移动 Templates

Author: 6-BennyLi-9

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/basic/Sensors.java

@@ -9,7 +9,6 @@
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
@@ -54,11 +53,6 @@ public Sensors(@NonNull DeviceMap deviceMap){
 		LastLeftTick=0;
 		LastMiddleTick=0;
 		LastRightTick=0;
-
-		//TODO:根据实际需求修改
-		Left.setDirection(DcMotorSimple.Direction.REVERSE);
-		Middle.setDirection(DcMotorSimple.Direction.REVERSE);
-		Right.setDirection(DcMotorSimple.Direction.REVERSE);
 	}
 
 	public void update(){

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardwares/namespace/HardwareDevices.java

@@ -1,5 +1,9 @@
 package org.firstinspires.ftc.teamcode.Hardwares.namespace;
 
+import static com.qualcomm.robotcore.hardware.DcMotorSimple.Direction.REVERSE;
+
+import static org.firstinspires.ftc.teamcode.Utils.Enums.HardwareState.*;
+
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
@@ -19,14 +23,14 @@ public enum HardwareDevices {
 	RightFront(namespace.RightFront, DcMotorEx.class),
 	LeftRear(namespace.LeftRear, DcMotorEx.class),
 	RightRear(namespace.RightRear, DcMotorEx.class),
-	PlacementArm(namespace.PlacementArm, DcMotorEx.class,HardwareState.Disabled),
-	Intake(namespace.Intake, DcMotorEx.class,HardwareState.Disabled),
-	FrontClip(namespace.FrontClip, Servo.class,HardwareState.Disabled),
-	RearClip(namespace.RearClip, Servo.class,HardwareState.Disabled),
-	SuspensionArm(namespace.SuspensionArm, DcMotorEx.class,HardwareState.Disabled),
-	LeftDeadWheel(LeftRear.deviceName, DcMotorEx.class),
-	MiddleDeadWheel(LeftFront.deviceName,DcMotorEx.class),
-	RightDeadWheel(RightFront.deviceName, DcMotorEx.class),
+	PlacementArm(namespace.PlacementArm, DcMotorEx.class, Disabled),
+	Intake(namespace.Intake, DcMotorEx.class, Disabled),
+	FrontClip(namespace.FrontClip, Servo.class, Disabled),
+	RearClip(namespace.RearClip, Servo.class, Disabled),
+	SuspensionArm(namespace.SuspensionArm, DcMotorEx.class, Disabled),
+	LeftDeadWheel(LeftRear.deviceName, DcMotorEx.class, REVERSE),
+	MiddleDeadWheel(LeftFront.deviceName,DcMotorEx.class, REVERSE),
+	RightDeadWheel(RightFront.deviceName, DcMotorEx.class, REVERSE),
 	imu(namespace.Imu, BNO055IMU .class);
 	public final String deviceName;
 	public final Class<?> classType;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/AutonomousSample.java

@@ -5,7 +5,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 import org.firstinspires.ftc.teamcode.Utils.Enums.AutonomousLocation;
 
 @Autonomous(name = "AutonomousSample",group = "SAMPLE")

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/CameraDetection.java

@@ -5,7 +5,7 @@
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.teamcode.Hardwares.basic.Camera;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 import org.openftc.easyopencv.OpenCvCamera;
 import org.openftc.easyopencv.OpenCvCameraFactory;
 import org.openftc.easyopencv.OpenCvCameraRotation;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Templates/AutonomousProgramTemplate.java renamed to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/Templates/AutonomousProgramTemplate.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.Utils.Templates;
+package org.firstinspires.ftc.teamcode.RIC_samples.Templates;
 
 import com.acmerobotics.roadrunner.Pose2d;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils/Templates/TeleopProgramTemplate.java renamed to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/Templates/TeleopProgramTemplate.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.Utils.Templates;
+package org.firstinspires.ftc.teamcode.RIC_samples.Templates;
 
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/WebcamDetection.java

@@ -6,7 +6,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
 import org.firstinspires.ftc.teamcode.Hardwares.Webcam;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 
 @Disabled
 @Autonomous (name = "WebcamDetection",group = "sample")

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/AutoIMUPositionTuner.java

@@ -4,7 +4,7 @@
 
 import org.firstinspires.ftc.teamcode.Robot;
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 import org.firstinspires.ftc.teamcode.Utils.Enums.driveDirection;
 import org.firstinspires.ftc.teamcode.Utils.Enums.runningState;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/AxialInchPerTickTest.java

@@ -5,7 +5,7 @@
 
 import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 
 @TeleOp(name = "AxialInchPerTickTest",group = "tune")
 @TuningOpModes

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/DWETest.java

@@ -4,7 +4,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 
 @TeleOp(name = "DeadWheelEncoders_Test",group = "tune")
 @TuningOpModes

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/IMUPositionTuner.java

@@ -4,7 +4,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 
 /**
  * 1.把机器的正方向的边缘对齐放在地垫的交界处

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LateralInchPerTickTest.java

@@ -5,7 +5,7 @@
 
 import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 
 @TeleOp(name = "LateralInchPerTickTest",group = "tune")
 @TuningOpModes

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/LocalizationTest.java

@@ -5,7 +5,7 @@
 
 import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive;
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.TeleopProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.TeleopProgramTemplate;
 
 @TeleOp(name = "LocalizationTest",group = "tune")
 @TuningOpModes

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/SMDTest.java

@@ -8,7 +8,7 @@
 import org.firstinspires.ftc.teamcode.DriveControls.Commands.DriveCommandPackage;
 import org.firstinspires.ftc.teamcode.Robot;
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 import org.firstinspires.ftc.teamcode.Utils.Enums.runningState;
 
 @Autonomous(name = "SimpleMecanumDrive_Test",group = "tune")

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_tuning/TurningDegPerTickTest.java

@@ -5,7 +5,7 @@
 
 import org.firstinspires.ftc.teamcode.Params;
 import org.firstinspires.ftc.teamcode.Utils.Annotations.TuningOpModes;
-import org.firstinspires.ftc.teamcode.Utils.Templates.AutonomousProgramTemplate;
+import org.firstinspires.ftc.teamcode.RIC_samples.Templates.AutonomousProgramTemplate;
 
 @TeleOp(name = "TurningDegPerTickTest",group = "tune")
 @TuningOpModes