Spinner_Test.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;


/*
 * This file contains an minimal example of a 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 a 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 linear OpModes contain.
 *
 * Use Android Studio 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="Spinner Test", group="Linear OpMode")

public class Spinner_Test extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotorEx spinner = null;
    private DcMotorEx intake = null;
    
    private double intakePower = 1.0;
    private double retrieveVelocity = 750.0;
    private double shootVelocity = 1600.0;
    private int state = 0;   // 0 = off, 1 = intake, 2 = shoot, 3 manual joystick

            // Setup a variable for each drive wheel to save power level for telemetry
            double leftPower = 0.0;
            double rightPower = 0.0;


    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must correspond to the names assigned during the robot configuration
        // step (using the FTC Robot Controller app on the phone).
        spinner  = hardwareMap.get(DcMotorEx.class, "spinner");
        intake = hardwareMap.get(DcMotorEx.class, "intake");

        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
        spinner.setDirection(DcMotor.Direction.FORWARD);
        intake.setDirection(DcMotor.Direction.FORWARD);

        // Wait for the game to start (driver presses START)
        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {

            // Choose to drive using either Tank Mode, or POV Mode
            // Comment out the method that's not used.  The default below is POV.

            // POV Mode uses left stick to go forward, and right stick to turn.
            // - This uses basic math to combine motions and is easier to drive straight.
            double drive = -gamepad1.left_stick_y;
            double turn  =  gamepad1.right_stick_x;

            if (Math.abs(drive) > 0.1)
            {
////            leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
            rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;
               state = 3;
            }
            else
            {
                if (gamepad1.aWasPressed())
                {
                    state = 0;
                    leftPower = 0;
                }
                else if (gamepad1.rightBumperWasPressed())
                {
                    state = 1;
                    leftPower = retrieveVelocity;
                }
                else if (gamepad1.right_trigger > 0.1)
                {
                    state = 2;
                    leftPower = shootVelocity;
                }
            }

            if (gamepad1.bWasPressed())
            {
                if (state == 1)
                {
                    retrieveVelocity += 50.0;
                }
                if (state == 2)
                {
                    shootVelocity += 100.0;
                }
            }

            if (gamepad1.xWasPressed())
            {
                if (state == 1)
                {
                    retrieveVelocity -= 50.0;
                }
                if (state == 2)
                {
                    shootVelocity -= 100.0;
                }
            }

                if (state == 1)
                {
                    leftPower = retrieveVelocity;
                }
                if (state == 2)
                {
                    leftPower = shootVelocity;
                }

            // Tank Mode uses one stick to control each wheel.
            // - This requires no math, but it is hard to drive forward slowly and keep straight.
            // leftPower  = -gamepad1.left_stick_y ;
            // rightPower = -gamepad1.right_stick_y ;

////            if (leftPower > 1.0) leftPower = 1.0;

            // Send calculated power to wheels
////            spinner.setPower(leftPower);
            spinner.setVelocity(leftPower);
            
            if (leftPower > 0)
            {
               intake.setPower(intakePower);
            }
            else
            {
               intake.setPower(0.0);
            }

            // Show the elapsed game time and wheel power.
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
            telemetry.addData("Spinner", "Power (%.2f), vel (%.2f)",
                 spinner.getPower(), spinner.getVelocity ());
            telemetry.update();
        }
    }
}