Mech4Wheel.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;


/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 */

@TeleOp(name="Mech4Drive", group="Linear Opmode")

public class Mech4Wheel extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor LF = null;
    private DcMotor RF = null;
    private DcMotor LB = null;
    private DcMotor RB = null;
    private DcMotor arm = null;
    private DcMotor armend = null;
    private Servo left;
    private Servo right;
    private Servo gl;
    private Servo gr;

    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must correspond to the names assigned during the robot configuration
        // step (using the FTC Robot Controller app on the phone).
        LF = hardwareMap.get(DcMotor.class, "Left-Front");
        RF = hardwareMap.get(DcMotor.class, "Right-Front");
        LB = hardwareMap.get(DcMotor.class,"Left-Back");
        RB = hardwareMap.get(DcMotor.class, "Right-Back");
        left = hardwareMap.get(Servo.class, "left");
        right = hardwareMap.get(Servo.class,"right");
        arm = hardwareMap.get(DcMotor.class, "arm");
        armend = hardwareMap.get(DcMotor.class, "armend");
        gl = hardwareMap.get(Servo.class, "gl");
        gr = hardwareMap.get(Servo.class, "gr");

        double upLeftlimit = .75;
        double downLeftlimit = .3;
        double upRightlimit = .75;
        double downRightlimit = .3;

        // Most robots need the motor on one side to be reversed to drive forward - Reverse the motor that runs backwards when connected directly to the battery
        LF.setDirection(DcMotor.Direction.REVERSE);
        LB.setDirection(DcMotor.Direction.REVERSE);
        RF.setDirection(DcMotor.Direction.FORWARD);
        RB.setDirection(DcMotor.Direction.FORWARD);
        LF.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODERS);
        LB.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODERS);
        RF.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODERS);
        RB.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODERS);

        // Wait for the game to start (driver presses PLAY)
        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {

            // Setup a variable for each drive wheel to save power level for telemetry
            double leftPower;
            double rightPower;

            //drive code
            double FORWARD = 1; //max
            double NEUTRAL = 0;
            double MOD = -1;
            double drive = (FORWARD - gamepad1.left_stick_y) - NEUTRAL;
            double strafe = gamepad1.left_stick_x - NEUTRAL;
            double rotate = gamepad1.right_stick_x - NEUTRAL;

            double lfPower = drive + strafe + rotate + MOD;
            double rfPower = drive - strafe - rotate + MOD;
            double lbPower = drive - strafe + rotate + MOD;
            double rbPower = drive + strafe - rotate + MOD;

            // Send calculated power to wheels
            LF.setPower(lfPower);
            RF.setPower(rfPower);
            LB.setPower(lbPower);
            RB.setPower(rbPower);

            //robot reversals
            if (gamepad1.y) {
              LF.setDirection(DcMotor.Direction.FORWARD);
              RF.setDirection(DcMotor.Direction.REVERSE);
              LB.setDirection(DcMotor.Direction.FORWARD);
              RB.setDirection(DcMotor.Direction.REVERSE);
            } else if (gamepad1.b) {
              LF.setDirection(DcMotor.Direction.REVERSE);
              RF.setDirection(DcMotor.Direction.FORWARD);
              LB.setDirection(DcMotor.Direction.REVERSE);
              RB.setDirection(DcMotor.Direction.FORWARD);
            }

            //grabby Servo
            if (gamepad1.left_bumper) {
              left.setPosition(1);
              right.setPosition(1);
            } else if (gamepad1.right_bumper) {
              left.setPosition(0);
              right.setPosition(0);
            }

            //arm power
            if (gamepad1.left_stick_button) {
              arm.setPower(-gamepad1.left_trigger);
            } else if (gamepad1.left_trigger > 0) {
              arm.setPower(gamepad1.left_trigger);
            } else {
              arm.setPower(0);
            }

            //extension
            if (gamepad1.right_stick_button) {
              armend.setPower(-gamepad1.right_trigger);
            } else if (gamepad1.right_trigger > 0) {
              armend.setPower(gamepad1.right_trigger);
            } else {
              armend.setPower(0);
            }

            //arm servo ends
            if (gamepad1.a) {
              if (gl.getPosition() < upLeftlimit && gr.getPosition() > downRightlimit){
                gl.setPosition(gl.getPosition() + .001);
                gr.setPosition(gr.getPosition() - .001);
              }
            } else if (gamepad1.x) {
              if (gl.getPosition() > downLeftlimit && gr.getPosition() < upRightlimit){
                gl.setPosition(gl.getPosition() - .001);
                gr.setPosition(gr.getPosition() + .001);
              }
            }

            telemetry.addData("gl pos:", gl.getPosition());
            telemetry.addData("gr pos:", gr.getPosition());
            telemetry.update();
        }
    }
}