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Add code for moving intake

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This commit is contained in:
Yash Karandikar 2021-12-02 17:03:58 -06:00
parent 02528c6d94
commit b565bdd4b4
3 changed files with 18 additions and 10 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java
View file

@ -106,7 +106,7 @@ public class API {
* Stops the motor and sets the power to 0
*/
public void stop() {
start(0);
rawMotor.setPower(0);
}
/**
@ -129,7 +129,7 @@ public class API {
public void setDirection(Direction direction, boolean immediate) {
this.direction = direction;
if (immediate) start(this.power);
if (immediate) start();
}
/**

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOpMode.java
View file

@ -9,15 +9,13 @@ public class BasicOpMode extends LinearOpMode {
@Override
public void runOpMode() {
API.init(this);
API.Motor m6 = API.Motor.M6;
m6.setDirection(API.Direction.REVERSE);
API.Servo s3 = API.Servo.S3;
API.Motor motor = API.Motor.M0;
motor.setDirection(API.Direction.REVERSE);
waitForStart();
while(opModeIsActive()) {
m6.start(1);
s3.start(1);
motor.start(1);
}
}
}

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

@ -6,7 +6,9 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
@TeleOp(name="Gamepad 1.0 IMU 1.0")
public class Gamepad extends OpMode {
private double speed = 1;
private double prevSpeed = 1;
private double imuOut = 0;
private API.Motor intake = API.Motor.M4;
@Override
public void init() {
@ -24,6 +26,7 @@ public class Gamepad extends OpMode {
public void start() {
API.clear();
API.imu.reset();
intake.setPower(1);
}
@Override
@ -35,17 +38,24 @@ public class Gamepad extends OpMode {
if (gamepad1.y && gamepad1.right_stick_x == 0) turn = imuOut/180;
else API.imu.reset();
MovementAPI.move(-gamepad1.left_stick_y, gamepad1.left_stick_x, turn, speed, true);
MovementAPI.move(-gamepad1.left_stick_y, gamepad1.left_stick_x, turn, speed, false);
API.print(
"Speed: " + speed + System.lineSeparator() +
"Rotation (degrees, IMU): " + imuOut + System.lineSeparator() +
"IMU Active: " + !gamepad1.y
);
if (gamepad1.right_bumper) speed = Math.min(speed+0.01, 1);
else if (gamepad1.left_bumper) speed = Math.max(speed-0.01, 0.2);
else if (gamepad1.x) speed = 0.35;
if (gamepad1.a) {
intake.setDirection(API.Direction.REVERSE, true);
} else if (gamepad1.b) {
intake.setDirection(API.Direction.FORWARD, true);
} else {
intake.stop();
}
ms-=System.currentTimeMillis();
if (ms>5) try {