navXRotateToAnglePIDLinearOp.java

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package com.qualcomm.ftcrobotcontroller.opmodes;

import android.util.Log;

import com.kauailabs.navx.ftc.AHRS;
import com.kauailabs.navx.ftc.navXPIDController;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.util.ElapsedTime;

import java.text.DecimalFormat;

/*
 * An example linear op mode where the robot will rotate
 * to a specified angle an then stop.
 *
 * This example uses a simple PID controller configuration
 * with a P coefficient, and will likely need tuning in order
 * to achieve optimal performance.
 *
 * Note that for the best accuracy, a reasonably high update rate
 * for the navX-Model sensor should be used.
 */
public class navXRotateToAnglePIDLinearOp extends LinearOpMode {
    DcMotor leftMotor;
    DcMotor rightMotor;

    /* This is the port on the Core Device Interface Module        */
    /* in which the navX-Model Device is connected.  Modify this  */
    /* depending upon which I2C port you are using.               */
    private final int NAVX_DIM_I2C_PORT = 0;
    private AHRS navx_device;
    private navXPIDController yawPIDController;
    private ElapsedTime runtime = new ElapsedTime();

    private final byte NAVX_DEVICE_UPDATE_RATE_HZ = 50;

    private final double TARGET_ANGLE_DEGREES = 90.0;
    private final double TOLERANCE_DEGREES = 2.0;
    private final double MIN_MOTOR_OUTPUT_VALUE = -1.0;
    private final double MAX_MOTOR_OUTPUT_VALUE = 1.0;
    private final double YAW_PID_P = 0.005;
    private final double YAW_PID_I = 0.0;
    private final double YAW_PID_D = 0.0;

    private boolean calibration_complete = false;

    @Override
    public void runOpMode() throws InterruptedException {
        leftMotor = hardwareMap.dcMotor.get("left_drive");
        rightMotor = hardwareMap.dcMotor.get("right_drive");

        navx_device = AHRS.getInstance(hardwareMap.deviceInterfaceModule.get("dim"),
                NAVX_DIM_I2C_PORT,
                AHRS.DeviceDataType.kProcessedData,
                NAVX_DEVICE_UPDATE_RATE_HZ);

        rightMotor.setDirection(DcMotor.Direction.REVERSE);

        /* If possible, use encoders when driving, as it results in more */
        /* predictable drive system response.                           */
        //leftMotor.setChannelMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
        //rightMotor.setChannelMode(DcMotorController.RunMode.RUN_USING_ENCODERS);

        /* Create a PID Controller which uses the Yaw Angle as input. */
        yawPIDController = new navXPIDController( navx_device,
                                    navXPIDController.navXTimestampedDataSource.YAW);

        /* Configure the PID controller */
        yawPIDController.setSetpoint(TARGET_ANGLE_DEGREES);
        yawPIDController.setContinuous(true);
        yawPIDController.setOutputRange(MIN_MOTOR_OUTPUT_VALUE, MAX_MOTOR_OUTPUT_VALUE);
        yawPIDController.setTolerance(navXPIDController.ToleranceType.ABSOLUTE, TOLERANCE_DEGREES);
        yawPIDController.setPID(YAW_PID_P, YAW_PID_I, YAW_PID_D);

        waitForStart();

        while ( !calibration_complete ) {
            /* navX-Micro Calibration completes automatically ~15 seconds after it is
            powered on, as long as the device is still.  To handle the case where the
            navX-Micro has not been able to calibrate successfully, hold off using
            the navX-Micro Yaw value until calibration is complete.
             */
            calibration_complete = !navx_device.isCalibrating();
            if (!calibration_complete) {
                telemetry.addData("navX-Micro", "Startup Calibration in Progress");
            }
        }
        navx_device.zeroYaw();

        try {
            yawPIDController.enable(true);

        /* Wait for new Yaw PID output values, then update the motors
           with the new PID value with each new output value.
         */

            final double TOTAL_RUN_TIME_SECONDS = 30.0;
            int DEVICE_TIMEOUT_MS = 500;
            navXPIDController.PIDResult yawPIDResult = new navXPIDController.PIDResult();

            DecimalFormat df = new DecimalFormat("#.##");

            while ( (runtime.time() < TOTAL_RUN_TIME_SECONDS) &&
                    !Thread.currentThread().isInterrupted()) {
                if (yawPIDController.waitForNewUpdate(yawPIDResult, DEVICE_TIMEOUT_MS)) {
                    if (yawPIDResult.isOnTarget()) {
                        leftMotor.setPowerFloat();
                        rightMotor.setPowerFloat();
                        telemetry.addData("PIDOutput", df.format(0.00));
                    } else {
                        double output = yawPIDResult.getOutput();
                        leftMotor.setPower(output);
                        rightMotor.setPower(-output);
                        telemetry.addData("PIDOutput", df.format(output) + ", " +
                                df.format(-output));
                    }
                } else {
			    /* A timeout occurred */
                    Log.w("navXRotateOp", "Yaw PID waitForNewUpdate() TIMEOUT.");
                }
                telemetry.addData("Yaw", df.format(navx_device.getYaw()));
            }
        }
        catch(InterruptedException ex) {
             Thread.currentThread().interrupt();
        }
        finally {
            navx_device.close();
            telemetry.addData("LinearOp", "Complete");
        }
    }
}