Merge pull request #2 from technototes/main

keep up to date
technototes · Aug 13, 2022 · 4db7c9b · 4db7c9b
2 parents ad78dde + 7a44a1b
commit 4db7c9b
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Showing 6 changed files with 103 additions and 42 deletions.
diff --git a/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/DemoOpMode.java b/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/DemoOpMode.java
@@ -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() {
+
+    }
+}
diff --git a/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickCubedTank.java b/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickCubedTank.java
@@ -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
@@ -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);
         }

diff --git a/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickTankDrive.java b/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickTankDrive.java
@@ -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;
@@ -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");
@@ -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;
         }

diff --git a/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickTankDriveForVideo.java b/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/OpModes/StickTankDriveForVideo.java
@@ -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() {
+
+    }
+}
diff --git a/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/TankDrive.java b/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/TankDrive.java
@@ -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;
 
@@ -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);
     }
@@ -59,3 +25,4 @@ public DcMotorEx getMotorR() {
         return motorR;
     }
 }
+
diff --git a/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/TankDriveDemo.java b/TeachCode/src/main/java/org/firstinspires/ftc/teachcode/TankDriveDemo.java
@@ -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;
+    }
 }