org.firstinspires.ftc.teamcode.teleop

Class CubedDrive

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

org.firstinspires.ftc.teamcode.teleop.CubedDrive

@TeleOp(name="Cubed Drive")
public class CubedDrive
extends com.qualcomm.robotcore.eventloop.opmode.OpMode

Field Summary

Fields

Modifier and Type	Field and Description
(package private) Robot	robot
(package private) boolean	stalled
(package private) com.qualcomm.robotcore.util.ElapsedTime	time

Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry

Constructor Summary

Constructors

Constructor and Description
CubedDrive()

Method Summary

Modifier and Type	Method and Description
void	drive(DriveMode driveMode, double strafe) Allows the drivers to drive the robot with G1 left and right joysticks.
void	init() Initializes the robot
void	intake(boolean showTelemetry, boolean stallAutomation) Runs intake processes depending on gamepad input and adds data for intake telemetry
void	loop() Continuously checks gamepads for input while the OpMode is running
void	moveArm(boolean showTelemetry) Moves the joint of the arm depending on gampepad input and adds data for arm telemetry
void	moveGrabber(boolean showTelemetry) Moves the grabber depending on gamepad input and adds data for grabber telemetry
void	shoot(boolean showTelemetry) Runs shooter processes depending on gamepad input and adds data for shooter telemetry

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

getRuntime, init_loop, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, start, stop, updateTelemetry

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

robot

Robot robot

time

com.qualcomm.robotcore.util.ElapsedTime time

stalled

boolean stalled

Constructor Detail

CubedDrive

public CubedDrive()

Method Detail

init

public void init()

Initializes the robot

- Indexer will move into READY position upon init - Pre-condition: drive team has manually moved the arm into STOWED position

Specified by:

init in class com.qualcomm.robotcore.eventloop.opmode.OpMode

loop

public void loop()

Continuously checks gamepads for input while the OpMode is running

Specified by:

loop in class com.qualcomm.robotcore.eventloop.opmode.OpMode

drive

public void drive(DriveMode driveMode,
                  double strafe)

Allows the drivers to drive the robot with G1 left and right joysticks. This is robot-centric drive.

G1 left stick - vertical/horizontal motion of robot G1 right stick - rotation of robot

Parameters:

driveMode - the drive mode (normal, squared, cubed)

strafe - an experimentally determined constant that is multiplied by the x value to counteract imperfect strafing

intake

public void intake(boolean showTelemetry,
                   boolean stallAutomation)

Runs intake processes depending on gamepad input and adds data for intake telemetry

G2 left bumper intakes rings G2 right bumper outtakes rings Otherwise, intake is stopped

Parameters:

showTelemetry - whether to display intake telemetry info

stallAutomation - whether you want to enable stall automation

shoot

public void shoot(boolean showTelemetry)

Runs shooter processes depending on gamepad input and adds data for shooter telemetry

G2 A button pressed speeds up the flywheel to target shooting velocity. G2 B button pressed stops flywheel. G2 right trigger moves the indexer to actually "shoot" the ring.

Parameters:

showTelemetry - whether to display shooter telemetry info

moveArm

public void moveArm(boolean showTelemetry)

Moves the joint of the arm depending on gampepad input and adds data for arm telemetry

G2 dpad up puts arm in stowed position G2 dpad down puts arm in down position G2 dpad left puts arm in carry position

Parameters:

showTelemetry - whether to display shooter telemetry info

moveGrabber

public void moveGrabber(boolean showTelemetry)

Moves the grabber depending on gamepad input and adds data for grabber telemetry

G2 X button closes the grabber G2 Y button opens the grabber

Parameters:

showTelemetry - whether to display shooter telemetry info