New stuff

2 files changed, 12 insertions, 9 deletions

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwarePushbot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwarePushbot.java
index 73d7cd6..e5b3376 100755
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwarePushbot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwarePushbot.java
@@ -30,7 +30,6 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
@@ -89,7 +88,7 @@ public class HardwarePushbot
         DriveLeft  = hwMap.get(DcMotor.class, "DriveLeft");
         DriveRight = hwMap.get(DcMotor.class, "DriveRight");
 
-        IntakeMotor = hwMap.get(DcMotor.class, "RelicMotor");
+        IntakeMotor = hwMap.get(DcMotor.class, "IntakeMotor");
 
         DriveLeft.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motorsF
         DriveRight.setDirection(DcMotor.Direction.REVERSE);// .setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors
@@ -105,7 +104,7 @@ public class HardwarePushbot
         // May want to use RUN_USING_ENCODERS if encoders are installed.
         DriveLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         DriveRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        IntakeMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        IntakeMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         /* stop these motors actively */
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PushbotTeleopPOV_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PushbotTeleopPOV_Linear.java
index 8dd8c14..232a201 100755
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PushbotTeleopPOV_Linear.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PushbotTeleopPOV_Linear.java
@@ -30,10 +30,8 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
 import com.qualcomm.robotcore.util.Range;
 
@@ -212,17 +210,17 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
             double rotate = gamepad1.right_stick_x;
 
             if(gamepad1.dpad_up)
-                forward += fine_speed;
-            if(gamepad1.dpad_down)
                 forward -= fine_speed;
+            if(gamepad1.dpad_down)
+                forward += fine_speed;
             if(gamepad1.dpad_left)
                 rotate -= fine_speed;
             if(gamepad1.dpad_right)
                 rotate += fine_speed;
 
             double [] powers = new double[2];
-            powers[0] = forward + rotate;
-            powers[1] = forward - rotate;
+            powers[0] = forward - rotate;
+            powers[1] = forward + rotate;
 
 
             // Normalize the values so neither exceed +/- 1.0
@@ -233,7 +231,13 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
                 powers[1] /= max;
             }
 
+            double intake = 0;
+            if(gamepad1.right_bumper)
+                intake += .5;
+            if(gamepad1.left_bumper)
+                intake -= .5;
 
+            robot.IntakeMotor.setPower(intake);
             robot.DriveLeft.setPower(powers[0]);
             robot.DriveRight.setPower(powers[1]);
             // Send telemetry message to signify robot running;