7efec6d03c
lots of stuff no one will read these Former-commit-id: 14dcd018bd1b6f74d4b35aa33d9185aca59e9213
109 lines
3.2 KiB
Java
109 lines
3.2 KiB
Java
package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.Servo;
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@TeleOp
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public class controllerOpMode extends OpMode {
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private DcMotor frontRight, frontLeft, rearRight, rearLeft, spool, spinnyBoy, intakeMotor;
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private double drive,strafe, turn, linearSpeed;
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private double speed;
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MotorBox driveMotors;
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// part that actually runs
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// naturally loops
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public void loop() {
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// checks to see if the speed change button is pressed
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detectSpeedChange();
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detectSlideSpeedChange();
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// sets the driver strafe and turn values
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// drive is negated so 1 is forward
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drive = -1*gamepad1.left_stick_y;
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strafe = gamepad1.left_stick_x;
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turn = gamepad1.right_stick_x;
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// prints the speed
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telemetry.addData("Speed", "Current Speed = " + Math.round(speed*100));
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telemetry.addData("Linear Slide SPeed", "Current Speed = " + Math.round(linearSpeed*100));
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// makes it drive
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// result is just debug values
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String result = driveMotors.drivePower(drive, strafe, turn, speed);
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spool.setPower(gamepad2.left_stick_y*linearSpeed);
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if(gamepad2.b){
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spinnyBoy.setPower(0.5);
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}
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else {
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spinnyBoy.setPower(0);
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}
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if(gamepad2.a){
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intakeMotor.setPower(0.5);
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}
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else {
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intakeMotor.setPower(0);
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}
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//debugging
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//telemetry.addData("Results", result);
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/*
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telemetry.addData("Drive", "Drive = " + drive);
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telemetry.addData("Strafe", "Strafe = " + strafe);
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*/
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//show telemetry
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telemetry.update();
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}
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// initializes the driveMotors MotorBox and speed
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public void init(){
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driveMotors = new MotorBox(
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hardwareMap.get(DcMotor.class, "frontRight"),
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hardwareMap.get(DcMotor.class, "frontLeft"),
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hardwareMap.get(DcMotor.class, "rearRight"),
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hardwareMap.get(DcMotor.class, "rearLeft"),
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false
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);
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speed = 0.25;
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linearSpeed = 0.25;
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spool = hardwareMap.get(DcMotor.class, "spool");
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spinnyBoy = hardwareMap.get(DcMotor.class, "spinnyBoy");
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intakeMotor = hardwareMap.get(DcMotor.class, "intakeMotor");
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spool.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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}
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// detects the speed change button and changes speed accordingly
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public void detectSpeedChange(){
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if (gamepad1.dpad_up){
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if (speed <= 1) {
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speed += 0.0005;
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}
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}
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if (gamepad1.dpad_down){
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if (speed >= 0) {
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speed -= 0.0005;
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}
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}
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}
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public void detectSlideSpeedChange(){
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if (gamepad2.dpad_up){
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if (linearSpeed <= 1) {
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linearSpeed += 0.0005;
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}
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}
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if (gamepad2.dpad_down){
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if (linearSpeed >= 0) {
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linearSpeed -= 0.0005;
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}
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}
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}
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}
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