From f5f8dbd2e52df8de05da139a9fa4999e231cb944 Mon Sep 17 00:00:00 2001
From: knightsean00 <knightsean00@gmail.com>
Date: Sat, 29 Sep 2018 22:09:28 -0700
Subject: [PATCH] Test programs

---
 .../firstinspires/ftc/teamcode/AutoTest.java  | 80 +++++++++++++++++++
 .../org/firstinspires/ftc/teamcode/Test.java  | 43 ++++++++++
 .../org/firstinspires/ftc/teamcode/readme.md  |  2 +-
 3 files changed, 124 insertions(+), 1 deletion(-)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
new file mode 100644
index 00000000000..10bd1351a2a
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoTest.java
@@ -0,0 +1,80 @@
+package org.firstinspires.ftc.teamcode;
+
+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;
+
+import java.lang.Math;
+
+@Autonomous(name="AutoTest", group="Autonomous Encoder")
+public class AutoTest extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor test = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        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);
+
+        int phase = 0;
+
+        waitForStart();
+        runtime.reset();
+
+        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();
+
+            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);
+
+            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);
+
+            sleep(1000);
+            phase = 3;
+            sleep(1000);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java
new file mode 100644
index 00000000000..3b28d90f8e2
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java
@@ -0,0 +1,43 @@
+package org.firstinspires.ftc.teamcode;
+
+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;
+
+import java.lang.Math;
+
+@TeleOp(name="Test", group="Linear Opmode")
+public class Test extends LinearOpMode {
+
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor test = null;
+
+    @Override
+    public void runOpMode() {
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        test = hardwareMap.get(DcMotor.class, "test");
+        test.setDirection(DcMotor.Direction.REVERSE);
+
+        waitForStart();
+        runtime.reset();
+
+        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();
+
+            if (gamepad1.left_stick_y != 0) {
+                test.setPower(gamepad1.left_stick_y);
+            } else {
+                test.setPower(0);
+            }
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
index 2f7e3a4aa56..7d5980bae81 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
@@ -1,4 +1,4 @@
-## TeamCode Module
+s## TeamCode Module
 
 Welcome!