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  • Need help with encoders

    I complied something like this for motors to use encoders but am successfully.. any link to sample program how do i use encoder.. we dont have any good programming help and struggling to find some help with using this .. it will help us to be successful and precision on the field with our lift mechanism.... please help

    Code i have. which has issue with direction in encoder statement and struggle how to use.. for e.g.
    package org.firstinspires.ftc.teamcode; import android.app.Activity; import android.view.View; import com.qualcomm.hardware.bosch.BNO055IMU; import com.qualcomm.hardware.bosch.JustLoggingAcceleratio nIntegrator; import com.qualcomm.robotcore.eventloop.opmode.Autonomous ; import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMo de; import com.qualcomm.robotcore.hardware.ColorSensor; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorController; import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorSimple.Dire ction; import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.TouchSensor; import com.qualcomm.robotcore.util.ElapsedTime; import com.qualcomm.robotcore.util.Range; import java.util.Arrays; import org.firstinspires.ftc.robotcore.external.navigatio n.DistanceUnit; import org.firstinspires.ftc.robotcore.external.ClassFact ory; import org.firstinspires.ftc.robotcore.external.matrices. OpenGLMatrix; import org.firstinspires.ftc.robotcore.external.matrices. VectorF; import org.firstinspires.ftc.robotcore.external.navigatio n.AngleUnit; import org.firstinspires.ftc.robotcore.external.navigatio n.AxesOrder; import org.firstinspires.ftc.robotcore.external.navigatio n.AxesReference; import org.firstinspires.ftc.robotcore.external.navigatio n.Orientation; import org.firstinspires.ftc.robotcore.external.navigatio n.RelicRecoveryVuMark; import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaLocalizer; import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaTrackable; import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaTrackableDefaultListener; import org.firstinspires.ftc.robotcore.external.navigatio n.VuforiaTrackables; import org.firstinspires.ftc.robotcore.external.navigatio n.DistanceUnit; @Autonomous(name="EncoderExample", group="Linear Opmode") //@Disabled public class EncoderExample extends LinearOpMode { @Override public void runOpMode() throws InterruptedException { } private DcMotor backmotorleft = null; private DcMotor backmotorright = null; public static final double CountsPerRev = 134.4; // Andymark NeveRest 40 public static final double GearRatio = 16 / 18; public static final double WheelDiameterInches = 4.0; // For figuring circumference public static final double CountsPerInch = ((CountsPerRev / (WheelDiameterInches * 3.1415)) * GearRatio); public void EncoderDrive(double speed, double leftInches, double rightInches, double AccelerationInches, int Direction) { // Declares variables that are used for this method int NewLeftTarget; int NewRightTarget; int RightPosition; int LeftPosition; double LeftPower; double RightPower; // Resets encoders to 0 backmotorleft.setMode(DcMotor.RunMode.STOP_AND_RES ET_ENCODER); backmotorright.setMode(DcMotor.RunMode.STOP_AND_RE SET_ENCODER); // Checks to make sure that encoders are reset. while (backmotorleft.getCurrentPosition() > 1 && backmotorright.getCurrentPosition() > 1) { sleep(25); } if (opModeIsActive()) { // Determine new target position, and pass to motor controller // Calculates the needed encoder ticks by multiplying a pre-determined amount of CountsPerInches, // and the method input gets the actual distance travel in inches NewLeftTarget = backmotorleft.getCurrentPosition() + (int) (leftInches * CountsPerInch); NewRightTarget = backmotorright.getCurrentPosition() + (int) (rightInches * CountsPerInch); // Gets the current position of the encoders at the beginning of the EncoderDrive method RightPosition = backmotorright.getCurrentPosition(); LeftPosition = backmotorleft.getCurrentPosition(); // Gives the encoders the target. backmotorleft.setTargetPosition(NewLeftTarget); backmotorright.setTargetPosition(NewRightTarget); backmotorright.setMode(DcMotor.RunMode.STOP_AND_RE SET_ENCODER); backmotorleft.setMode(DcMotor.RunMode.STOP_AND_RES ET_ENCODER); while (backmotorleft.getCurrentPosition() > 1) { sleep(15); } // Turn On RUN_TO_POSITION backmotorleft.setMode(DcMotor.RunMode.RUN_USING_EN CODER); backmotorright.setMode(DcMotor.RunMode.RUN_USING_E NCODER); // reset the timeout time and start motion. waitForStart(); EncoderDrive(.5, 10, 10, 4, Forward); // This gets where the motor encoders will be at full position when it will be at full speed. double LeftEncoderPositionAtFullSpeed = ((AccelerationInches * (CountsPerInch)) + LeftPosition); double RightEncoderPositionAtFullSpeed = ((AccelerationInches * (CountsPerInch)) + RightPosition); boolean Running = true; // This gets the absolute value of the encoder positions at full speed - the current speed, and while it's greater than 0, it will continues increasing the speed. // This allows the robot to accelerate over a set number of inches, which reduces wheel slippage and increases overall reliability while (backmotorleft.isBusy() && backmotorright.isBusy() && Running && opModeIsActive()) { // While encoders are not at position if (((Math.abs(speed)) - (Math.abs(backmotorleft.getPower()))) > .05) { // This allows the robot to accelerate over a set distance, rather than going full speed. This reduces wheel slippage and increases reliability. LeftPower = (Range.clip(Math.abs((backmotorleft.getCurrentPosi tion()) / (LeftEncoderPositionAtFullSpeed)), .15, speed)); RightPower = (Range.clip(Math.abs((backmotorright.getCurrentPos ition()) / (RightEncoderPositionAtFullSpeed)), .15, speed)); backmotorleft.setPower(LeftPower * Direction); backmotorright.setPower(RightPower * Direction); // telemetry.addData("In Accel loop CM", +Distance.getDistance(DistanceUnit.CM)); telemetry.addData("Accelerating", RightEncoderPositionAtFullSpeed); telemetry.addData("Path1", "Running to %7d :%7d", NewLeftTarget, NewRightTarget); telemetry.addData("Path2", "Running at %7d :%7d", backmotorleft.getCurrentPosition(), backmotorright.getCurrentPosition()); // telemetry.addData("Sections Complete:", +SectionsCompleted); telemetry.update(); } else if (Math.abs(NewLeftTarget) - Math.abs(backmotorleft.getCurrentPosition()) < -1) { Running = false; } else { // Multiplies the speed desired by the direction, which has a value of either 1, or -1, and allows for backwards driving with the ramp up function backmotorleft.setPower((speed * Direction)); backmotorright.setPower((speed * Direction)); // telemetry.addData("In Reg loop CM", +Distance.getDistance(DistanceUnit.CM)); telemetry.addData("Path1", "Running to %7d :%7d", NewLeftTarget, NewRightTarget); telemetry.addData("Path2", "Running at %7d :%7d", backmotorleft.getCurrentPosition(), backmotorright.getCurrentPosition()); //telemetry.addData("Sections Complete:", +SectionsCompleted); telemetry.update(); } // Display information for the driver. } // Stops all motion // Set to run without encoder, so it's not necessary to declare this every time after the method is used backmotorleft.setMode(DcMotor.RunMode.RUN_WITHOUT_ ENCODER); backmotorright.setMode(DcMotor.RunMode.RUN_WITHOUT _ENCODER); // Set power to 0 backmotorleft.setPower(0); backmotorright.setPower(0); } } }

  • #2
    If you go into wordpad and paste your code then add it as an attachment it will be much easier to read and much easier to get help.

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