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...ain/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java
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| /* Copyright (c) 2019 Phil Malone. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without modification, | ||
| * are permitted (subject to the limitations in the disclaimer below) provided that | ||
| * the following conditions are met: | ||
| * | ||
| * Redistributions of source code must retain the above copyright notice, this list | ||
| * of conditions and the following disclaimer. | ||
| * | ||
| * Redistributions in binary form must reproduce the above copyright notice, this | ||
| * list of conditions and the following disclaimer in the documentation and/or | ||
| * other materials provided with the distribution. | ||
| * | ||
| * Neither the name of FIRST nor the names of its contributors may be used to endorse or | ||
| * promote products derived from this software without specific prior written permission. | ||
| * | ||
| * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS | ||
| * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, | ||
| * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE | ||
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| package org.firstinspires.ftc.robotcontroller.external.samples; | ||
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| import com.qualcomm.hardware.lynx.LynxModule; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Disabled; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.qualcomm.robotcore.hardware.DcMotorEx; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
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| import java.util.Iterator; | ||
| import java.util.List; | ||
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| /* | ||
| This sample illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times. | ||
| In this example there are 4 motors that need their encoder positions, and velocities read. | ||
| The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located. | ||
| Three scenarios are tested: | ||
| Cache Mode = OFF This is the normal default, where no cache is used, and every read produces a discrete transaction with | ||
| an expansion hub, which is the slowest approach. | ||
| Cache Mode = AUTO This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads | ||
| and then returning values that have been cached. The cache is updated automatically whenever a specific read operation is repeated. | ||
| This mode will always return fresh data, but it may perform more bulk-reads than absolutely required. | ||
| Extra reads will be performed if multiple identical encoder/velocity reads are performed in one control cycle. | ||
| This mode is a good compromise between the OFF and MANUAL modes. | ||
| Cache Mode = MANUAL This mode enables the user's code to determine the best time to refresh the cached bulk-read data. | ||
| Well organized code can place all the sensor reads in one location, and then just reset the cache once per control cycle. | ||
| The approach will produce the shortest cycle times, but it does require the user to manually clear the cache. | ||
| ------------------------------------- | ||
| General tip to speed up your control cycles: | ||
| No matter what method you use to read encoders and other inputs, you should try to | ||
| avoid reading the same input multiple times around a control loop. | ||
| Under normal conditions, this will slow down the control loop. | ||
| The preferred method is to read all the required inputs ONCE at the beginning of the loop, | ||
| and save the values in variable that can be used by other parts of the control code. | ||
| eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition() | ||
| call in the telemetry statement will force the code to go and get another copy which will take time. | ||
| It's much better read the position into a variable once, and use that variable for control AND display. | ||
| Reading saved variables takes no time at all. | ||
| Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use | ||
| the bulk-read AUTO mode to streamline your cycle timing. | ||
| */ | ||
| @TeleOp (name = "Motor Bulk Reads", group = "Tests") | ||
| @Disabled | ||
| public class ConceptMotorBulkRead extends LinearOpMode { | ||
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| final int TEST_CYCLES = 500; // Number of control cycles to run to determine cycle times. | ||
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| private DcMotorEx m1, m2, m3, m4; // Motor Objects | ||
| private long e1, e2, e3, e4; // Encoder Values | ||
| private double v1, v2, v3, v4; // Velocities | ||
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| // Cycle Times | ||
| double t1 = 0; | ||
| double t2 = 0; | ||
| double t3 = 0; | ||
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| @Override | ||
| public void runOpMode() { | ||
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| int cycles; | ||
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| // Important Step 1: Make sure you use DcMotorEx when you instantiate your motors. | ||
| m1 = hardwareMap.get(DcMotorEx.class, "m1"); // Configure the robot to use these 4 motor names, | ||
| m2 = hardwareMap.get(DcMotorEx.class, "m2"); // or change these strings to match your existing Robot Configuration. | ||
| m3 = hardwareMap.get(DcMotorEx.class, "m3"); | ||
| m4 = hardwareMap.get(DcMotorEx.class, "m4"); | ||
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| // Important Step 2: Get access to a list of Expansion Hub Modules to enable changing caching methods. | ||
| List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class); | ||
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| ElapsedTime timer = new ElapsedTime(); | ||
