karx/FtcRobotController
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Add lift and carousel control

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This commit is contained in:
4a656666 2021-12-02 17:15:15 -06:00
parent b565bdd4b4
commit 9cd15560b0
3 changed files with 20 additions and 9 deletions
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3
.gitignore vendored
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@ -1,3 +1,6 @@
# fork ds store
.DS_Store
# Built application files
*.apk
*.aar

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java
View file

@ -151,6 +151,16 @@ public class API {
rawMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
}
}
public void controlWithTwoButtons(boolean positiveControl, boolean negativeControl) {
if (positiveControl && !negativeControl) this.start(1);
else if (negativeControl && !positiveControl) this.start(-1);
else this.stop();
}
public void controlWithOneButton(boolean positiveControl) {
this.controlWithTwoButtons(positiveControl, false);
}
}
public enum MotorBehaviour {

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Gamepad.java
View file

@ -8,7 +8,9 @@ public class Gamepad extends OpMode {
private double speed = 1;
private double prevSpeed = 1;
private double imuOut = 0;
private API.Motor intake = API.Motor.M4;
private API.Motor intakeMotor = API.Motor.M4;
private API.Motor liftMotor = API.Motor.M5;
private API.Motor carouselMotor = API.Motor.M6;
@Override
public void init() {
@ -26,7 +28,7 @@ public class Gamepad extends OpMode {
public void start() {
API.clear();
API.imu.reset();
intake.setPower(1);
intakeMotor.setDirection(API.Direction.REVERSE);
}
@Override
@ -49,13 +51,9 @@ public class Gamepad extends OpMode {
if (gamepad1.right_bumper) speed = Math.min(speed+0.01, 1);
else if (gamepad1.left_bumper) speed = Math.max(speed-0.01, 0.2);
if (gamepad1.a) {
intake.setDirection(API.Direction.REVERSE, true);
} else if (gamepad1.b) {
intake.setDirection(API.Direction.FORWARD, true);
} else {
intake.stop();
}
intakeMotor.controlWithTwoButtons(gamepad1.a, gamepad1.b);
liftMotor.controlWithTwoButtons(gamepad1.dpad_up, gamepad1.dpad_down);
carouselMotor.controlWithOneButton(gamepad1.x);
ms-=System.currentTimeMillis();
if (ms>5) try {