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NotASquare.java
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130 lines (116 loc) · 4.98 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.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file contains an example of an iterative (Non-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 iterative 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="NotASquare", group="Iterative Opmode")
//@Disabled
public class NotASquare extends OpMode
{
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor theMotor = null;
private DcMotor theOtherMotor = null;
/*
* Code to run ONCE when the driver hits INIT
*/
int loops;
int originalLoops;
@Override
public void init() {
telemetry.addData("Status", "Initialized");
theMotor = hardwareMap.get(DcMotor.class, "left_front");
theMotor.setDirection(DcMotor.Direction.REVERSE);
theMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
theOtherMotor = hardwareMap.get(DcMotor.class, "right_front");
theOtherMotor.setDirection(DcMotor.Direction.FORWARD);
theOtherMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
telemetry.addData("Status", "Initialized");
originalLoops = theMotor.getCurrentPosition();
loops = 0;
}
/*
* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
*/
@Override
public void init_loop() {
}
/*
* Code to run ONCE when the driver hits PLAY
*/
@Override
public void start() {
runtime.reset();
}
/*
* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
*/
@Override
public void loop() {
// Setup a variable for each drive wheel to save power level for telemetry
double motorSpeed = 0;
double otherMotorSpeed = 0;
if( loops < 145 + originalLoops) {
motorSpeed = -0.1;
}else if(loops > 147 + originalLoops){
motorSpeed = 0.1;
}else{
motorSpeed = 0;
}
otherMotorSpeed = 0;
theMotor.setPower(motorSpeed);
theOtherMotor.setPower(otherMotorSpeed);
loops = theMotor.getCurrentPosition();
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("loops", loops);
telemetry.addData("Distance1", loops);
telemetry.addData("Distance2", theOtherMotor.getCurrentPosition());
}
/*
* Code to run ONCE after the driver hits STOP
*/
@Override
public void stop() {
}
}