Tonight, I worked on setting up this year's tele-op and hardware code. Currently, we know that we will be using a drive train consisting of 4 omni wheels mounted in a diagonal fashion. I have not worked on coding for it yet, but Google has given me the link to a code library that makes using holonomic drive trains easier. I will not use it directly, but will base my code off of it. Here is the link: https://github.com/StPaulAcademy/HOMAR-FTC-Library. As of right now, I do not have any of the previous year's code due to the fact that we have a new laptop (that the team owns), so I had to do what I did from scratch. Here is the hardware map, the most complete part of the code so far:

package org.firstinspires.ftc.teamcode;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;

public class RoverHardware{

//Drive Train Motors
public DcMotor drive1 = null;
public DcMotor drive2 = null;
public DcMotor drive3 = null;
public DcMotor drive4 = null;

//Internal IMU
public BNO055IMU imu = null;

//Local Op Mode Members
HardwareMap rvMap = null;

//Necessary Constructor
public RoverHardware(){}

//Initialize Mapped Hardware
public void init(HardwareMap ahwMap) {
//Save reference to Hardware map
rvMap = ahwMap;

/*DRIVE TRAIN INITIALIZATION*/

//Retrieve and Initialize Drive Train Motors
drive1 = rvMap.get(DcMotor.class, "drive1");
drive2 = rvMap.get(DcMotor.class, "drive2");
drive3 = rvMap.get(DcMotor.class, "drive3");
drive4 = rvMap.get(DcMotor.class, "drive4");

//Set Drive Train Directions
drive1.setDirection(DcMotor.Direction.FORWARD);
drive2.setDirection(DcMotor.Direction.FORWARD);
drive3.setDirection(DcMotor.Direction.FORWARD);
drive4.setDirection(DcMotor.Direction.FORWARD);

//Set Drive Train Power to 0
drive1.setPower(0);
drive2.setPower(0);
drive3.setPower(0);
drive4.setPower(0);

//Set Drive Train Mode to Run Without The Encoders
drive1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
drive2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
drive3.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
drive4.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

/*IMU INITIALIZATION*/

//Set IMU Parameters
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample opmode
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

//Retrieve and Initialize the IMU
imu = rvMap.get(BNO055IMU.class, "imu");
}
}

In attendance:

Trey, Caitlin, Jake, Xander, Patrick, Nole, Colin, Aiden, Leif, Jaiden, Logan, and Mike

In Attendance: Leif, Aiden, Patrick, and Caitlin

In attendance:

Leif, Caitlin, Lindsay, Siena, Zoey, Xander, Logan, Mike