47 lines
1.1 KiB
Java
47 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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@TeleOp(name = "BBBBBBBBB")
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public class Gamepad extends OpMode {
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Hardware hardware;
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MovementAPI movement;
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double speed = 0.6;
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@Override
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public void init() {
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hardware = new Hardware(this);
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movement = new MovementAPI(hardware);
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hardware.claw.setPosition(1);
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hardware.wrist.setPosition(0.5);
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}
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@Override
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public void loop() {
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if (gamepad1.left_bumper) {
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speed -= 0.005;
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}
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if (gamepad1.right_bumper) {
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speed += 0.005;
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}
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speed = Math.max(0, Math.min(speed, 1));
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hardware.spool.setPower(gamepad2.left_stick_y);
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hardware.claw.setPosition(1 - gamepad2.left_trigger);
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hardware.wrist.setPosition((-gamepad2.right_stick_y + 1) / 2);
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movement.move(
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gamepad1.left_stick_x,
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-gamepad1.left_stick_y,
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gamepad1.right_stick_x,
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speed
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);
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telemetry.addLine(speed + "");
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}
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}
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