Merge pull request ftctechnh#2 from JeremyYao/master

10/4 Start AttachmentsInterface,
Peterohio · Oct 8, 2017 · 78fd521 · 78fd521
2 parents cf06c7f + 2ffc867
commit 78fd521
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Showing 4 changed files with 35 additions and 15 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AttatchmentsInterface.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AttatchmentsInterface.java
@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode;
+
+/**
+ * Created by Jeremy on 10/4/2017.
+ */
+
+public interface AttatchmentsInterface
+{
+    void moveLift(double x, double y, boolean leftTrigger, boolean leftBumper);
+    /*Joystick=fine tuning position of forklift (left,right,slight up and down)
+    Bumper=Position increases one position upwards
+    Trigger=Position increases one position downwards
+     */
+    void moveWings(boolean up);
+    boolean isSeeingRed();
+    void releaseGrabber(boolean buttonPressed);
+    String readDiagram();
+    double[] getAccelerometerValues();
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankBase.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankBase.java
@@ -22,19 +22,19 @@ public class TankBase implements TankInterface
     private float wheelCircIn = 4 * (float)Math.PI ; //Circumference of wheels used
     private float wheelCircCm = (float)(10.16 * Math.PI);
 
-    public void init(HardwareMap hMap)
+    public TankBase(HardwareMap hMap)
     {
         driveLeftOne = (DcMotorImplEx) hMap.dcMotor.get("driveLeftOne");
         driveRightOne = (DcMotorImplEx) hMap.dcMotor.get("driveRightOne");
 
         driveRightOne.setVelocity(3 * Math.PI, AngleUnit.RADIANS); //Neverrest 40 has 160 RPM; 2.6 rev per second
-        driveRightOne.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        driveLeftOne.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
-        driveRightOne.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        driveLeftOne.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        resetEncoders();
         driveRightOne.setVelocity(3 * Math.PI, AngleUnit.RADIANS);
         driveLeftOne.setVelocity(3* Math.PI, AngleUnit.RADIANS);
+        driveRightOne.setDirection(DcMotorSimple.Direction.FORWARD);
+        driveLeftOne.setDirection(DcMotorSimple.Direction.FORWARD);
+
 /*
         driveRightOne.setDirection(DcMotorSimple.Direction.REVERSE);
         driveLeftOne.setDirection(DcMotorSimple.Direction.REVERSE);
@@ -200,8 +200,10 @@ public void stopAllMotors()
 
     private void resetEncoders()
     {
-        driveRightOne.setMode(DcMotor.RunMode.RESET_ENCODERS);
-        driveLeftOne.setMode(DcMotor.RunMode.RESET_ENCODERS);
+        driveRightOne.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        driveLeftOne.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        driveRightOne.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        driveLeftOne.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
     }
 
     public DcMotorImplEx getDriveLeftOne()

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestLinearOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestLinearOp.java
@@ -7,19 +7,17 @@
 /**
  * Created by Jeremy on 8/27/2017.
  */
-@Autonomous(name = "name", group = "concept")
+@Autonomous(name = "24in", group = "concept")
 public class TestLinearOp extends LinearOpMode
 {
+    private TankBase robot;
     @Override
     public void runOpMode() throws InterruptedException
     {
-        TankBase robot = new TankBase();
-        robot.init(hardwareMap);
+        robot = new TankBase(hardwareMap);
         waitForStart();
-        robot.spin_Left(120);
-        robot.spin_Right(120);
-        robot.pivot(120);
         robot.driveStraight_In(24);
+        sleep(5000);
         robot.driveStraight_In(-24);
     }
 }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestTeleOp.java
@@ -12,11 +12,11 @@
 @TeleOp(name = "TankTestTele", group = "Test")
 public class TestTeleOp extends OpMode
 {
-    private TankBase tank = new TankBase();
+    private TankBase tank;
 
     public void init()
     {
-        tank.init(hardwareMap);
+        tank = new TankBase(hardwareMap);
         gamepad1.setJoystickDeadzone(.1f);
         gamepad2.setJoystickDeadzone(.1f);
     }
@@ -28,6 +28,7 @@ public void start()
 
     public void loop()
     {
+        telemetry.addData("Expected velcoity ", 3 * Math.PI);
         telemetry.addData("Radian Velocity Left", tank.getDriveLeftOne().getVelocity(AngleUnit.RADIANS));
         telemetry.addData("radian v right", tank.getDriveRightOne().getVelocity(AngleUnit.RADIANS));
         telemetry.addData("LJoyStick= ", gamepad1.left_stick_y);