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Add IntakeControls to TeleOpMain #40

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Merged
melloCoding merged 1 commit into from
Jan 28, 2026
Merged

Add IntakeControls to TeleOpMain #40

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12 changes: 11 additions & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import com.qualcomm.robotcore.hardware.Servo;

import org.firstinspires.ftc.teamcode.Utils_13233.DriveControls;
import org.firstinspires.ftc.teamcode.Utils_13233.IntakeControls;
import org.firstinspires.ftc.teamcode.Utils_13233.MotorConstructor;
import org.firstinspires.ftc.teamcode.Utils_13233.LaunchControls;
import org.firstinspires.ftc.teamcode.Utils_13233.SorterControls;
Expand Down Expand Up @@ -43,6 +44,7 @@ public class TeleOpMain extends LinearOpMode {
private LaunchControls launch;
private SorterControls sorter;
private MotorConstructor motors;
private IntakeControls intake;


//This function is executed when this Op Mode is selected from the Driver Station
Expand All @@ -53,6 +55,8 @@ public void runOpMode() {
launch = new LaunchControls(hardwareMap);
motors = new MotorConstructor(hardwareMap);
sorter = new SorterControls(motors);
intake = new IntakeControls(hardwareMap);


sorter.currentSorterPosition = SorterControls.sorterPositions.LAUNCH_POS_1;

Expand Down Expand Up @@ -81,7 +85,12 @@ public void runOpMode() {

// Set the power to the launch motors based while the x button is being pressed
// and rumble to let the driver know that the launch motors are being controlled
launch.setLaunchPower(gamepad1.x, 0.7f);
if (gamepad1.right_bumper) {
launch.setLaunchPower(gamepad1.right_bumper, 0.7f);
} else if (gamepad1.left_bumper) {
launch.setLaunchPower(gamepad1.left_bumper, 1.0f);
}
sleep(50);
launch.setLaunchPower(gamepad1.left_bumper, 1.0f);

// Allows for driver Control of the sorter
Expand All @@ -107,6 +116,7 @@ public void runOpMode() {
// sorter.moveGreenToLaunchPos();
// }

intake.setIntakeDirection(gamepad2.left_bumper, gamepad2.right_bumper);
//Add option to enable brakes when sharbell holds a
drive.setDriveMotorZeroPowerBehavior(gamepad1.b);

Expand Down