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Basic_Mechanum_Drive.java
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94 lines (78 loc) · 4.27 KB
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
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.ElapsedTime;
@TeleOp(name="Basic Mechanum Drive", group="Linear Opmode")
//@Disabled
public class Basic_Mechanum_Drive extends LinearOpMode {
// Declare OpMode members
private ElapsedTime runtime = new ElapsedTime();
private DcMotor frontLeftDrive = null;
private DcMotor frontRightDrive = null;
private DcMotor backLeftDrive = null;
private DcMotor backRightDrive = null;
@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).
frontLeftDrive = hardwareMap.get(DcMotor.class, "frontLeftDrive");
frontRightDrive = hardwareMap.get(DcMotor.class, "frontRightDrive");
backLeftDrive = hardwareMap.get(DcMotor.class, "backLeftDrive");
backRightDrive = hardwareMap.get(DcMotor.class, "backRightDrive");
// 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
frontLeftDrive.setDirection(DcMotor.Direction.FORWARD);
frontRightDrive.setDirection(DcMotor.Direction.REVERSE);
backLeftDrive.setDirection(DcMotor.Direction.FORWARD);
backRightDrive.setDirection(DcMotor.Direction.REVERSE);
// 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 the inputs
double G1LeftStickY = gamepad1.left_stick_y;
// double G1RightoStickY = reverseControls * gamepad1.right_stick_y;
double G1LeftStickX = gamepad1.left_stick_x;
double G1RightStickX = gamepad1.right_stick_x;
// strafe Mode (allows sideways motion)
frontLeftDrive.setPower(G1LeftStickY + G1RightStickX + G1LeftStickX);
backLeftDrive.setPower(G1LeftStickY + G1RightStickX - G1LeftStickX);
backRightDrive.setPower(G1LeftStickY - G1RightStickX + G1LeftStickX);
frontRightDrive.setPower(G1LeftStickY - G1RightStickX - G1LeftStickX);
}
}
}