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80 changes: 80 additions & 0 deletions
80
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
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package org.firstinspires.ftc.teamcode; | ||
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
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; | ||
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import java.lang.Math; | ||
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@Autonomous(name="AutoTest", group="Autonomous Encoder") | ||
public class AutoTest extends LinearOpMode { | ||
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// Declare OpMode members. | ||
private ElapsedTime runtime = new ElapsedTime(); | ||
private DcMotor test = null; | ||
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@Override | ||
public void runOpMode() { | ||
telemetry.addData("Status", "Initialized"); | ||
telemetry.update(); | ||
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test = hardwareMap.get(DcMotor.class, "test"); | ||
test.setDirection(DcMotor.Direction.REVERSE); | ||
test.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
test.setMode(DcMotor.RunMode.RUN_USING_ENCODER); | ||
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int phase = 0; | ||
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waitForStart(); | ||
runtime.reset(); | ||
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while (opModeIsActive()) { | ||
//Stuff to display for Telemetry | ||
telemetry.addData("Motor Power", test.getPower()); | ||
telemetry.addData("Motor Direction", test.getDirection()); | ||
telemetry.addData("Motor Position", test.getCurrentPosition()); | ||
telemetry.addData("Motor Target", test.getTargetPosition()); | ||
telemetry.addData("Phase: ", phase); | ||
telemetry.update(); | ||
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sleep(1000); | ||
phase = 1; | ||
test.setTargetPosition(10000); | ||
test.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
while (test.isBusy()) { | ||
telemetry.addData("Motor Power", test.getPower()); | ||
telemetry.addData("Motor Direction", test.getDirection()); | ||
telemetry.addData("Motor Position", test.getCurrentPosition()); | ||
telemetry.addData("Motor Target", test.getTargetPosition()); | ||
telemetry.addData("Phase: ", phase); | ||
telemetry.update(); | ||
test.setPower(1); | ||
} | ||
test.setPower(0); | ||
sleep(1000); | ||
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phase = 2; | ||
test.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
sleep(1000); | ||
test.setTargetPosition(-10000); | ||
test.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
while (test.isBusy()) { | ||
telemetry.addData("Motor Power", test.getPower()); | ||
telemetry.addData("Motor Direction", test.getDirection()); | ||
telemetry.addData("Motor Position", test.getCurrentPosition()); | ||
telemetry.addData("Motor Target", test.getTargetPosition()); | ||
telemetry.addData("Phase: ", phase); | ||
telemetry.update(); | ||
test.setPower(-1); | ||
} | ||
test.setPower(0); | ||
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sleep(1000); | ||
phase = 3; | ||
sleep(1000); | ||
} | ||
} | ||
} |
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java
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package org.firstinspires.ftc.teamcode; | ||
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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; | ||
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import java.lang.Math; | ||
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@TeleOp(name="Test", group="Linear Opmode") | ||
public class Test extends LinearOpMode { | ||
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// Declare OpMode members. | ||
private ElapsedTime runtime = new ElapsedTime(); | ||
private DcMotor test = null; | ||
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@Override | ||
public void runOpMode() { | ||
telemetry.addData("Status", "Initialized"); | ||
telemetry.update(); | ||
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test = hardwareMap.get(DcMotor.class, "test"); | ||
test.setDirection(DcMotor.Direction.REVERSE); | ||
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waitForStart(); | ||
runtime.reset(); | ||
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while (opModeIsActive()) { | ||
//Stuff to display for Telemetry | ||
telemetry.addData("Motor Power", test.getPower()); | ||
telemetry.addData("Motor Direction", test.getDirection()); | ||
telemetry.addData("Motor Position", test.getCurrentPosition()); | ||
telemetry.update(); | ||
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if (gamepad1.left_stick_y != 0) { | ||
test.setPower(gamepad1.left_stick_y); | ||
} else { | ||
test.setPower(0); | ||
} | ||
} | ||
} | ||
} |
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
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## TeamCode Module | ||
s## TeamCode Module | ||
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Welcome! | ||
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