    * promote products derived from this software without specific prior written permission.
    *
    * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
    * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
    * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
    * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
    * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
    * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
    * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
    * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    */

    package org.firstinspires.ftc.teamcode;

    import com.qualcomm.robotcore.eventloop.opmode.Disabled;
    import com.qualcomm.robotcore.util.ElapsedTime;
    import com.qualcomm.robotcore.hardware.Servo;
    import com.qualcomm.robotcore.hardware.DcMotor;
    import com.qualcomm.robotcore.util.ElapsedTime;
    import com.qualcomm.robotcore.eventloop.opmode.OpMode;
    import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
    import com.qualcomm.robotcore.util.Range;

    /**
    * This file contains an example of an iterative (Non-Linear) "OpMode".
    * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
    * The names of OpModes appear on the menu of the FTC Driver Station.
    * When an selection is made from the menu, the corresponding OpMode
    * class is instantiated on the Robot Controller and executed.
    *
    * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
    * It includes all the skeletal structure that all iterative OpModes contain.
    *
    * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
    * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
    */

    @TeleOp(name="Tom", group="Iterative Opmode")

    public class Tom extends OpMode
    {
    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor leftDrive = null;
    private DcMotor rightDrive = null;
    private Servo top_hand = null;
    private Servo lowerArm = null;
    private Servo upperArm = null;
    private Servo leftHand = null;




    private double handOffset = 0.0 ; // Servo mid position
    private final double CLAW_SPEED = 0.01 ; // sets rate to move serv
    private final double HAND_SPEED = 0.01 ; // sets rate to move serv
    private double upper;
    private double lower;
    /*
    * Code to run ONCE when the driver hits INIT
    */
    @Override
    public void init() {
    telemetry.addData("Status", "Initialized");

    // Initialize the hardware variables. Note that the strings used here as parameters
    // to 'get' must correspond to the names assigned during the robot configuration
    // step (using the FTC Robot Controller app on the phone).
    leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
    rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
    top_hand = hardwareMap.get(Servo.class, "top_hand");
    leftHand = hardwareMap.get(Servo.class, "leftHand");
    upperArm = hardwareMap.get(Servo.class, "upperArm");
    lowerArm = hardwareMap.get(Servo.class, "lowerArm");


    // Most robots need the motor on one side to be reversed to drive forward
    // Reverse the motor that runs backwards when connected directly to the battery
    leftDrive.setDirection(DcMotor.Direction.REVERSE);
    rightDrive.setDirection(DcMotor.Direction.FORWARD) ;

    // Tell the driver that initialization is complete.
    telemetry.addData("Status", "Initialized");

    }

    /*
    * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
    */
    @Override
    public void init_loop() {
    }

    /*
    * Code to run ONCE when the driver hits PLAY
    */
    @Override
    public void start() {
    runtime.reset();
    }

    /*
    * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
    */
    @Override
    public void loop() {
    // Setup a variable for each drive wheel to save power level for telemetry
    double leftPower;
    double rightPower;

    // Choose to drive using either Tank Mode, or POV Mode
    // Comment out the method that's not used. The default below is POV.

    // POV Mode uses left stick to go forward, and right stick to turn.
    // - This uses basic math to combine motions and is easier to drive straight.
    //double drive = -gamepad1.left_stick_y;
    //double turn = gamepad1.right_stick_x;
    //leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
    //rightPower = Range.clip(drive - turn, -1.0, 1.0) ;


    if (gamepad1.right_bumper) {
    handOffset += CLAW_SPEED;
    }
    else if (gamepad1.left_bumper)
    handOffset -= CLAW_SPEED;


    //Press front bumpers to move hand and pick up score elements
    if (gamepad2.right_bumper) {
    handOffset += HAND_SPEED;
    }
    else if (gamepad2.left_bumper)
    handOffset -= HAND_SPEED;


    // Tank Mode uses one stick to control each wheel.
    // - This requires no math, but it is hard to drive forward slowly and keep straight.
    rightPower = -gamepad1.left_stick_y ;
    leftPower = -gamepad1.right_stick_y ;

    // Send calculated power to arm
    leftDrive.setPower(leftPower);
    rightDrive.setPower(rightPower);

    upper = gamepad2.left_stick_y*.5 ;
    lower = gamepad2.right_stick_y*.5 ;

    upperArm.setPower(upper);
    lowerArm.setPower(lower);


    // Show the elapsed game time and wheel power.
    telemetry.addData("Status", "Run Time: " + runtime.toString());
    telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);

    }

    /*
    * Code to run ONCE after the driver hits STOP
    */
    @Override
    public void stop() {
    }

    }


    The following errors show up and we do not know how to fix them:


    Build started at Fri Sep 28 2018 08:37:22 GMT-0700 (Pacific Daylight Time)
    org/firstinspires/ftc/teamcode/Tom.java line 166, column 18: ERROR: cannot find symbol
    symbol: method setPower(double)
    location: variable upperArm of type com.qualcomm.robotcore.hardware.Servo
    org/firstinspires/ftc/teamcode/Tom.java line 167, column 18: ERROR: cannot find symbol
    symbol: method setPower(double)
    location: variable lowerArm of type com.qualcomm.robotcore.hardware.Servo
    org/firstinspires/ftc/teamcode/HardwarePushbot.java line 105, column 29: ERROR: incompatible types: com.qualcomm.robotcore.hardware.Servo cannot be converted to com.qualcomm.robotcore.hardware.DcMotor
    org/firstinspires/ftc/teamcode/HardwarePushbot.java line 106, column 17: ERROR: cannot find symbol
    symbol: method setPosition(double)
    location: variable upperArm of type com.qualcomm.robotcore.hardware.DcMotor
    org/firstinspires/ftc/teamcode/HardwarePushbot.java line 107, column 29: ERROR: incompatible types: com.qualcomm.robotcore.hardware.Servo cannot be converted to com.qualcomm.robotcore.hardware.DcMotor
    org/firstinspires/ftc/teamcode/HardwarePushbot.java line 108, column 17: ERROR: cannot find symbol
    symbol: method setPosition(double)
    location: variable lowerArm of type com.qualcomm.robotcore.hardware.DcMotor


    Build finished in 1.2 seconds
    Build FAILED!

    -Any help would be greatly appreciated!

  • #2
    setPower only applies to motors, not servos. With a servo you can only set the position by passing it a number between 0.0 and 1.0. For example:

    Code:
     
     upperArm.setPosition(0.5);
    would move the upperArm servo to its halfway point.

    Comment


    • #3
      mlwilliams Thank you!

      Comment

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