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| telemetry.addData(">", "Press play to start tests"); | ||
| telemetry.addData(">", "Test results will update for each access method."); | ||
| telemetry.update(); | ||
| waitForStart(); | ||
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| // -------------------------------------------------------------------------------------- | ||
| // Run control loop using legacy encoder reads | ||
| // In this mode, a single read is done for each encoder position, and a bulk read is done for each velocity read. | ||
| // This is the worst case scenario. | ||
| // This is the same as using LynxModule.BulkCachingMode.OFF | ||
| // -------------------------------------------------------------------------------------- | ||
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| displayCycleTimes("Test 1 of 3 (Wait for completion)"); | ||
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| timer.reset(); | ||
| cycles = 0; | ||
| while (opModeIsActive() && (cycles++ < TEST_CYCLES)) { | ||
| e1 = m1.getCurrentPosition(); | ||
| e2 = m2.getCurrentPosition(); | ||
| e3 = m3.getCurrentPosition(); | ||
| e4 = m4.getCurrentPosition(); | ||
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| v1 = m1.getVelocity(); | ||
| v2 = m2.getVelocity(); | ||
| v3 = m3.getVelocity(); | ||
| v4 = m4.getVelocity(); | ||
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| // Put Control loop action code here. | ||
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| } | ||
| // calculate the average cycle time. | ||
| t1 = timer.milliseconds() / cycles; | ||
| displayCycleTimes("Test 2 of 3 (Wait for completion)"); | ||
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| // -------------------------------------------------------------------------------------- | ||
| // Run test cycles using AUTO cache mode | ||
| // In this mode, only one bulk read is done per cycle, UNLESS you read a specific encoder/velocity item AGAIN in that cycle. | ||
| // -------------------------------------------------------------------------------------- | ||
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| // Important Step 3: Option A. Set all Expansion hubs to use the AUTO Bulk Caching mode | ||
| for (LynxModule module : allHubs) { | ||
| module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO); | ||
| } | ||
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| timer.reset(); | ||
| cycles = 0; | ||
| while (opModeIsActive() && (cycles++ < TEST_CYCLES)) { | ||
| e1 = m1.getCurrentPosition(); // Uses 1 bulk-read for all 4 encoder/velocity reads, | ||
| e2 = m2.getCurrentPosition(); // but don't do any `get` operations more than once per cycle. | ||
| e3 = m3.getCurrentPosition(); | ||
| e4 = m4.getCurrentPosition(); | ||
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| v1 = m1.getVelocity(); | ||
| v2 = m2.getVelocity(); | ||
| v3 = m3.getVelocity(); | ||
| v4 = m4.getVelocity(); | ||
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| // Put Control loop action code here. | ||
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| } | ||
| // calculate the average cycle time. | ||
| t2 = timer.milliseconds() / cycles; | ||
| displayCycleTimes("Test 3 of 3 (Wait for completion)"); | ||
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| // -------------------------------------------------------------------------------------- | ||
| // Run test cycles using MANUAL cache mode | ||
| // In this mode, only one block read is done each control cycle. | ||
| // This is the MOST efficient method, but it does require that the cache is cleared manually each control cycle. | ||
| // -------------------------------------------------------------------------------------- | ||
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| // Important Step 3: Option B. Set all Expansion hubs to use the MANUAL Bulk Caching mode | ||
| for (LynxModule module : allHubs) { | ||
| module.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL); | ||
| } | ||
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| timer.reset(); | ||
| cycles = 0; | ||
| while (opModeIsActive() && (cycles++ < TEST_CYCLES)) { | ||
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| // Important Step 4: If you are using MANUAL mode, you must clear the BulkCache once per control cycle | ||
| for (LynxModule module : allHubs) { | ||
| module.clearBulkCache(); | ||
| } | ||
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| e1 = m1.getCurrentPosition(); // Uses 1 bulk-read to obtain ALL the motor data | ||
| e2 = m2.getCurrentPosition(); // There is no penalty for doing more `get` operations in this cycle, | ||
| e3 = m3.getCurrentPosition(); // but they will return the same data. | ||
| e4 = m4.getCurrentPosition(); | ||
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| v1 = m1.getVelocity(); | ||
| v2 = m2.getVelocity(); | ||
| v3 = m3.getVelocity(); | ||
| v4 = m4.getVelocity(); | ||
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| // Put Control loop action code here. | ||
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| } | ||
| // calculate the average cycle time. | ||
| t3 = timer.milliseconds() / cycles; | ||
| displayCycleTimes("Complete"); | ||
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| // wait until op-mode is stopped by user, before clearing display. | ||
| while (opModeIsActive()) ; | ||
| } | ||
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| // Display three comparison times. | ||
| void displayCycleTimes(String status) { | ||
| telemetry.addData("Testing", status); | ||
| telemetry.addData("Cache = OFF", "%5.1f mS/cycle", t1); | ||
| telemetry.addData("Cache = AUTO", "%5.1f mS/cycle", t2); | ||
| telemetry.addData("Cache = MANUAL", "%5.1f mS/cycle", t3); | ||
| telemetry.update(); | ||
| } | ||
| } | ||
|
|
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