Added comments, cleaned up some unused variables.

edinabucketbrigade · Oct 28, 2024 · 90dfb4d · 90dfb4d
1 parent 242990d
commit 90dfb4d
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Showing 4 changed files with 11 additions and 3 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectMotorType.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DetectMotorType.java
@@ -58,7 +58,6 @@ public class DetectMotorType extends LinearOpMode {
 
     private static final double INCREMENT = 0.01; // amount to ramp motor each CYCLE_MS cycle
     private static final int CYCLE_MS = 25; // period of each cycle
-    private static final int PAUSE_MS = 1000; // pause between direction switches
     private ElapsedTime timer;
 
     // Define class members

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EncoderTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EncoderTest.java
@@ -42,7 +42,7 @@
 import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
 
 /*
- * Demonstrates an empty iterative OpMode
+ * Perform encoder tests on a motor. Implemented as an iterative OpMode.
  */
 @TeleOp(name = "Encoder Test", group = "Test")
 //@Disabled
@@ -72,6 +72,7 @@ public void init() {
         motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         pidfVelocityCoefficients = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER);
         pidfPositionCoefficients = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_TO_POSITION);
+        // These values are recommended as a starting point if you are tuning a PID.
         pidfVelocityCoefficients.p = 1.063f;
         pidfVelocityCoefficients.i = 1.063f;
         pidfVelocityCoefficients.f = 10.63f;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestCRServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestCRServo.java
@@ -7,6 +7,10 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+/*
+    Iterative opMode to test CR servos. It uses the FTCLib CRServo class.
+ */
+
 @TeleOp(name = "Test CR Servo", group = "Test")
 //@Disabled
 public class TestCRServo extends OpMode {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestServo.java
@@ -7,6 +7,11 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.PwmControl;
 
+/*
+    An iterative opMode used to test servos. It uses the SimpleServo class from FTCLib.
+    The behavior you see depends on the specific servo you are using. Read the specs for
+    your servo and modify the test code to fit.
+ */
 @TeleOp(name = "Test Servo", group = "Test")
 //@Disabled
 public class TestServo extends OpMode {
@@ -21,7 +26,6 @@ public class TestServo extends OpMode {
     @Override
     public void init() {
         // Make the name match your config file and robot.
-//        servo = hardwareMap.get(ServoImplEx.class, "servo1");
         servo = new SimpleServo(hardwareMap, "servo1", 0, 90);
         gamepad = new GamepadEx(gamepad1);
         showTelemetry();