Updated revolution time

Also removed the servos because the arm isn't attached right now and the meet is in a few minutes.
MICDSRobotics-5190 · Jan 22, 2017 · 48f7571 · 48f7571
1 parent e203425
commit 48f7571
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Showing 2 changed files with 17 additions and 9 deletions.
diff --git a/ftc_app-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DadDriver.java b/ftc_app-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DadDriver.java
@@ -64,17 +64,16 @@ public class DadDriver extends OpMode
     private DcMotor spinner = null;
     private DcMotor shooter = null;
 
-    // the claw objects
+    // uninplemented claw objects
     private CRServo leftClaw = null;
     private CRServo rightClaw = null;
 
-    // uninplemented claw objects
     private DcMotor verticalClawMotor = null;
     private DcMotor horizontalClawMotor = null;
 
     // shooter variables
     private double endTime = 0;
-    private final double revolutionTime = 1;
+    private final double revolutionTime = 0.5;
 
 
     /* Code to run ONCE when the driver hits INIT */
@@ -89,10 +88,10 @@ public void init() {
         shooter = hardwareMap.dcMotor.get("shooter");
         spinner = hardwareMap.dcMotor.get("spinner");
 
+        /* unimplemented claw objects
         leftClaw = hardwareMap.crservo.get("left claw");
         rightClaw = hardwareMap.crservo.get("right claw");
 
-        /* unimplemented claw objects
         verticalClawMotor = hardwareMap.dcMotor.get("vertical claw");
         horizontalClawMotor = hardwareMap.dcMotor.get("horizontal claw");
         */
@@ -117,10 +116,10 @@ public void init() {
         spinner.setDirection(DcMotor.Direction.FORWARD);
         shooter.setDirection(DcMotor.Direction.FORWARD);
 
+        /* unimplemented claw objects
         leftClaw.setDirection(CRServo.Direction.FORWARD);
         rightClaw.setDirection(CRServo.Direction.REVERSE);
 
-        /* unimplemented claw objects
         verticalClawMotor.setDirection(DcMotor.Direction.FORWARD);
         horizontalClawMotor.setDirection(DcMotor.Direction.FORWARD);
         */
@@ -149,8 +148,8 @@ public void loop() {
         telemetry.addData("Right Motor", rightMotor.getPower());
         telemetry.addData("Left Motor", leftMotor.getPower());
         telemetry.addData("Spinner", spinner.getPower());
-        telemetry.addData("Left Claw", leftClaw.getPower());
-        telemetry.addData("Right Claw", rightClaw.getPower());
+        //telemetry.addData("Left Claw", leftClaw.getPower());
+        //telemetry.addData("Right Claw", rightClaw.getPower());
 
 
         // Drivetrain code (note: The joystick goes negative when pushed forwards)
@@ -176,7 +175,7 @@ public void loop() {
             shooter.setPower(0);
         }
 
-        // claw code (uses the second gamepad)
+        /* unimplemented claw objects
         if (gamepad2.a){
             leftClaw.setPower(0.5);
             rightClaw.setPower(0.5);
@@ -201,7 +200,7 @@ public void loop() {
             rightClaw.setPower(-gamepad2.left_trigger);
         }
 
-        /* unimplemented claw objects
+
         if (gamepad2.dpad_up){
             verticalClawMotor.setPower(0.89);
         }

diff --git a/ftc_app-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Unbeacon.java b/ftc_app-master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Unbeacon.java
@@ -59,7 +59,9 @@ public class Unbeacon extends LinearOpMode {
 
     private DcMotor leftMotor = null;
     private DcMotor rightMotor = null;
+
     private DcMotor spinner = null;
+    private DcMotor shooter = null;
 
     /*Declaring constant values */
     final int MOTOR_PULSE_PER_REVOLUTION = 7;
@@ -71,16 +73,21 @@ public class Unbeacon extends LinearOpMode {
 
     @Override
     public void runOpMode() throws InterruptedException {
+
         /* Initialize the hardware variables. The strings must
         correspond to the names in the configuration file. */
         leftMotor  = hardwareMap.dcMotor.get("left motor");
         rightMotor = hardwareMap.dcMotor.get("right motor");
+
+        shooter = hardwareMap.dcMotor.get("shooter");
         spinner = hardwareMap.dcMotor.get("spinner");
 
         // Set the drive motor directions
         leftMotor.setDirection(DcMotor.Direction.REVERSE);
         rightMotor.setDirection(DcMotor.Direction.FORWARD);
+
         spinner.setDirection(DcMotor.Direction.FORWARD);
+        shooter.setDirection(DcMotor.Direction.FORWARD);
 
         /* Prepare the encoders to be used */
         //Reset their values
@@ -90,7 +97,9 @@ public void runOpMode() throws InterruptedException {
         //Set their modes.
         leftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         rightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
         spinner.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        shooter.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         telemetry.addData("Status", "Initialized!");
         telemetry.update();