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Merged
1toldyou merged 3 commits into from
Aug 13, 2022
Merged

keep up to date #2

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0881c24
Added OpMode code to help with script
TechnototesLaptop Jun 29, 2022
11215b2
Added OpMode code to help with script
TechnototesLaptop Aug 3, 2022
7a44a1b
Added OpMode code to help with script
TechnototesLaptop Aug 3, 2022
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21 changes: 21 additions & 0 deletions TeachCode/src/main/java/org/firstinspires/ftc/teachcode/DemoOpMode.java
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@@ -0,0 +1,21 @@
package org.firstinspires.ftc.teachcode;



import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx;

@TeleOp(name = "DemoOpMode")
public class DemoOpMode extends OpMode {

@Override
public void init() {

}

@Override
public void loop() {

}
}
11 changes: 6 additions & 5 deletions TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickCubedTank.java
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Expand Up @@ -2,24 +2,25 @@

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

import org.firstinspires.ftc.teachcode.TankDrive;
import org.firstinspires.ftc.teachcode.TankDriveDemo;

@com.qualcomm.robotcore.eventloop.opmode.TeleOp(name = "TankCubed")

public class StickCubedTank extends OpMode {

private static final double DEAD_ZONE = 0.1;
private TankDrive tankDrive;
private TankDriveDemo tankDrive;
private DcMotorEx motorL;
private DcMotorEx motorR;

@Override
public void init() {
motorL = hardwareMap.get(DcMotorEx.class, "motorL");
motorR = hardwareMap.get(DcMotorEx.class, "motorR");
tankDrive = new TankDrive(motorL, motorR);
motorR.setDirection(DcMotorSimple.Direction.REVERSE);
tankDrive = new TankDriveDemo(motorL, motorR);
}

@Override
Expand All @@ -32,7 +33,7 @@ public void loop() {
tankDrive.motorLPower(0);
}
if (Math.abs(ry) > DEAD_ZONE) {
tankDrive.motorRPower(-ry * ry * ry);
tankDrive.motorRPower(ry * ry * ry);
} else {
tankDrive.motorRPower(0);
}
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10 changes: 7 additions & 3 deletions TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickTankDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,17 @@
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.TouchSensor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

import org.firstinspires.ftc.teachcode.TankDriveDemo;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teachcode.TankDrive;

@com.qualcomm.robotcore.eventloop.opmode.TeleOp(name = "StickTankDrive")

public class StickTankDrive extends OpMode {
private static final double DEAD_ZONE = 0.1;
private TankDrive tankDrive;
private TankDriveDemo tankDrive;
private DcMotorEx motorL;
private DcMotorEx motorR;
private Servo servo;
Expand All @@ -29,7 +31,8 @@ public class StickTankDrive extends OpMode {
public void init() {
motorL = hardwareMap.get(DcMotorEx.class, "motorL");
motorR = hardwareMap.get(DcMotorEx.class, "motorR");
tankDrive = new TankDrive(motorL, motorR);
motorR.setDirection(DcMotorSimple.Direction.REVERSE);
tankDrive = new TankDriveDemo(motorL, motorR);
servo = hardwareMap.get(Servo.class, "gobilda");
toucha = hardwareMap.get(RevTouchSensor.class, "touch6");
touchb = hardwareMap.get(RevTouchSensor.class, "touch7");
Expand All @@ -48,7 +51,8 @@ public void loop() {
}
tankDrive.motorLPower(left);
if (Math.abs(gamepad1.right_stick_y) > DEAD_ZONE) {
right = -gamepad1.right_stick_y;
tankDrive.motorRPower(gamepad1.right_stick_y);
right = gamepad1.right_stick_y;
} else {
right = 0;
}
Expand Down
45 changes: 45 additions & 0 deletions TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickTankDriveForVideo.java
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@@ -0,0 +1,45 @@
package org.firstinspires.ftc.teachcode.OpModes;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Gamepad;

import org.firstinspires.ftc.teachcode.TankDriveDemo;

@com.qualcomm.robotcore.eventloop.opmode.TeleOp(name = "StickTankDriveForVideo")

public class StickTankDriveForVideo extends OpMode {

private static final double DEAD_ZONE = 0.1;
private TankDriveDemo tankDrive;
private DcMotorEx motorL;
private DcMotorEx motorR;

@Override
public void init() {
motorL = hardwareMap.get(DcMotorEx.class, "motorL");
motorR = hardwareMap.get(DcMotorEx.class, "motorR");
motorR.setDirection(DcMotorSimple.Direction.REVERSE);
tankDrive = new TankDriveDemo(motorL, motorR);
}

@Override
public void loop() {
if (Math.abs(gamepad1.left_stick_y) > DEAD_ZONE) {
tankDrive.motorLPower(gamepad1.left_stick_y);
} else {
tankDrive.motorLPower(0);
}
if (Math.abs(gamepad1.right_stick_y) > DEAD_ZONE) {
tankDrive.motorRPower(gamepad1.right_stick_y);
} else {
tankDrive.motorRPower(0);
}
}

@Override
public void start() {

}
}
35 changes: 1 addition & 34 deletions TeachCode/src/main/java/org/firstinspires/ftc/teachcode/TankDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,16 +2,7 @@

import com.qualcomm.robotcore.hardware.DcMotorEx;

import java.util.*;

public class TankDrive {
private void sleep(int ms) {
try {
Thread.sleep(ms);
} catch (Exception e) {
}
}

public DcMotorEx motorL;
public DcMotorEx motorR;

Expand All @@ -20,34 +11,9 @@ public TankDrive(DcMotorEx motorL, DcMotorEx motorR) {
this.motorR = motorR;
}

// For non-stick control system
public void moveForwardButton(double power, int seconds) {
motorL.setPower(power);
motorR.setPower(power);
sleep(seconds * 1000);
pleaseStop();
}

// For non-stick control system
public void pleaseStop() {
motorL.setPower(0);
motorR.setPower(0);
}

// For non-stick control system
public void moveBackwardButton(double power, int seconds) {
motorL.setPower(-power);
motorR.setPower(-power);
sleep(seconds * 1000);
pleaseStop();
}

// For stick control system
public void motorLPower(double power) {
motorL.setPower(power);
}

// For stick control system
public void motorRPower(double power) {
motorR.setPower(power);
}
Expand All @@ -59,3 +25,4 @@ public DcMotorEx getMotorR() {
return motorR;
}
}

23 changes: 23 additions & 0 deletions TeachCode/src/main/java/org/firstinspires/ftc/teachcode/TankDriveDemo.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,32 @@

import com.qualcomm.robotcore.hardware.DcMotorEx;

import java.util.*;

public class TankDriveDemo {

public DcMotorEx motorL;
public DcMotorEx motorR;

public TankDriveDemo(DcMotorEx motorL, DcMotorEx motorR) {
this.motorL = motorL;
this.motorR = motorR;
}

// For stick control system
public void motorLPower(double power) {
motorL.setPower(power);
}

// For stick control system
public void motorRPower(double power) {
motorR.setPower(power);
}

public DcMotorEx getMotorL() {
return motorL;
}
public DcMotorEx getMotorR() {
return motorR;
}
}