RRBotTeleop.java

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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;

import static android.os.SystemClock.sleep;

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

    /* Declare OpMode members. */
    RRBotHardware robot       = new RRBotHardware(); // use the class created to define a Pushbot's hardware
    private ElapsedTime runtime = new ElapsedTime();

    //construct drive class
    RRBotMecanumDrive drive = new RRBotMecanumDrive(robot);

    // Arm Variables
    double lastArmMove = 0;
    int armPosition = 0;

    boolean carouselRotatorOn = false;
    boolean prevCarouselRotator = false;

    boolean prevGrabberUpdate = false;
    boolean grabberOpen = false;

    /*
     * Code to run ONCE when the driver hits INIT
     */
    @Override
    public void init() {
        /* Initialize the hardware variables.
         * The init() method of the hardware class does all the work here
         */
        robot.init(hardwareMap);

        // Indicate to the driver the robot is initialized and ready to start
        telemetry.addData("Status", "Initialized");    //
    }

    /*
     * 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() {
        robot.intakePusher.setPosition(0);
    }

    /*
     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
     */
    @Override
    public void loop() {
        DriveUpdate();

        ArmUpdate();

        grabberUpdate();

        CarouselRotatorUpdate();

        Telemetry();
    }

    /*
     * Code to run ONCE after the driver hits STOP
     */
    @Override
    public void stop() {
        //robot.armMotor.setTargetPosition(0);
    }

    /**
     * Updates the drive system with manual and automatic movements
     */
    public void DriveUpdate(){
        if(!drive.getIsAutoMove()){
            drive.setMotorPower(gamepad1.left_stick_x, -gamepad1.left_stick_y, gamepad1.right_stick_x, -gamepad1.right_stick_y, true);
        } else{
            drive.AutoMoveEndCheck();
        }
    }

    /**
     * Arm Positions:
     * 0 - Lowest position, used when picking up freight
     * 1 - Used when placing freight in shared shipping hub or lowest level or blue or red shipping hubs
     * 2 - Used when placing freight in the 2nd level of the blue or red shipping hubs
     * 3 - Used when placing freight in the 3rd and highest level of the blue or red shipping hubs
     * 4 - Arm folds to fit within 18x18x18 sizing constrains
     */
    // Sets moves the arm between 4 preset positions
    public void ArmUpdate(){
        // Increases the armPosition by one every time dpad up is pressed
        if (gamepad1.dpad_up && armPosition < 5 && runtime.time() - lastArmMove > 0.5) {
            armPosition += 1;
            lastArmMove = (double) runtime.time();
        }
        // Decreases the armPosition variable by one every time dpad down is pressed
        else if (gamepad1.dpad_down && armPosition > 0 && runtime.time() - lastArmMove > 0.5) {
            armPosition -= 1;
            lastArmMove = (double) runtime.time();
        }

        // Sets the position of the arm to the position set in the armPosition variable
        robot.armMotor.setPower(1);
        if(armPosition==0){
            robot.armMotor.setTargetPosition(0);
        }else if(armPosition==1){
            robot.armMotor.setTargetPosition(700);
        }else if(armPosition==2){
            robot.armMotor.setTargetPosition(1400);
        }else if(armPosition==3){
            robot.armMotor.setTargetPosition(2100);
        }else if(armPosition==4){
            robot.armMotor.setTargetPosition(2800);
        }else if(armPosition==5){
            robot.armMotor.setTargetPosition(3300);
        }
    }

    public void grabberUpdate() {
        if(gamepad1.b && !prevGrabberUpdate){
            if (!grabberOpen) {
                robot.intakePusher.setPosition(1);
                grabberOpen = true;
            }
            else {
                robot.intakePusher.setPosition(0);
                grabberOpen = false;
            }
            prevGrabberUpdate = true;
        }
        if (!gamepad1.b){
            prevGrabberUpdate = false;
        }
    }

    public void CarouselRotatorUpdate(){
        if(gamepad1.x && !prevCarouselRotator){
            if(carouselRotatorOn){
                robot.carouselRotator.setPower(0);
                carouselRotatorOn = false;
            }else{
                robot.carouselRotator.setPower(-0.5);
                carouselRotatorOn = true;
            }
            prevCarouselRotator = true;
        }
        if (gamepad1.y && !prevCarouselRotator) {
            if(carouselRotatorOn){
                robot.carouselRotator.setPower(0);
                carouselRotatorOn = false;
            }else{
                robot.carouselRotator.setPower(0.5);
                carouselRotatorOn = true;
            }
            prevCarouselRotator = true;
        }
        if (!gamepad2.y){
            prevCarouselRotator = false;
        }
    }

    public void Telemetry(){
        telemetry.addData("Arm Position", armPosition);
        telemetry.addData("Encoder", "Count: " + robot.armMotor.getCurrentPosition());
        telemetry.addData("Runtime", runtime.toString());
    }
}