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This commit is contained in:
Scott Barnes 2023-10-28 12:32:28 -05:00
parent 76d88aba63
commit 287fef6443
3 changed files with 73 additions and 37 deletions
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27
TeamCode/src/main/java/opmodes/MainTeleOp.java Normal file
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package opmodes;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.hardware.Robot;
@TeleOp(name = "MainTeleOp", group = "Main")
public class MainTeleOp extends OpMode {
private Robot robot;
@Override
public void init() {
this.robot = new Robot(this.hardwareMap);
telemetry.addData("Status", "Initialized");
}
@Override
public void loop() {
double x = gamepad1.left_stick_x;
double y = -gamepad1.left_stick_y;
double z = gamepad1.right_stick_x;
this.robot.getDrive().setInput(x, y, z);
}
}

28
TeamCode/src/main/java/opmodes/Sandbox.java
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package opmodes;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.hardware.Camera;
import org.firstinspires.ftc.teamcode.hardware.Robot;
/*
* Demonstrates an empty iterative OpMode
*/
@TeleOp(name = "Sandbox", group = "Experimental")
public class Sandbox extends OpMode {
private Camera camera;
@Override
public void init() {
telemetry.addData("Status", "Initialized");
this.camera = new Camera(this.hardwareMap);
this.camera.initTargetingCamera();
}
@Override
public void loop() {
}
}

53
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Drive.java
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package org.firstinspires.ftc.teamcode.hardware; package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.util.Constants.WHEEL_BACK_LEFT;
import static org.firstinspires.ftc.teamcode.util.Constants.WHEEL_BACK_RIGHT;
import static org.firstinspires.ftc.teamcode.util.Constants.WHEEL_FRONT_LEFT;
import static org.firstinspires.ftc.teamcode.util.Constants.WHEEL_FRONT_RIGHT;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Gamepad; import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
public class Drive { public class Drive {
private DcMotor frontLeft; private DcMotor frontLeft;
private DcMotor frontRight; private DcMotor frontRight;
private DcMotor backLeft; private DcMotor backLeft;
private DcMotor backRight; private DcMotor backRight;
public Drive(HardwareMap hardwareMap) { public Drive(HardwareMap hardwareMap) {
this.init(hardwareMap); // Drive
this.frontLeft = hardwareMap.get(DcMotor.class, WHEEL_FRONT_LEFT);
this.frontRight = hardwareMap.get(DcMotor.class, WHEEL_FRONT_RIGHT);
this.backLeft = hardwareMap.get(DcMotor.class, WHEEL_BACK_LEFT);
this.backRight = hardwareMap.get(DcMotor.class, WHEEL_BACK_RIGHT);
this.frontLeft.setDirection(DcMotor.Direction.REVERSE);
this.frontRight.setDirection(DcMotor.Direction.FORWARD);
this.backLeft.setDirection(DcMotor.Direction.REVERSE);
this.backRight.setDirection(DcMotor.Direction.FORWARD);
this.frontLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
this.frontRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
this.backLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
this.backRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
} }
private void init(HardwareMap hardwareMap) { public void setInput(double x, double y, double z) {
this.frontLeft = hardwareMap.get(DcMotor.class, "frontLeft"); // instantiate motor power variables
this.frontRight = hardwareMap.get(DcMotor.class, "frontRight"); double flPower, frPower, blPower, brPower;
this.backLeft = hardwareMap.get(DcMotor.class, "backLeft");
this.backRight = hardwareMap.get(DcMotor.class, "backRight"); flPower = x + y + z;
frPower = -x + y - z;
blPower = -x + y + z;
brPower = x + y - z;
double max = Math.max(Math.max(flPower, frPower), Math.max(blPower, brPower));
if (max > 1) {
flPower /= max;
frPower /= max;
blPower /= max;
brPower /= max;
} }
public void setInput(Gamepad gamepad1,Gamepad gamepad2) { // actually set the motor powers
frontLeft.setPower(flPower);
frontRight.setPower(frPower);
backLeft.setPower(blPower);
backRight.setPower(brPower);
}
public void setInput(Gamepad gamepad1, Gamepad gamepad2) {
double x = gamepad1.left_stick_x;
double y = -gamepad1.left_stick_y;
double z = gamepad1.right_stick_x;
setInput(x, y, z);
} }
} }