2866

Team 2866's repository during the 2017 - 2018 FTC season.

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Driving straight using gyro

Suggested modification to end of Drive moveInches function to use gyro to drive straight:

        this.waitForNextHardwareCycle();

        this.linearOpMode.telemetry.addData(TAG, "Started encoder move...");
        while (this.linearOpMode.opModeIsActive() && Math.abs(motorRight.getCurrentPosition() - targetPositionRight) + Math.abs(motorLeft.getCurrentPosition() - targetPositionLeft) > Config.ENCODER_MOVEMENT_TOLERANCE) {
            this.waitForNextHardwareCycle();
        }
        linearOpMode.telemetry.addData(TAG, "Finished encoder move...");

        this.stopDriveMotors();

        this.waitForNextHardwareCycle();

/// NEW
        constant double POWER_SCALE = 0.02;    // 2 percent power per degree of error
        int target_angle = gyro.getIntegratedZValue();
        int delta_angle;
/// end NEW

        this.linearOpMode.telemetry.addData(TAG, "Started encoder move...");
        while (this.linearOpMode.opModeIsActive() && Math.abs(motorRight.getCurrentPosition() - targetPositionRight) + Math.abs(motorLeft.getCurrentPosition() - targetPositionLeft) > Config.ENCODER_MOVEMENT_TOLERANCE) {

/// NEW
            delta_angle = gyro.getIntegratedZValue() - target_angle;

            if (delta_angle > 10) {
              delta_angle = 10;
            }

            motorLeft.setPower(power - delta_angle * POWER_SCALE);
            motorRight.setPower(power + delta_angle * POWER_SCALE);
/// end NEW

            this.waitForNextHardwareCycle();
        }
        linearOpMode.telemetry.addData(TAG, "Finished encoder move...");

        this.stopDriveMotors();