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commit 50bda32 Author: Isha290411 <[email protected]> Date: Thu Oct 24 19:46:29 2024 -0500 refactored the lift code made sure it would work commit 2ec1302 Author: Isha290411 <[email protected]> Date: Thu Oct 24 18:10:03 2024 -0500 Update RobotAutoDriveByGyro_Linear.java
edinabucketbrigade · Oct 25, 2024 · c5b695b · c5b695b
1 parent 9fd8ae9
commit c5b695b
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByGyro_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByGyro_Linear.java
@@ -141,7 +141,8 @@ public void runOpMode() {
         leftBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         leftFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         rightBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        leftFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
         leftBackDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         leftFrontDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         rightBackDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotHardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotHardware.java
@@ -13,7 +13,8 @@ public class RobotHardware {
     public DcMotor rightFrontDrive = null;
     public DcMotor rightBackDrive = null;
 
-    public DcMotorEx liftMotor = null;
+    public DcMotorEx liftMotor = null;  //5203 series, 384.5 ppr - encoder resolution
+    //5204-08139 series, 3895.9 resolution, for other arm thing motor
 
     // Define a constructor that allows the OpMode to pass a reference to itself.
     public RobotHardware(LinearOpMode opMode) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Lift.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Lift.java
@@ -29,7 +29,7 @@ public Lift(RobotHardware robot) {
     public void init() {
         liftPosition = LiftPosition.Down;
         liftState = liftPosition;
-        // Make sure encoder is 0 at start.
+        // Make sure encoder is 0 at start
         robot.liftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.liftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
     }
@@ -74,9 +74,9 @@ public void update() {
                         liftState = LiftPosition.Down;
                     }
                 }
-                break;
+                    break;
             default:
-                // If we get here we have problem, stop the lift.
+                // if get here, there is a problem
                 robot.liftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
                 robot.liftMotor.setPower(0);
                 liftState = LiftPosition.Down;