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authorFranklin Wei <me@fwei.tk>2018-12-08 20:46:18 -0500
committerFranklin Wei <me@fwei.tk>2018-12-08 20:46:18 -0500
commit2378d7c5e23d97720b75c75092249d9af776d33c (patch)
treea4a335f1236a4bfc3232ec0905f6141450c930f3
parent69b2ebd2c65c49a3ac82662a62ee80c91134d3e2 (diff)
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New stuff
-rwxr-xr-xTeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwarePushbot.java5
-rwxr-xr-xTeamCode/src/main/java/org/firstinspires/ftc/teamcode/PushbotTeleopPOV_Linear.java16
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;