org.firstinspires.ftc.teamcode.drive.opmode

Class MaxAngularVeloTuner

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

org.firstinspires.ftc.teamcode.drive.opmode.MaxAngularVeloTuner

@Disabled
 @Autonomous(group="drive")
public class MaxAngularVeloTuner
extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

This routine is designed to calculate the maximum angular velocity your bot can achieve under load.

Upon pressing start, your bot will turn at max power for RUNTIME seconds.

Further fine tuning of MAX_ANG_VEL may be desired.

Nested Class Summary

Nested classes/interfaces inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode.LinearOpModeHelper

Field Summary

Fields

Modifier and Type	Field and Description
private double	maxAngVelocity
static double	RUNTIME
private com.qualcomm.robotcore.util.ElapsedTime	timer

Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time

Constructor Summary

Constructors

Constructor and Description
MaxAngularVeloTuner()

Method Summary

Modifier and Type	Method and Description
void	runOpMode()

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

handleLoop, idle, init_loop, init, internalPostInitLoop, internalPostLoop, isStarted, isStopRequested, loop, opModeIsActive, sleep, start, stop, waitForStart

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

getRuntime, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, updateTelemetry

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

RUNTIME

public static double RUNTIME

timer

private com.qualcomm.robotcore.util.ElapsedTime timer

maxAngVelocity

private double maxAngVelocity

Constructor Detail

MaxAngularVeloTuner

public MaxAngularVeloTuner()

Method Detail

runOpMode

public void runOpMode()
               throws java.lang.InterruptedException

Specified by:

runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

Throws:

java.lang.InterruptedException