Update Public Sample Codes

bentondecusin · Jan 10, 2019 · c8ee883 · c8ee883
1 parent 5826b9e
commit c8ee883
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Showing 10 changed files with 289 additions and 194 deletions.
diff --git a/BClimbUp.java b/BClimbUp.java
@@ -1,51 +1,56 @@
-
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.util.ElapsedTime;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-@Autonomous(name="B Climb Up ")
-
-public class BClimbUp extends OpMode{
-    private DcMotor[] drive = new DcMotor[2];
-    private DcMotor dick = null;
-    private int counter = 0;
-
-    @Override
-    public void init() {
-        drive[0] = hardwareMap.get(DcMotor.class, "mot0");
-        drive[1] = hardwareMap.get(DcMotor.class, "mot1");
-        dick = hardwareMap.get(DcMotor.class, "mot2");
-        drive[0].setDirection(DcMotor.Direction.FORWARD);
-        drive[1].setDirection(DcMotor.Direction.FORWARD);
-        dick.setDirection(DcMotor.Direction.REVERSE);
-        telemetry.addData("Status", "Initialized");
-
-    }
-
-    @Override
-    public void init_loop() {
-
-    }
-
-    @Override
-    public void start() {
-
-    }
-    public ElapsedTime runTime = new ElapsedTime();
-
-
-    @Override
-    public void loop() {
-if(runTime.time() < 14 )
-{
- dick.setPower(0.75);
-}
-else{
-dick.setPower(0);}
-
-
-    }
-}
+/*
+ * Author: Benton Li '19
+ * Version: 1.0
+ *
+ * */
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+@Disabled
+@Autonomous(name="B Climb Up ")
+
+public class BClimbUp extends OpMode{
+    private DcMotor[] drive = new DcMotor[2];
+    private DcMotor bentonSucks = null;
+    private int counter = 0;
+
+    @Override
+    public void init() {
+        drive[0] = hardwareMap.get(DcMotor.class, "mot0");
+        drive[1] = hardwareMap.get(DcMotor.class, "mot1");
+        bentonSucks = hardwareMap.get(DcMotor.class, "mot2");
+        drive[0].setDirection(DcMotor.Direction.FORWARD);
+        drive[1].setDirection(DcMotor.Direction.FORWARD);
+        bentonSucks.setDirection(DcMotor.Direction.REVERSE);
+        telemetry.addData("Status", "Initialized");
+
+    }
+
+    @Override
+    public void init_loop() {
+
+    }
+
+    @Override
+    public void start() {
+
+    }
+    public ElapsedTime runTime = new ElapsedTime();
+
+
+    @Override
+    public void loop() {
+if(runTime.time() < 14 )
+{
+ bentonSucks.setPower(0.75);
+}
+else{
+bentonSucks.setPower(0);}
+
+
+    }
+}
diff --git a/BDriving.java b/BDriving.java
@@ -1,25 +1,39 @@
+/*
+ * Author: Benton Li '19
+ * Version: 1.0
+ *
+ * */
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
-@TeleOp(name="B Driving ")
+@TeleOp(name="Beta-Driving")
 
 public class BDriving extends OpMode{
-    private DcMotor[] drive = new DcMotor[2];
+    private DcMotor left = null;
+    private DcMotor right = null;
     private DcMotor dick = null;
+    //set up encoders
+    static final double COUNTS_Per_REV    = 1140 ;
+    static final double WHEEL_DIAMETER = 4 ; //in inches
+    static final double COUNTS_Per_INCH = COUNTS_Per_REV/(WHEEL_DIAMETER*Math.PI);
+    static final double COUNTS_Per_DEGREE = COUNTS_Per_REV/((130)/WHEEL_DIAMETER);
+
     private int counter = 0;
+    private double speed = .5 ;
 
     @Override
     public void init() {
-        drive[0] = hardwareMap.get(DcMotor.class, "mot0");
-        drive[1] = hardwareMap.get(DcMotor.class, "mot1");
+        left = hardwareMap.get(DcMotor.class, "mot0");
+        right = hardwareMap.get(DcMotor.class, "mot1");
         dick = hardwareMap.get(DcMotor.class, "mot2");
-        drive[0].setDirection(DcMotor.Direction.FORWARD);
-        drive[1].setDirection(DcMotor.Direction.FORWARD);
+        left.setDirection(DcMotor.Direction.FORWARD);
+        right.setDirection(DcMotor.Direction.REVERSE);
         dick.setDirection(DcMotor.Direction.REVERSE);
         telemetry.addData("Status", "Initialized");
 
@@ -37,14 +51,37 @@ public void start() {
     public ElapsedTime runTime = new ElapsedTime();
 
     public void checkKeys(){
+        if (gamepad1.x == true){
+            speed = speed + 0.1;
+        }
+        if (gamepad1.y == true){
+            speed = speed + 0.1;
+        }
+        if (gamepad1.left_bumper){
+            liftUp();
+        }
+    }
 
+    public void liftUp(){
+        dick.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        dick.setTargetPosition((int)(10 * COUNTS_Per_INCH));
+        dick.setPower(speed);
+        while (dick.isBusy()){
+            telemetry.addData("Climbing",100*dick.getCurrentPosition()/(10 * COUNTS_Per_INCH)+"%");
+            telemetry.update();
+        }
+        dick.setPower(0);
     }
 
+
     @Override
     public void loop() {
         checkKeys();
-        drive[0].setPower(-gamepad1.left_stick_x+gamepad1.left_stick_y);
-        drive[1].setPower(-gamepad1.left_stick_x-gamepad1.left_stick_y);
-        dick.setPower(gamepad1.right_stick_y);
+        left.setPower(speed*(-gamepad1.left_stick_x+gamepad1.right_stick_y));
+        right.setPower(speed*(-gamepad1.left_stick_x-gamepad1.right_stick_y));
+        dick.setPower(gamepad1.left_trigger - gamepad1.right_trigger);
+        telemetry.addData("Speed:",speed);
+
+        telemetry.update();
     }
 }
diff --git a/BentonAuto.java b/BentonAuto.java
@@ -1,11 +1,17 @@
+/*
+ * Author: Benton Li '19
+ * Version: 1.0
+ *
+ * */
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
-
+@Disabled
 @Autonomous(name="Benton Auto")
 
 public class BentonAuto extends LinearOpMode {