karx/FreeOfCharge2022-23
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Claw control

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This commit is contained in:
Yash Karandikar 2022-11-11 22:26:19 -06:00
parent 17387ad419
commit b74d5a38dd
1 changed files with 14 additions and 0 deletions
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14
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/teleops/DriveTeleOp.java
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@ -4,6 +4,8 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import java.text.DecimalFormat;
@TeleOp(name = "TELEOP - USE THIS ONE")
@ -14,10 +16,14 @@ public class DriveTeleOp extends OpMode {
private DcMotor motorLiftLeft;
private DcMotor motorLiftRight;
private double powerLift;
private Servo claw;
private double clawPos = 0;
private double lastClawPos = 0;
private double drive = 0, strafe = 0, turn = 0;
private double speed = 1;
private boolean last_left_bumper = false;
private boolean last_right_bumper = false;
private boolean last_claw_control = false;
@Override
public void loop() {
@ -34,6 +40,7 @@ public class DriveTeleOp extends OpMode {
powerLift = -1 * gamepad2.left_stick_y;
if (gamepad1.left_bumper && last_left_bumper != gamepad1.left_bumper) speed = Math.max(0.15, speed - 0.15);
if (gamepad1.right_bumper && last_right_bumper != gamepad1.right_bumper) speed = Math.min(1, speed + 0.15);
if (gamepad2.a && last_claw_control != gamepad2.a) clawPos = (clawPos == 0 ? 1 : 0);
last_left_bumper = gamepad1.left_bumper;
last_right_bumper = gamepad1.right_bumper;
@ -62,6 +69,11 @@ public class DriveTeleOp extends OpMode {
motorLiftLeft.setPower(powerLift);
motorLiftRight.setPower(powerLift);
// TODO: keep / remove these lines based on empirical testing
if (lastClawPos != clawPos) claw.setPosition(clawPos);
lastClawPos = clawPos;
DecimalFormat df = new DecimalFormat("#%");
telemetry.addData("speed", df.format(speed));
telemetry.update();
@ -85,6 +97,8 @@ public class DriveTeleOp extends OpMode {
motorLiftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
motorLiftRight = hardwareMap.get(DcMotor.class, "liftRight");
claw = hardwareMap.get(Servo.class, "claw");
motorFL.setDirection(DcMotorSimple.Direction.REVERSE);
motorRL.setDirection(DcMotorSimple.Direction.REVERSE);