karx/FreeOfCharge2022-23
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updated for new lift system

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Khosraw Azizi 2022-11-03 17:49:26 -05:00 committed by GitHub
parent 8285e7109c
commit 7a17ff6c98
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 17 additions and 9 deletions
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26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/MonoControllerDriveTeleOp.java
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@ -11,8 +11,10 @@ public class MonoControllerDriveTeleOp extends OpMode {
//Drive Variables
private DcMotor motorFR, motorFL, motorRR, motorRL;
private double powerFR, powerFL, powerRR, powerRL;
private DcMotor motorLift;
private double powerLift;
private DcMotor motorLiftUp;
private DcMotor motorLiftDown;
private double powerLiftUp;
private double powerLiftDown;
private double drive = 0, strafe = 0, turn = 0;
private double speed = 1;
private final boolean lockSpeed = true;
@ -42,11 +44,14 @@ public class MonoControllerDriveTeleOp extends OpMode {
powerRL = drive - strafe;
if (gamepad1.a) {
powerLift = 0.3;
powerLiftUp = 0.3;
powerLiftDown = 0.3;
} else if (gamepad1.b) {
powerLift = -0.3;
powerLiftDown = -0.3;
powerLiftUp = -0.3;
} else {
powerLift = 0;
powerLiftUp = 0;
powerLiftDown = 0;
}
addTurn(turn);
@ -63,7 +68,8 @@ public class MonoControllerDriveTeleOp extends OpMode {
motorRR.setPower(powerRR);
motorRL.setPower(powerRL);
motorLift.setPower(powerLift);
motorLiftUp.setPower(powerLiftUp);
motorLiftDown.setPower(powerLiftDown);
telemetry.addData("speed", speed);
telemetry.update();
@ -84,7 +90,8 @@ public class MonoControllerDriveTeleOp extends OpMode {
motorRR = hardwareMap.get(DcMotor.class, "rearRight");
motorRL = hardwareMap.get(DcMotor.class, "rearLeft");
motorLift = hardwareMap.get(DcMotor.class, "lift");
motorLiftUp = hardwareMap.get(DcMotor.class, "liftUp");
motorLiftDown = hardwareMap.get(DcMotor.class, "liftDown");
motorFL.setDirection(DcMotorSimple.Direction.REVERSE);
motorRL.setDirection(DcMotorSimple.Direction.REVERSE);
@ -103,6 +110,7 @@ public class MonoControllerDriveTeleOp extends OpMode {
motorFL.setPower(0);
motorRR.setPower(0);
motorRL.setPower(0);
motorLift.setPower(0);
motorLiftUp.setPower(0);
motorLiftDown.setPower(0);
}
}
}