karx/FreeOfCharge2022-23
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new new lift system

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This commit is contained in:
Yash Karandikar 2022-11-10 20:03:33 -06:00
parent 78d87e45c2
commit 1e48b51aad
1 changed files with 9 additions and 8 deletions
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17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOp.java
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@ -10,7 +10,8 @@ public class DriveTeleOp extends OpMode {
//Drive Variables
private DcMotor motorFR, motorFL, motorRR, motorRL;
private double powerFR, powerFL, powerRR, powerRL;
private DcMotor motorLift;
private DcMotor motorLiftLeft;
private DcMotor motorLiftRight;
private double powerLift;
private double drive = 0, strafe = 0, turn = 0;
private double speed = 1;
@ -29,7 +30,7 @@ public class DriveTeleOp extends OpMode {
drive = -1 * gamepad1.left_stick_y;
strafe = gamepad1.left_stick_x;
turn = gamepad1.right_stick_x;
powerLift = gamepad2.left_stick_y;
powerLift = -1 * gamepad2.left_stick_y;
if (gamepad1.left_bumper && last_left_bumper != gamepad1.left_bumper) speed = Math.max(0, speed - 0.15);
if (gamepad1.right_bumper && last_right_bumper != gamepad1.right_bumper) speed = Math.min(1, speed + 0.15);
@ -57,7 +58,8 @@ public class DriveTeleOp extends OpMode {
motorRR.setPower(powerRR);
motorRL.setPower(powerRL);
motorLift.setPower(powerLift);
motorLiftLeft.setPower(powerLift);
motorLiftRight.setPower(powerLift);
telemetry.addData("speed", String.format("%.2f", speed));
telemetry.update();
@ -78,28 +80,27 @@ public class DriveTeleOp extends OpMode {
motorRR = hardwareMap.get(DcMotor.class, "rearRight");
motorRL = hardwareMap.get(DcMotor.class, "rearLeft");
motorLift = hardwareMap.get(DcMotor.class, "lift");
motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
motorFL.setDirection(DcMotorSimple.Direction.REVERSE);
motorRL.setDirection(DcMotorSimple.Direction.REVERSE);
motorLift.setDirection(DcMotorSimple.Direction.REVERSE);
motorFR.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motorFL.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motorRR.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motorRL.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motorLift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motorFR.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorFL.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorRR.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorRL.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorLift.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
motorFR.setPower(0);
motorFL.setPower(0);
motorRR.setPower(0);
motorRL.setPower(0);
motorLift.setPower(0);
motorLiftLeft.setPower(0);
motorLiftRight.setPower(0);
}
}