51 lines
1.1 KiB
Java
51 lines
1.1 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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@TeleOp
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public class controllerOpMode extends OpMode {
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private DcMotor frontRight, frontLeft, rearRight, rearLeft;
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private double drive,strafe, turn;
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private double speed;
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MotorControl driveMotors;
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public void loop() {
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detectSpeedChange();
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drive = 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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telemetry.addData("Speed", "Current Speed = " + Math.round(speed*100));
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telemetry.update();
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driveMotors.drive(drive, strafe, turn, speed);
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}
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public void init(){
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driveMotors = new MotorControl();
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speed = 0.25;
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}
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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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}
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