12/21/2020

ishgar686 · Dec 22, 2020 · 7042ad9 · 7042ad9
1 parent ef03d61
commit 7042ad9
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Showing 2 changed files with 20 additions and 5 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControl.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControl.java
@@ -29,16 +29,23 @@ public void runOpModeImpl() {
                     intake.setPower(0);
                 }
 
-                if (gamepad2.x) {
-                    intake.setPower(1);
+                if (gamepad2.b)
+                    while (gamepad2.b) {
+                        outtake.setPower(1);
+                    }
+                else{
+                    outtake.setPower(0);
                 }
 
-                if (gamepad2.y) {
-                    intake.setPower(0);
+                if (gamepad2.y)
+                    while (gamepad2.y) {
+                        hopper.setPower(1);
+                    }
+                else{
+                    hopper.setPower(0);
                 }
 
 
-
                 // Left trigger - to move left sideways
                 strafeRight(-gamepad1.right_trigger, 0);
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Movement.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Movement.java
@@ -15,6 +15,8 @@ abstract class Movement extends LinearOpMode
     protected DcMotor leftBack;
     protected DcMotor rightBack;
     protected DcMotor intake;
+    protected DcMotor outtake;
+    protected DcMotor hopper;
 
     public void runOpMode() {
         setupDriveMotors();
@@ -33,6 +35,9 @@ protected void setupDriveMotors() {
         rightBack = hardwareMap.get(DcMotor.class, "rightBack");
         leftBack = hardwareMap.get(DcMotor.class, "leftBack");
         intake = hardwareMap.get(DcMotor.class, "intake");
+        outtake = hardwareMap.get(DcMotor.class, "outtake");
+        hopper = hardwareMap.get(DcMotor.class, "hopper");
+
 
         // Most robots need the motor on one side to be reve`rsed to drive goBackward
         // Reverse the motor that runs backwards when connected directly to the battery
@@ -41,6 +46,9 @@ protected void setupDriveMotors() {
         leftBack.setDirection(DcMotor.Direction.FORWARD);
         rightBack.setDirection(DcMotor.Direction.REVERSE);
         intake.setDirection(DcMotor.Direction.FORWARD);
+        hopper.setDirection(DcMotor.Direction.FORWARD);
+        outtake.setDirection(DcMotor.Direction.FORWARD);
+
 
 
     /*    */