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package org.firstinspires.ftc.teamcode; | ||
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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.Servo; | ||
import com.qualcomm.robotcore.util.Range; | ||
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@TeleOp(name = "DriveControl", group = "TeleOp") | ||
public class DriverControl extends LinearOpMode | ||
{ | ||
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private DcMotor FRMotor; | ||
private DcMotor FLMotor; | ||
private DcMotor BRMotor; | ||
private DcMotor BLMotor; | ||
private Servo Hook; | ||
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@Override | ||
public void runOpMode() throws InterruptedException | ||
{ | ||
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FRMotor = hardwareMap.dcMotor.get("FRMotor"); | ||
FLMotor = hardwareMap.dcMotor.get("FLMotor"); | ||
BRMotor = hardwareMap.dcMotor.get("BRMotor"); | ||
BLMotor = hardwareMap.dcMotor.get("BLMotor"); | ||
Hook = hardwareMap.servo.get("Hook"); | ||
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waitForStart(); | ||
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while(opModeIsActive()) | ||
{ | ||
FRMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); | ||
FLMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); | ||
BRMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); | ||
BLMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); | ||
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double FLspeed = gamepad1.left_stick_y - gamepad1.left_stick_x; | ||
double BLspeed = gamepad1.left_stick_y + gamepad1.left_stick_x; | ||
double FRspeed = gamepad1.left_stick_y + gamepad1.left_stick_x; | ||
double BRspeed = gamepad1.left_stick_y - gamepad1.left_stick_x; | ||
double RSpeed = gamepad1.right_stick_x; | ||
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//cuts the speed value of the motors to not be <1 or >1 | ||
FLspeed = Range.clip(FLspeed, -1, 1); | ||
BLspeed = Range.clip(BLspeed, -1, 1); | ||
FRspeed = Range.clip(FRspeed, -1, 1); | ||
BRspeed = Range.clip(BRspeed, -1, 1); | ||
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if (gamepad1.right_stick_x == 0) | ||
{ | ||
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FRMotor.setPower(FRspeed); | ||
BLMotor.setPower(BLspeed); | ||
FLMotor.setPower(FLspeed); | ||
BRMotor.setPower(BRspeed); | ||
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}else | ||
{ | ||
FRMotor.setPower(RSpeed); | ||
BLMotor.setPower(-RSpeed); | ||
FLMotor.setPower(-RSpeed); | ||
BRMotor.setPower(RSpeed); | ||
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} | ||
if (gamepad2.a) | ||
{ | ||
Hook.setPosition(1); | ||
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}else if (gamepad2.b) | ||
{ | ||
Hook.setPosition(-1); | ||
} | ||
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idle(); | ||
} | ||
} | ||
} |